Collection of GJK query functions (sweeps, raycasts, overlaps, ...). More...

#include <PxGjkQuery.h>

Classes
struct	Support
	Abstract interface for a user defined shape GJK mapping support. A user defined shape consists of a core shape and a margin. If the distance between two shapes' cores is equal to the sum of their margins, these shapes are considered touching. More...

Static Public Member Functions
static PX_PHYSX_COMMON_API bool	proximityInfo (const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB, PxReal contactDistance, PxReal toleranceLength, PxVec3 &pointA, PxVec3 &pointB, PxVec3 &separatingAxis, PxReal &separation)
	Computes proximity information for two shapes using GJK-EPA algorithm.

static PX_PHYSX_COMMON_API bool	raycast (const Support &shape, const PxTransform &pose, const PxVec3 &rayStart, const PxVec3 &unitDir, PxReal maxDist, PxReal &t, PxVec3 &n, PxVec3 &p)
	Raycast test against the given shape.

static PX_PHYSX_COMMON_API bool	overlap (const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB)
	Overlap test for two shapes.

static PX_PHYSX_COMMON_API bool	sweep (const Support &a, const Support &b, const PxTransform &poseA, const PxTransform &poseB, const PxVec3 &unitDir, PxReal maxDist, PxReal &t, PxVec3 &n, PxVec3 &p)
	Sweep the shape B in space and test for collision with the shape A.

Detailed Description

Collection of GJK query functions (sweeps, raycasts, overlaps, ...).

Member Function Documentation

static

Overlap test for two shapes.

Parameters

bool PxGjkQuery::proximityInfo	(	const Support &	a,
		const Support &	b,
		const PxTransform &	poseA,
		const PxTransform &	poseB,
		PxReal	contactDistance,
		PxReal	toleranceLength,
		PxVec3 &	pointA,
		PxVec3 &	pointB,
		PxVec3 &	separatingAxis,
		PxReal &	separation
	)

static

Computes proximity information for two shapes using GJK-EPA algorithm.

Parameters

[in]	a	Shape A support mapping
[in]	b	Shape B support mapping
[in]	poseA	Shape A transformation
[in]	poseB	Shape B transformation
[in]	contactDistance	The distance at which proximity info begins to be computed between the shapes
[in]	toleranceLength	The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
[out]	pointA	The closest/deepest point on shape A surface
[out]	pointB	The closest/deepest point on shape B surface
[out]	separatingAxis	Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
[out]	separation	Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching

static

Raycast test against the given shape.

Parameters

[in]	shape	Shape support mapping
[in]	pose	Shape transformation
[in]	rayStart	The start point of the ray to test the shape against
[in]	unitDir	Normalized direction of the ray to test the shape against
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[out]	t	Hit distance
[out]	n	Hit normal
[out]	p	Hit point

static

Sweep the shape B in space and test for collision with the shape A.

Parameters

[in]	a	Shape A support mapping
[in]	b	Shape B support mapping
[in]	poseA	Shape A transformation
[in]	poseB	Shape B transformation
[in]	unitDir	Normalized direction of the ray to test the shape against
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[out]	t	Hit distance
[out]	n	Hit normal
[out]	p	Hit point

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