Custom geometry callbacks structure. User should inherit this and implement all pure virtual functions. More...

#include <PxCustomGeometry.h>

Inheritance diagram for physx::PxCustomGeometry::Callbacks:

Public Member Functions
virtual Type	getCustomType () const =0
	Return custom type. The type purpose is for user to differentiate custom geometries. Not used by PhysX.

virtual PxBounds3	getLocalBounds (const PxGeometry &geometry) const =0
	Return local bounds.

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 =0
	Contacts generation. Generate collision contacts between two geometries in given poses.

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 threadContext) const =0
	Raycast. Cast a ray against the geometry in given pose.

virtual bool	overlap (const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1, PxOverlapThreadContext *threadContext) const =0
	Overlap. Test if geometries overlap.

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 *threadContext) const =0
	Sweep. Sweep one geometry against the other.

virtual void	visualize (const PxGeometry &geometry, PxRenderOutput &out, const PxTransform &absPose, const PxBounds3 &cullbox) const =0
	Visualize custom geometry for debugging. Optional.

virtual void	computeMassProperties (const PxGeometry &geometry, PxMassProperties &massProperties) const =0
	Compute custom geometry mass properties. For geometries usable with dynamic rigidbodies.

virtual bool	usePersistentContactManifold (const PxGeometry &geometry, PxReal &breakingThreshold) const =0
	Compatible with PhysX's PCM feature. Allows to optimize contact generation.

Detailed Description

Custom geometry callbacks structure. User should inherit this and implement all pure virtual functions.

Member Function Documentation

◆ computeMassProperties()

virtual void physx::PxCustomGeometry::Callbacks::computeMassProperties	(	const PxGeometry &	geometry,
		PxMassProperties &	massProperties
	)		const

pure virtual

Compute custom geometry mass properties. For geometries usable with dynamic rigidbodies.

Parameters

[in]	geometry	This geometry.
[out]	massProperties	Mass properties to compute.

Implemented in VoxelMap, CustomCylinder, and CustomCone.

◆ generateContacts()

virtual bool physx::PxCustomGeometry::Callbacks::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

pure virtual

Contacts generation. Generate collision contacts between two geometries in given poses.

Parameters

[in]	geom0	This custom geometry
[in]	geom1	The other geometry
[in]	pose0	This custom geometry pose
[in]	pose1	The other geometry pose
[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 are contacts. False otherwise.

Implemented in CustomConvex, and VoxelMap.

◆ getCustomType()

virtual Type physx::PxCustomGeometry::Callbacks::getCustomType ( ) const

pure virtual

Return custom type. The type purpose is for user to differentiate custom geometries. Not used by PhysX.

Returns: Unique ID of a custom geometry type.

Note: User should use DECLARE_CUSTOM_GEOMETRY_TYPE and IMPLEMENT_CUSTOM_GEOMETRY_TYPE intead of overwriting this function.

◆ getLocalBounds()

virtual PxBounds3 physx::PxCustomGeometry::Callbacks::getLocalBounds ( const PxGeometry & geometry ) const

pure virtual

Return local bounds.

Parameters

[in] geometry This geometry.

Returns: Bounding box in the geometry local space.

Implemented in CustomConvex, and VoxelMap.

◆ overlap()

virtual bool physx::PxCustomGeometry::Callbacks::overlap	(	const PxGeometry &	geom0,
		const PxTransform &	pose0,
		const PxGeometry &	geom1,
		const PxTransform &	pose1,
		PxOverlapThreadContext *	threadContext
	)		const

pure virtual

Overlap. Test if geometries overlap.

Parameters

[in]	geom0	This custom geometry
[in]	pose0	This custom geometry pose
[in]	geom1	The other geometry
[in]	pose1	The other geometry pose
[in]	threadContext	Optional user-defined per-thread context.

Returns: True if there is overlap. False otherwise.

Implemented in CustomConvex, and VoxelMap.

◆ raycast()

virtual PxU32 physx::PxCustomGeometry::Callbacks::raycast	(	const PxVec3 &	origin,
		const PxVec3 &	unitDir,
		const PxGeometry &	geom,
		const PxTransform &	pose,
		PxReal	maxDist,
		PxHitFlags	hitFlags,
		PxU32	maxHits,
		PxGeomRaycastHit *	rayHits,
		PxU32	stride,
		PxRaycastThreadContext *	threadContext
	)		const

pure virtual

Raycast. Cast a ray against the geometry in given pose.

Parameters

[in]	origin	Origin of the ray.
[in]	unitDir	Normalized direction of the ray.
[in]	geom	This custom geometry
[in]	pose	This custom geometry pose
[in]	maxDist	Length of the ray. Has to be in the [0, inf) range.
[in]	hitFlags	Specifies which properties per hit should be computed and returned via the hit callback.
[in]	maxHits	max number of returned hits = size of 'rayHits' buffer
[out]	rayHits	Ray hits.
[in]	stride	Ray hit structure stride.
[in]	threadContext	Optional user-defined per-thread context.

Returns: Number of hits.

◆ sweep()

virtual bool physx::PxCustomGeometry::Callbacks::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 *	threadContext
	)		const

pure virtual

Sweep. Sweep one geometry against the other.

Parameters

[in]	unitDir	Normalized direction of the sweep.
[in]	maxDist	Length of the sweep. Has to be in the [0, inf) range.
[in]	geom0	This custom geometry
[in]	pose0	This custom geometry pose
[in]	geom1	The other geometry
[in]	pose1	The other geometry pose
[out]	sweepHit	Used to report the sweep hit.
[in]	hitFlags	Specifies which properties per hit should be computed and returned via the hit callback.
[in]	inflation	This parameter creates a skin around the swept geometry which increases its extents for sweeping.
[in]	threadContext	Optional user-defined per-thread context.

Returns: True if there is hit. False otherwise.

◆ usePersistentContactManifold()

virtual bool physx::PxCustomGeometry::Callbacks::usePersistentContactManifold	(	const PxGeometry &	geometry,
		PxReal &	breakingThreshold
	)		const

pure virtual

Compatible with PhysX's PCM feature. Allows to optimize contact generation.

Parameters

[in]	geometry	This geometry.
[out]	breakingThreshold	The threshold to trigger contacts re-generation.

Implemented in CustomConvex, and VoxelMap.

◆ visualize()

virtual void physx::PxCustomGeometry::Callbacks::visualize	(	const PxGeometry &	geometry,
		PxRenderOutput &	out,
		const PxTransform &	absPose,
		const PxBounds3 &	cullbox
	)		const

pure virtual

Visualize custom geometry for debugging. Optional.

Parameters

[in]	geometry	This geometry.
[in]	out	Render output.
[in]	absPose	Geometry absolute transform.
[in]	cullbox	Region to visualize.

Implemented in CustomConvex, and VoxelMap.

The documentation for this struct was generated from the following file:

RavEngine/deps/physx/physx/include/geometry/PxCustomGeometry.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ computeMassProperties()

◆ generateContacts()

◆ getCustomType()

◆ getLocalBounds()

◆ overlap()

◆ raycast()

◆ sweep()

◆ usePersistentContactManifold()

◆ visualize()