PxCustomGeometryExt.h

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#ifndef PX_CUSTOM_GEOMETRY_EXT_H
#define PX_CUSTOM_GEOMETRY_EXT_H
#include <geometry/PxCustomGeometry.h>
#include <geometry/PxGjkQuery.h>
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxGeometry;
class PxMassProperties;
class PxGeometryHolder;
struct PxContactPoint;
 
class PxCustomGeometryExt
{
public:
 
    struct BaseConvexCallbacks : PxCustomGeometry::Callbacks, PxGjkQuery::Support
    {
        float margin;
 
        BaseConvexCallbacks(float _margin) : margin(_margin) {}
 
        // override PxCustomGeometry::Callbacks
        virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
        virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
            const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
            PxContactBuffer& contactBuffer) const;
        virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
            PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext*) const;
        virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext*) const;
        virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
            const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
            PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext*) const;
        virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const;
 
        // override PxGjkQuery::Support
        virtual PxReal getMargin() const { return margin; }
 
    protected:
 
        // Substitute geometry
        virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const = 0;
    };
 
    struct CylinderCallbacks : BaseConvexCallbacks
    {
        float height;
        float radius;
        int axis;
 
        CylinderCallbacks(float height, float radius, int axis = 0, float margin = 0);
 
        // override PxCustomGeometry::Callbacks
        DECLARE_CUSTOM_GEOMETRY_TYPE
        virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
        virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
 
        // override PxGjkQuery::Support
        virtual PxVec3 supportLocal(const PxVec3& dir) const;
 
    protected:
 
        // Substitute geometry
        virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const;
 
        // Radius at height
        float getRadiusAtHeight(float height) const;
    };
 
    struct ConeCallbacks : BaseConvexCallbacks
    {
        float height;
        float radius;
        int axis;
 
        ConeCallbacks(float height, float radius, int axis = 0, float margin = 0);
 
        // override PxCustomGeometry::Callbacks
        DECLARE_CUSTOM_GEOMETRY_TYPE
        virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
        virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
 
        // override PxGjkQuery::Support
        virtual PxVec3 supportLocal(const PxVec3& dir) const;
 
    protected:
 
        // Substitute geometry
        virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0, const PxVec3& pos1) const;
 
        // Radius at height
        float getRadiusAtHeight(float height) const;
    };
};
 
#if !PX_DOXYGEN
}
#endif
 
#endif