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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

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diff --git a/PhysX_3.4/Include/geometry/PxGeometryQuery.h b/PhysX_3.4/Include/geometry/PxGeometryQuery.h
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 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_GEOMUTILS_PX_GEOMETRY_QUERY
+#define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
+
+/**
+\brief Maximum sweep distance for scene sweeps. The distance parameter for sweep functions will be clamped to this value.
+The reason for this is GJK support cannot be evaluated near infinity. A viable alternative can be a sweep followed by an infinite raycast.
+
+@see PxScene
+*/
+#define PX_MAX_SWEEP_DISTANCE 1e8f
+
+/** \addtogroup geomutils
+  @{
+*/
+
+#include "common/PxPhysXCommonConfig.h"
+#include "PxQueryReport.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxGeometry;
+struct PxSweepHit;
+struct PxRaycastHit;
+
+class PxTriangle;
+
+/**
+\brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
+*/
+class PxGeometryQuery
+{
+public:
+
+	/**
+	\brief Sweep a specified geometry object in space and test for collision with a given object.
+
+	The following combinations are supported.
+
+	\li PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
+	\li PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
+	\li PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
+	\li PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
+
+	\param[in] unitDir Normalized direction along which object geom0 should be swept
+	\param[in] maxDist Maximum sweep distance, has to be in the [0, inf) range
+	\param[in] geom0 The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry
+	\param[in] pose0 Pose of the geometry object to sweep
+	\param[in] geom1 The geometry object to test the sweep against
+	\param[in] pose1 Pose of the geometry object to sweep against
+	\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
+	\param[in] inflation Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.
+
+	\return True if the swept geometry object geom0 hits the object geom1
+
+	@see PxSweepHit PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir, 
+							const PxReal maxDist,
+							const PxGeometry& geom0,
+							const PxTransform& pose0,
+							const PxGeometry& geom1,
+							const PxTransform& pose1,
+							PxSweepHit& sweepHit,
+							PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
+							const PxReal inflation = 0.f);
+
+
+	/**
+	\brief Overlap test for two geometry objects.
+
+	All combinations are supported except:
+	\li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
+	\li PxTriangleMeshGeometry vs. {PxTriangleMeshGeometry, PxHeightFieldGeometry}
+	\li PxHeightFieldGeometry vs. {PxHeightFieldGeometry}
+
+	\param[in] geom0 The first geometry object
+	\param[in] pose0 Pose of the first geometry object
+	\param[in] geom1 The second geometry object
+	\param[in] pose1 Pose of the second geometry object
+	\return True if the two geometry objects overlap
+
+	@see PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
+											const PxGeometry& geom1, const PxTransform& pose1);
+
+
+	/**
+	\brief Raycast test against a geometry object.
+
+	\param[in] origin The origin of the ray to test the geometry object against
+	\param[in] unitDir Normalized direction of the ray to test the geometry object against
+	\param[in] geom The geometry object to test the ray against
+	\param[in] pose Pose of the geometry object
+	\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
+	\param[in] hitFlags Specification of the kind of information to retrieve on hit. 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 geometry object
+
+	@see PxRaycastHit PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& origin,
+							const PxVec3& unitDir,
+							const PxGeometry& geom,
+							const PxTransform& pose,
+							PxReal maxDist,
+							PxHitFlags hitFlags,
+							PxU32 maxHits,
+							PxRaycastHit* PX_RESTRICT rayHits);
+
+	/**
+	\brief Compute minimum translational distance (MTD) between two geometry objects.
+
+	All combinations of geom objects are supported except:
+	- plane/plane
+	- plane/mesh
+	- plane/heightfield
+	- mesh/mesh
+	- mesh/heightfield
+	- heightfield/heightfield
+
+	The function returns a unit vector ('direction') and a penetration depth ('depth').
+
+	The depenetration vector D = direction * depth should be applied to the first object, to
+	get out of the second object.
+
+	Returned depth should always be positive or null.
+
+	If objects do not overlap, the function can not compute the MTD and returns false.
+
+	\param[out] direction Computed MTD unit direction
+	\param[out] depth Penetration depth. Always positive or null.
+	\param[in] geom0 The first geometry object
+	\param[in] pose0 Pose of the first geometry object
+	\param[in] geom1 The second geometry object
+	\param[in] pose1 Pose of the second geometry object
+	\return True if the MTD has successfully been computed, i.e. if objects do overlap.
+
+	@see PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static bool		computePenetration(PxVec3& direction, PxF32& depth,
+											const PxGeometry& geom0, const PxTransform& pose0,
+											const PxGeometry& geom1, const PxTransform& pose1);
+
+	/**
+	\brief Computes distance between a point and a geometry object.
+
+	Currently supported geometry objects: box, sphere, capsule, convex.
+
+	\param[in] point The point P
+	\param[in] geom The geometry object
+	\param[in] pose Pose of the geometry object
+	\param[out] closestPoint Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
+	\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.
+
+	@see PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
+
+
+	/**
+	\brief get the bounds for a geometry object
+
+	\param[in] geom The geometry object
+	\param[in] pose Pose of the geometry object
+	\param[in] inflation  Scale factor for computed world bounds. Box extents are multiplied by this value.
+	\return The bounds of the object
+
+	@see PxGeometry PxTransform
+	*/
+	PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
+
+	/**
+	\brief Checks if provided geometry is valid.
+
+	\param[in] geom The geometry object.
+	\return True if geometry is valid.
+
+	@see PxGeometry PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexGeometry
+	*/
+	PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
+};
+
+
+#if !PX_DOXYGEN
+}
+#endif
+
+/** @} */
+#endif