226 lines
8.9 KiB
C
226 lines
8.9 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
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#define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
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/**
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\brief Maximum sweep distance for scene sweeps. The distance parameter for sweep functions will be clamped to this value.
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The reason for this is GJK support cannot be evaluated near infinity. A viable alternative can be a sweep followed by an infinite raycast.
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@see PxScene
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*/
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#define PX_MAX_SWEEP_DISTANCE 1e8f
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "PxQueryReport.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxGeometry;
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struct PxSweepHit;
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struct PxRaycastHit;
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class PxTriangle;
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/**
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\brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
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*/
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class PxGeometryQuery
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{
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public:
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/**
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\brief Sweep a specified geometry object in space and test for collision with a given object.
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The following combinations are supported.
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\li PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\param[in] unitDir Normalized direction along which object geom0 should be swept
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\param[in] maxDist Maximum sweep distance, has to be in the [0, inf) range
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\param[in] geom0 The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry
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\param[in] pose0 Pose of the geometry object to sweep
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\param[in] geom1 The geometry object to test the sweep against
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\param[in] pose1 Pose of the geometry object to sweep against
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\param[out] sweepHit The sweep hit information. Only valid if this method returns true.
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\param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
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\param[in] inflation Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.
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\return True if the swept geometry object geom0 hits the object geom1
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@see PxSweepHit PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir,
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const PxReal maxDist,
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const PxGeometry& geom0,
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const PxTransform& pose0,
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const PxGeometry& geom1,
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const PxTransform& pose1,
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PxSweepHit& sweepHit,
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PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
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const PxReal inflation = 0.f);
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/**
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\brief Overlap test for two geometry objects.
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All combinations are supported except:
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\li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxTriangleMeshGeometry vs. {PxTriangleMeshGeometry, PxHeightFieldGeometry}
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\li PxHeightFieldGeometry vs. {PxHeightFieldGeometry}
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\param[in] geom0 The first geometry object
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\param[in] pose0 Pose of the first geometry object
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\param[in] geom1 The second geometry object
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\param[in] pose1 Pose of the second geometry object
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\return True if the two geometry objects overlap
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
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const PxGeometry& geom1, const PxTransform& pose1);
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/**
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\brief Raycast test against a geometry object.
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\param[in] origin The origin of the ray to test the geometry object against
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\param[in] unitDir Normalized direction of the ray to test the geometry object against
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\param[in] geom The geometry object to test the ray against
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\param[in] pose Pose of the geometry object
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\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
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\param[in] hitFlags Specification of the kind of information to retrieve on hit. Combination of #PxHitFlag flags
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\param[in] maxHits max number of returned hits = size of 'rayHits' buffer
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\param[out] rayHits Raycast hits information
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\return Number of hits between the ray and the geometry object
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@see PxRaycastHit PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& origin,
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const PxVec3& unitDir,
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const PxGeometry& geom,
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const PxTransform& pose,
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PxReal maxDist,
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PxHitFlags hitFlags,
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PxU32 maxHits,
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PxRaycastHit* PX_RESTRICT rayHits);
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/**
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\brief Compute minimum translational distance (MTD) between two geometry objects.
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All combinations of geom objects are supported except:
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- plane/plane
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- plane/mesh
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- plane/heightfield
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- mesh/mesh
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- mesh/heightfield
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- heightfield/heightfield
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The function returns a unit vector ('direction') and a penetration depth ('depth').
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The depenetration vector D = direction * depth should be applied to the first object, to
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get out of the second object.
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Returned depth should always be positive or null.
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If objects do not overlap, the function can not compute the MTD and returns false.
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\param[out] direction Computed MTD unit direction
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\param[out] depth Penetration depth. Always positive or null.
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\param[in] geom0 The first geometry object
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\param[in] pose0 Pose of the first geometry object
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\param[in] geom1 The second geometry object
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\param[in] pose1 Pose of the second geometry object
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\return True if the MTD has successfully been computed, i.e. if objects do overlap.
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static bool computePenetration(PxVec3& direction, PxF32& depth,
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const PxGeometry& geom0, const PxTransform& pose0,
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const PxGeometry& geom1, const PxTransform& pose1);
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/**
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\brief Computes distance between a point and a geometry object.
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Currently supported geometry objects: box, sphere, capsule, convex.
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\param[in] point The point P
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\param[in] geom The geometry object
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\param[in] pose Pose of the geometry object
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\param[out] closestPoint Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
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\return Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if the geometry type is not supported.
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
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/**
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\brief get the bounds for a geometry object
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\param[in] geom The geometry object
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\param[in] pose Pose of the geometry object
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\param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
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\return The bounds of the object
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@see PxGeometry PxTransform
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*/
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PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
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/**
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\brief Checks if provided geometry is valid.
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\param[in] geom The geometry object.
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\return True if geometry is valid.
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@see PxGeometry PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexGeometry
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*/
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PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
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};
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#if !PX_DOXYGEN
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}
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#endif
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/** @} */
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#endif
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