159 lines
5.9 KiB
C++
159 lines
5.9 KiB
C++
//
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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_EXTENSIONS_SHAPE_H
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#define PX_PHYSICS_EXTENSIONS_SHAPE_H
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/** \addtogroup extensions
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "PxShape.h"
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#include "PxRigidActor.h"
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#include "geometry/PxGeometryQuery.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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/**
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\brief utility functions for use with PxShape
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@see PxShape
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*/
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class PxShapeExt
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{
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public:
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/**
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\brief Retrieves the world space pose of the shape.
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\param[in] shape The shape for which to get the global pose.
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\param[in] actor The actor to which the shape is attached
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\return Global pose of shape.
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*/
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static PX_INLINE PxTransform getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
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{
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return actor.getGlobalPose() * shape.getLocalPose();
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}
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/**
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\brief Raycast test against the shape.
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\param[in] shape the shape
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\param[in] actor the actor to which the shape is attached
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\param[in] rayOrigin The origin of the ray to test the geometry object against
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\param[in] rayDir The direction of the ray to test the geometry object against
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\param[in] maxDist Maximum ray length
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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] 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 shape
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@see PxRaycastHit PxTransform
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*/
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static PX_INLINE PxU32 raycast(const PxShape& shape, const PxRigidActor& actor,
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const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
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PxU32 maxHits, PxRaycastHit* rayHits)
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{
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return PxGeometryQuery::raycast(
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rayOrigin, rayDir, shape.getGeometry().any(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
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}
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/**
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\brief Test overlap between the shape and a geometry object
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\param[in] shape the shape
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\param[in] actor the actor to which the shape is attached
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\param[in] otherGeom The other geometry object to test overlap with
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\param[in] otherGeomPose Pose of the other geometry object
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\return True if the shape overlaps the geometry object
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@see PxGeometry PxTransform
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*/
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static PX_INLINE bool overlap(const PxShape& shape, const PxRigidActor& actor,
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const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
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{
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return PxGeometryQuery::overlap(shape.getGeometry().any(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
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}
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/**
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\brief Sweep a geometry object against the shape.
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Currently only box, sphere, capsule and convex mesh shapes are supported, i.e. the swept geometry object must be one of those types.
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\param[in] shape the shape
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\param[in] actor the actor to which the shape is attached
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\param[in] unitDir Normalized direction along which the geometry object should be swept.
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\param[in] distance Sweep distance. Needs to be larger than 0.
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\param[in] otherGeom The geometry object to sweep against the shape
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\param[in] otherGeomPose Pose of the geometry object
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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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\return True if the swept geometry object hits the shape
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@see PxGeometry PxTransform PxSweepHit
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*/
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static PX_INLINE bool sweep(const PxShape& shape, const PxRigidActor& actor,
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const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
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PxSweepHit& sweepHit, PxHitFlags hitFlags)
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{
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return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry().any(), getGlobalPose(shape, actor), sweepHit, hitFlags);
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}
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/**
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\brief Retrieves the axis aligned bounding box enclosing the shape.
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\return The shape's bounding box.
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\param[in] shape the shape
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\param[in] actor the actor to which the shape is attached
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\param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
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@see PxBounds3
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*/
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static PX_INLINE PxBounds3 getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
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{
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return PxGeometryQuery::getWorldBounds(shape.getGeometry().any(), getGlobalPose(shape, actor), inflation);
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}
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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