physx::PxGeometryQuery Class Reference

Collection of geometry object queries (sweeps, raycasts, overlaps, ...). More...

#include <PxGeometryQuery.h>

Static Public Member Functions
static PX_PHYSX_COMMON_API 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)
	Raycast test against a geometry object.
template<class HitT >
PX_DEPRECATED static PX_FORCE_INLINE PxU32	raycast (const PxVec3 &origin, const PxVec3 &unitDir, const PxGeometry &geom, const PxTransform &pose, PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, HitT *PX_RESTRICT rayHits)
	Backward compatibility helper.
static PX_PHYSX_COMMON_API bool	overlap (const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext *threadContext=NULL)
	Overlap test for two geometry objects.
static PX_PHYSX_COMMON_API 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)
	Sweep a specified geometry object in space and test for collision with a given object.
static PX_PHYSX_COMMON_API bool	computePenetration (PxVec3 &direction, PxF32 &depth, const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT)
	Compute minimum translational distance (MTD) between two geometry objects.
static PX_PHYSX_COMMON_API PxReal	pointDistance (const PxVec3 &point, const PxGeometry &geom, const PxTransform &pose, PxVec3 *closestPoint=NULL, PxU32 *closestIndex=NULL, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT)
	Computes distance between a point and a geometry object.
static PX_PHYSX_COMMON_API void	computeGeomBounds (PxBounds3 &bounds, const PxGeometry &geom, const PxTransform &pose, float offset=0.0f, float inflation=1.0f, PxGeometryQueryFlags queryFlags=PxGeometryQueryFlag::eDEFAULT)
	computes the bounds for a geometry object
PX_DEPRECATED static PX_PHYSX_COMMON_API PxBounds3	getWorldBounds (const PxGeometry &geom, const PxTransform &pose, float inflation=1.01f)
	get the bounds for a geometry object
static PX_PHYSX_COMMON_API bool	generateTriangleContacts (const PxGeometry &geom, const PxTransform &pose, const PxVec3 triangleVertices[3], PxU32 triangleIndex, PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxContactBuffer &contactBuffer)
	Generate collision contacts between a convex geometry and a single triangle.
static PX_PHYSX_COMMON_API bool	isValid (const PxGeometry &geom)
	Checks if provided geometry is valid.

Detailed Description

Collection of geometry object queries (sweeps, raycasts, overlaps, ...).

Member Function Documentation

computeGeomBounds()

void PxGeometryQuery::computeGeomBounds ( PxBounds3 &  bounds, const PxGeometry &  geom, const PxTransform &  pose, float  offset = 0.0f, float  inflation = 1.0f, PxGeometryQueryFlags  queryFlags = PxGeometryQueryFlag::eDEFAULT  )

static

computes the bounds for a geometry object

Parameters

[out]	bounds	Returned computed bounds
[in]	geom	The geometry object
[in]	pose	Pose of the geometry object
[in]	offset	Offset for computed bounds. This value is added to the geom's extents.
[in]	inflation	Scale factor for computed bounds. The geom's extents are multiplied by this value.
[in]	queryFlags	Optional flags controlling the query.

See also

PxGeometry PxTransform

computePenetration()

bool PxGeometryQuery::computePenetration ( PxVec3 &  direction, PxF32 &  depth, const PxGeometry &  geom0, const PxTransform &  pose0, const PxGeometry &  geom1, const PxTransform &  pose1, PxGeometryQueryFlags  queryFlags = PxGeometryQueryFlag::eDEFAULT  )

static

Compute minimum translational distance (MTD) between two geometry objects.

All combinations of geom objects are supported except:

• plane/plane
• plane/mesh
• plane/heightfield
• mesh/mesh
• mesh/heightfield
• heightfield/heightfield
• anything involving PxParticleSystemGeometry, PxTetrahedronMeshGeometry or PxHairSystemGeometry

The function returns a unit vector ('direction') and a penetration depth ('depth').

The depenetration vector D = direction * depth should be applied to the first object, to get out of the second object.

Returned depth should always be positive or null.

If objects do not overlap, the function can not compute the MTD and returns false.

Parameters

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or null.
[in]	geom0	The first geometry object
[in]	pose0	Pose of the first geometry object
[in]	geom1	The second geometry object
[in]	pose1	Pose of the second geometry object
[in]	queryFlags	Optional flags controlling the query.

Returns

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also

PxGeometry PxTransform

generateTriangleContacts()

bool PxGeometryQuery::generateTriangleContacts ( const PxGeometry &  geom, const PxTransform &  pose, const PxVec3  triangleVertices[3], PxU32  triangleIndex, PxReal  contactDistance, PxReal  meshContactMargin, PxReal  toleranceLength, PxContactBuffer &  contactBuffer  )

static

Generate collision contacts between a convex geometry and a single triangle.

Parameters

[in]	geom	The geometry object. Can be a capsule, a box or a convex mesh
[in]	pose	Pose of the geometry object
[in]	triangleVertices	Triangle vertices in local space
[in]	triangleIndex	Triangle index
[in]	contactDistance	The distance at which contacts begin to be generated between the pairs
[in]	meshContactMargin	The mesh contact margin.
[in]	toleranceLength	The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
[out]	contactBuffer	A buffer to write contacts to.

