Projekt_Grafika/dependencies/physx-4.1/include/extensions/PxShapeExt.h
Jakub Adamski f5087ee7b6 new repo
2021-01-29 17:02:11 +01:00

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//
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// Copyright (c) 2008-2019 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_PHYSICS_EXTENSIONS_SHAPE_H
#define PX_PHYSICS_EXTENSIONS_SHAPE_H
/** \addtogroup extensions
@{
*/
#include "PxPhysXConfig.h"
#include "PxShape.h"
#include "PxRigidActor.h"
#include "geometry/PxGeometryQuery.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief utility functions for use with PxShape
@see PxShape
*/
class PxShapeExt
{
public:
/**
\brief Retrieves the world space pose of the shape.
\param[in] shape The shape for which to get the global pose.
\param[in] actor The actor to which the shape is attached
\return Global pose of shape.
*/
static PX_INLINE PxTransform getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
{
return actor.getGlobalPose() * shape.getLocalPose();
}
/**
\brief Raycast test against the shape.
\param[in] shape the shape
\param[in] actor the actor to which the shape is attached
\param[in] rayOrigin The origin of the ray to test the geometry object against
\param[in] rayDir The direction of the ray to test the geometry object against
\param[in] maxDist Maximum ray length
\param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
\param[in] maxHits max number of returned hits = size of 'rayHits' buffer
\param[out] rayHits Raycast hits information
\return Number of hits between the ray and the shape
@see PxRaycastHit PxTransform
*/
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().any(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
}
/**
\brief Test overlap between the shape and a geometry object
\param[in] shape the shape
\param[in] actor the actor to which the shape is attached
\param[in] otherGeom The other geometry object to test overlap with
\param[in] otherGeomPose Pose of the other geometry object
\return True if the shape overlaps the geometry object
@see PxGeometry PxTransform
*/
static PX_INLINE bool overlap(const PxShape& shape, const PxRigidActor& actor,
const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
{
return PxGeometryQuery::overlap(shape.getGeometry().any(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
}
/**
\brief Sweep a geometry object against the shape.
Currently only box, sphere, capsule and convex mesh shapes are supported, i.e. the swept geometry object must be one of those types.
\param[in] shape the shape
\param[in] actor the actor to which the shape is attached
\param[in] unitDir Normalized direction along which the geometry object should be swept.
\param[in] distance Sweep distance. Needs to be larger than 0.
\param[in] otherGeom The geometry object to sweep against the shape
\param[in] otherGeomPose Pose of the geometry object
\param[out] sweepHit The sweep hit information. Only valid if this method returns true.
\param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
\return True if the swept geometry object hits the shape
@see PxGeometry PxTransform PxSweepHit
*/
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().any(), getGlobalPose(shape, actor), sweepHit, hitFlags);
}
/**
\brief Retrieves the axis aligned bounding box enclosing the shape.
\return The shape's bounding box.
\param[in] shape the shape
\param[in] actor the actor to which the shape is attached
\param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
@see PxBounds3
*/
static PX_INLINE PxBounds3 getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
{
return PxGeometryQuery::getWorldBounds(shape.getGeometry().any(), getGlobalPose(shape, actor), inflation);
}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif