GuSweepTests.h

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#ifndef GU_SWEEP_TESTS_H
#define GU_SWEEP_TESTS_H
 
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"
 
namespace physx
{
    class PxConvexMeshGeometry;
    class PxCapsuleGeometry;
    class PxTriangle;
    class PxBoxGeometry;
 
    #define UNUSED_SWEEP_THREAD_CONTEXT NULL
 
    // PT: TODO: unify this with raycast calls (names and order of params)
 
    // PT: we use defines to be able to quickly change the signature of all sweep functions.
    // (this also ensures they all use consistent names for passed parameters).
    // \param[in]   geom            geometry object to sweep against
    // \param[in]   pose            pose of geometry object
    // \param[in]   unitDir         sweep's unit dir
    // \param[in]   distance        sweep's length/max distance
    // \param[out]  sweepHit        hit result
    // \param[in]   hitFlags        query behavior flags
    // \param[in]   inflation       optional inflation value for swept shape
    // \param[in]   threadContext   optional per-thread context
 
    // PT: sweep parameters for capsule
    #define GU_CAPSULE_SWEEP_FUNC_PARAMS    const PxGeometry& geom, const PxTransform& pose,                                                \
                                            const PxCapsuleGeometry& capsuleGeom_, const PxTransform& capsulePose_, const Gu::Capsule& lss, \
                                            const PxVec3& unitDir, PxReal distance,                                                         \
                                            PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
 
    // PT: sweep parameters for box
    #define GU_BOX_SWEEP_FUNC_PARAMS    const PxGeometry& geom, const PxTransform& pose,                                \
                                        const PxBoxGeometry& boxGeom_, const PxTransform& boxPose_, const Gu::Box& box, \
                                        const PxVec3& unitDir, PxReal distance,                                         \
                                        PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
 
    // PT: sweep parameters for convex
    #define GU_CONVEX_SWEEP_FUNC_PARAMS     const PxGeometry& geom, const PxTransform& pose,                        \
                                            const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose,  \
                                            const PxVec3& unitDir, PxReal distance,                                 \
                                            PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
    namespace Gu
    {
        class Capsule;
        class Box;
 
        // PT: function pointer for Geom-indexed capsule sweep functions
        // See GU_CAPSULE_SWEEP_FUNC_PARAMS for function parameters details.
        // \return      true if a hit was found, false otherwise
        typedef bool (*SweepCapsuleFunc)    (GU_CAPSULE_SWEEP_FUNC_PARAMS);
 
        // PT: function pointer for Geom-indexed box sweep functions
        // See GU_BOX_SWEEP_FUNC_PARAMS for function parameters details.
        // \return      true if a hit was found, false otherwise
        typedef bool (*SweepBoxFunc)        (GU_BOX_SWEEP_FUNC_PARAMS);
 
        // PT: function pointer for Geom-indexed box sweep functions
        // See GU_CONVEX_SWEEP_FUNC_PARAMS for function parameters details.
        // \return      true if a hit was found, false otherwise
        typedef bool (*SweepConvexFunc)     (GU_CONVEX_SWEEP_FUNC_PARAMS);
 
        // PT: typedef for bundles of all sweep functions, i.e. the function tables themselves (indexed by geom-type).
        typedef SweepCapsuleFunc    GeomSweepCapsuleTable   [PxGeometryType::eGEOMETRY_COUNT];
        typedef SweepBoxFunc        GeomSweepBoxTable       [PxGeometryType::eGEOMETRY_COUNT];
        typedef SweepConvexFunc     GeomSweepConvexTable    [PxGeometryType::eGEOMETRY_COUNT];
 
        struct GeomSweepFuncs
        {
            GeomSweepCapsuleTable   capsuleMap;
            GeomSweepCapsuleTable   preciseCapsuleMap;
            GeomSweepBoxTable       boxMap;
            GeomSweepBoxTable       preciseBoxMap;
            GeomSweepConvexTable    convexMap;
        };
        // PT: grabs all sweep function tables at once (for access by external non-Gu modules)
        PX_PHYSX_COMMON_API const GeomSweepFuncs& getSweepFuncTable();
 
        // PT: signature for sweep-vs-triangles functions.
        // We use defines to be able to quickly change the signature of all sweep functions.
        // (this also ensures they all use consistent names for passed parameters).
        // \param[in]   nbTris          number of triangles in input array
        // \param[in]   triangles       array of triangles to sweep the shape against
        // \param[in]   doubleSided     true if input triangles are double-sided
        // \param[in]   x               geom to sweep against input triangles
        // \param[in]   pose            pose of geom x
        // \param[in]   unitDir         sweep's unit dir
        // \param[in]   distance        sweep's length/max distance
        // \param[out]  hit             hit result
        // \param[in]   cachedIndex     optional initial triangle index (must be <nbTris)
        // \param[in]   inflation       optional inflation value for swept shape
        // \param[in]   hitFlags        query behavior flags
        #define GU_SWEEP_TRIANGLES_FUNC_PARAMS(x)   PxU32 nbTris, const PxTriangle* triangles, bool doubleSided,    \
                                                    const x& geom, const PxTransform& pose,                         \
                                                    const PxVec3& unitDir, const PxReal distance,                   \
                                                    PxGeomSweepHit& hit, const PxU32* cachedIndex,                  \
                                                    const PxReal inflation, PxHitFlags hitFlags
 
        bool sweepCapsuleTriangles      (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxCapsuleGeometry));
        bool sweepBoxTriangles          (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
        bool sweepBoxTriangles_Precise  (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
 
    }  // namespace Gu
}
 
#endif