PxGeometryQuery.h

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#ifndef PX_GEOMETRY_QUERY_H
#define PX_GEOMETRY_QUERY_H
 
#define PX_MAX_SWEEP_DISTANCE 1e8f
 
#include "common/PxPhysXCommonConfig.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryFlags.h"
#include "geometry/PxGeometryQueryContext.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxGeometry;
class PxContactBuffer;
 
class PxGeometryQuery
{
public:
 
    PX_PHYSX_COMMON_API static PxU32 raycast(   const PxVec3& origin, const PxVec3& unitDir,
                                                const PxGeometry& geom, const PxTransform& pose,
                                                PxReal maxDist, PxHitFlags hitFlags,
                                                PxU32 maxHits, PxGeomRaycastHit* PX_RESTRICT rayHits, PxU32 stride, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
                                                PxRaycastThreadContext* threadContext = NULL);
 
    template<class HitT>
    PX_DEPRECATED PX_FORCE_INLINE static PxU32 raycast( const PxVec3& origin, const PxVec3& unitDir,
                                                        const PxGeometry& geom, const PxTransform& pose,
                                                        PxReal maxDist, PxHitFlags hitFlags,
                                                        PxU32 maxHits, HitT* PX_RESTRICT rayHits)
    {
        return raycast(origin, unitDir, geom, pose, maxDist, hitFlags, maxHits, rayHits, sizeof(HitT));
    }
 
    PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1,
                                            PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext* threadContext=NULL);
 
    PX_PHYSX_COMMON_API static bool sweep(  const PxVec3& unitDir, const PxReal maxDist,
                                            const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1,
                                            PxGeomSweepHit& sweepHit, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
                                            const PxReal inflation = 0.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
                                            PxSweepThreadContext* threadContext = NULL);
 
    PX_PHYSX_COMMON_API static bool computePenetration( PxVec3& direction, PxF32& depth,
                                                        const PxGeometry& geom0, const PxTransform& pose0,
                                                        const PxGeometry& geom1, const PxTransform& pose1,
                                                        PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
 
    PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose,
                                                    PxVec3* closestPoint=NULL, PxU32* closestIndex=NULL,
                                                    PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
 
    PX_PHYSX_COMMON_API static void computeGeomBounds(PxBounds3& bounds, const PxGeometry& geom, const PxTransform& pose, float offset=0.0f, float inflation=1.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
 
    PX_DEPRECATED PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
 
    PX_PHYSX_COMMON_API static bool generateTriangleContacts(const PxGeometry& geom, const PxTransform& pose, const PxVec3 triangleVertices[3], PxU32 triangleIndex, PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxContactBuffer& contactBuffer);
 
    PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
};
 
#if !PX_DOXYGEN
}
#endif
 
#endif