Space-Project/dependencies/physx-4.1/include/geometry/PxCapsuleGeometry.h
2021-01-16 17:11:39 +01:00

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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_NX_CAPSULE_GEOMETRY
#define PX_PHYSICS_NX_CAPSULE_GEOMETRY
/** \addtogroup geomutils
@{
*/
#include "geometry/PxGeometry.h"
#include "foundation/PxFoundationConfig.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Class representing the geometry of a capsule.
Capsules are shaped as the union of a cylinder of length 2 * halfHeight and with the
given radius centered at the origin and extending along the x axis, and two hemispherical ends.
\note The scaling of the capsule is expected to be baked into these values, there is no additional scaling parameter.
The function PxTransformFromSegment is a helper for generating an appropriate transform for the capsule from the capsule's interior line segment.
@see PxTransformFromSegment
*/
class PxCapsuleGeometry : public PxGeometry
{
public:
/**
\brief Default constructor, initializes to a capsule with zero height and radius.
*/
PX_INLINE PxCapsuleGeometry() : PxGeometry(PxGeometryType::eCAPSULE), radius(0), halfHeight(0) {}
/**
\brief Constructor, initializes to a capsule with passed radius and half height.
*/
PX_INLINE PxCapsuleGeometry(PxReal radius_, PxReal halfHeight_) : PxGeometry(PxGeometryType::eCAPSULE), radius(radius_), halfHeight(halfHeight_) {}
/**
\brief Returns true if the geometry is valid.
\return True if the current settings are valid.
\note A valid capsule has radius > 0, halfHeight > 0.
It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a capsule that has zero radius or height.
@see PxRigidActor::createShape, PxPhysics::createShape
*/
PX_INLINE bool isValid() const;
public:
/**
\brief The radius of the capsule.
*/
PxReal radius;
/**
\brief half of the capsule's height, measured between the centers of the hemispherical ends.
*/
PxReal halfHeight;
};
PX_INLINE bool PxCapsuleGeometry::isValid() const
{
if (mType != PxGeometryType::eCAPSULE)
return false;
if (!PxIsFinite(radius) || !PxIsFinite(halfHeight))
return false;
if (radius <= 0.0f || halfHeight <= 0.0f)
return false;
return true;
}
/** \brief creates a transform from the endpoints of a segment, suitable for an actor transform for a PxCapsuleGeometry
\param[in] p0 one end of major axis of the capsule
\param[in] p1 the other end of the axis of the capsule
\param[out] halfHeight the halfHeight of the capsule. This parameter is optional.
\return A PxTransform which will transform the vector (1,0,0) to the capsule axis shrunk by the halfHeight
*/
PX_FOUNDATION_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight = NULL);
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif