GuSweepMTD.h

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#ifndef GU_SWEEP_MTD_H
#define GU_SWEEP_MTD_H
 
namespace physx
{
    class PxConvexMeshGeometry;
    class PxTriangleMeshGeometry;
    class PxGeometry;
    class PxHeightFieldGeometry;
 
namespace Gu
{
    class Sphere;
    class Capsule;
 
    bool computeCapsule_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
 
    bool computeCapsule_HeightFieldMTD(const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
 
    bool computeBox_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation,
                                    bool isDoubleSided,  PxGeomSweepHit& hit);    
 
    bool computeBox_HeightFieldMTD( const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
 
    bool computeConvex_TriangleMeshMTD( const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation,
                                        bool isDoubleSided, PxGeomSweepHit& hit);
 
    bool computeConvex_HeightFieldMTD(  const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
 
    bool computeSphere_SphereMTD(const Sphere& sphere0, const Sphere& sphere1, PxGeomSweepHit& hit);
    bool computeSphere_CapsuleMTD(const Sphere& sphere, const Capsule& capsule, PxGeomSweepHit& hit);
 
    bool computeCapsule_CapsuleMTD(const Capsule& capsule0, const Capsule& capsule1, PxGeomSweepHit& hit);
 
    bool computePlane_CapsuleMTD(const PxPlane& plane, const Capsule& capsule, PxGeomSweepHit& hit);
    bool computePlane_BoxMTD(const PxPlane& plane, const Box& box, PxGeomSweepHit& hit);
    bool computePlane_ConvexMTD(const PxPlane& plane, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, PxGeomSweepHit& hit);
 
    // PT: wrapper just to avoid duplicating these lines.
    PX_FORCE_INLINE void setupSweepHitForMTD(PxGeomSweepHit& sweepHit, bool hasContacts, const PxVec3& unitDir)
    {
        sweepHit.flags = PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
        if(!hasContacts)
        {
            sweepHit.distance   = 0.0f;
            sweepHit.normal     = -unitDir;
        }
        else
        {
            //ML: touching contact. We need to overwrite the normal to the negative of sweep direction
            if(sweepHit.distance == 0.0f && sweepHit.normal.isZero())
                sweepHit.normal = -unitDir;
 
            sweepHit.flags |= PxHitFlag::ePOSITION;
        }
    }
}
 
}
 
 
#endif