Returns

True if there was collision

getWorldBounds()

PxBounds3 PxGeometryQuery::getWorldBounds ( const PxGeometry &  geom, const PxTransform &  pose, float  inflation = 1.01f  )

static

get the bounds for a geometry object

Parameters

[in]	geom	The geometry object
[in]	pose	Pose of the geometry object
[in]	inflation	Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns

The bounds of the object

See also

PxGeometry PxTransform

Deprecated:

isValid()

bool PxGeometryQuery::isValid ( const PxGeometry &  geom )

static

Checks if provided geometry is valid.

Parameters

[in]

geom

The geometry object.

Returns

True if geometry is valid.

See also

PxGeometry

overlap()

bool PxGeometryQuery::overlap ( const PxGeometry &  geom0, const PxTransform &  pose0, const PxGeometry &  geom1, const PxTransform &  pose1, PxGeometryQueryFlags  queryFlags = PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext *  threadContext = NULL  )

static

Overlap test for two geometry objects.

All combinations are supported except:

• PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxTriangleMeshGeometry vs. PxHeightFieldGeometry
• PxHeightFieldGeometry vs. PxHeightFieldGeometry
• Anything involving PxParticleSystemGeometry, PxTetrahedronMeshGeometry or PxHairSystemGeometry.

Parameters

[in]	geom0	The first geometry object
[in]	pose0	Pose of the first geometry object
[in]	geom1	The second geometry object
[in]	pose1	Pose of the second geometry object
[in]	queryFlags	Optional flags controlling the query.
[in]	threadContext	Optional user-defined per-thread context.

Returns

True if the two geometry objects overlap

See also

PxGeometry PxTransform

pointDistance()

PxReal PxGeometryQuery::pointDistance ( const PxVec3 &  point, const PxGeometry &  geom, const PxTransform &  pose, PxVec3 *  closestPoint = NULL, PxU32 *  closestIndex = NULL, PxGeometryQueryFlags  queryFlags = PxGeometryQueryFlag::eDEFAULT  )

static

Computes distance between a point and a geometry object.

Currently supported geometry objects: box, sphere, capsule, convex, mesh.

Note

For meshes, only the BVH34 midphase data-structure is supported.

Parameters

[in]	point	The point P
[in]	geom	The geometry object
[in]	pose	Pose of the geometry object
[out]	closestPoint	Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
[out]	closestIndex	Optionally returned closest (triangle) index. Only valid for triangle meshes.
[in]	queryFlags	Optional flags controlling the query.

Returns

Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if an error occured (geometry type is not supported, or invalid pose)

See also

PxGeometry PxTransform

raycast() [1/2]

template<class HitT >

PX_DEPRECATED static PX_FORCE_INLINE PxU32 physx::PxGeometryQuery::raycast ( const PxVec3 &  origin, const PxVec3 &  unitDir, const PxGeometry &  geom, const PxTransform &  pose, PxReal  maxDist, PxHitFlags  hitFlags, PxU32  maxHits, HitT *PX_RESTRICT  rayHits  )

inlinestatic

Backward compatibility helper.

Deprecated:

raycast() [2/2]

PxU32 PxGeometryQuery::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  )

static

Raycast test against a geometry object.

All geometry types are supported except PxParticleSystemGeometry, PxTetrahedronMeshGeometry and PxHairSystemGeometry.

Parameters

[in]	origin	The origin of the ray to test the geometry object against
[in]	unitDir	Normalized direction of the ray to test the geometry object against
[in]	geom	The geometry object to test the ray against
[in]	pose	Pose of the geometry object
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[in]	hitFlags	Specification of the kind of information to retrieve on hit. Combination of #PxHitFlag flags
[in]	maxHits	max number of returned hits = size of 'rayHits' buffer
[out]	rayHits	Raycast hits information
[in]	stride	Stride value (in number of bytes) for rayHits array. Typically sizeof(PxGeomRaycastHit) for packed arrays.
[in]	queryFlags	Optional flags controlling the query.
[in]	threadContext	Optional user-defined per-thread context.

Returns

Number of hits between the ray and the geometry object

See also

PxGeomRaycastHit PxGeometry PxTransform

sweep()

bool PxGeometryQuery::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  )

static

Sweep a specified geometry object in space and test for collision with a given object.

The following combinations are supported.

• PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}

Parameters

[in]	unitDir	Normalized direction along which object geom0 should be swept
[in]	maxDist	Maximum sweep distance, has to be in the [0, inf) range
[in]	geom0	The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry
[in]	pose0	Pose of the geometry object to sweep
[in]	geom1	The geometry object to test the sweep against
[in]	pose1	Pose of the geometry object to sweep against
[out]	sweepHit	The sweep hit information. Only valid if this method returns true.
[in]	hitFlags	Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
[in]	inflation	Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.
[in]	queryFlags	Optional flags controlling the query.
[in]	threadContext	Optional user-defined per-thread context.

Returns

True if the swept geometry object geom0 hits the object geom1

See also

PxGeomSweepHit PxGeometry PxTransform

---

The documentation for this class was generated from the following files:

• RavEngine/deps/physx/physx/include/geometry/PxGeometryQuery.h
• RavEngine/deps/physx/physx/source/geomutils/src/GuGeometryQuery.cpp