PxShapeExt.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_SHAPE_EXT_H
#define PX_SHAPE_EXT_H
#include "PxPhysXConfig.h"
 
#include "PxShape.h"
#include "PxRigidActor.h"
#include "geometry/PxGeometryQuery.h"
#include "PxQueryReport.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxShapeExt
{
public:
    static PX_INLINE    PxTransform     getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
    {
        return actor.getGlobalPose() * shape.getLocalPose();
    }
 
    static PX_INLINE PxU32              raycast(const PxShape& shape, const PxRigidActor& actor, 
                                                const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
                                                PxU32 maxHits, PxRaycastHit* rayHits)
    {
        return PxGeometryQuery::raycast(
            rayOrigin, rayDir, shape.getGeometry(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
    }
 
    static PX_INLINE bool               overlap(const PxShape& shape, const PxRigidActor& actor, 
                                                const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
    {
        return PxGeometryQuery::overlap(shape.getGeometry(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
    }
 
    static PX_INLINE bool           sweep(const PxShape& shape, const PxRigidActor& actor, 
                                          const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
                                          PxSweepHit& sweepHit, PxHitFlags hitFlags)
    {
        return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry(), getGlobalPose(shape, actor), sweepHit, hitFlags);
    }
 
 
    static PX_INLINE PxBounds3      getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
    {
        return PxGeometryQuery::getWorldBounds(shape.getGeometry(), getGlobalPose(shape, actor), inflation);
    }
 
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif