NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxGeometryQuery.h Source File

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+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 
+00031 #ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
+00032 #define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
+00033 
+00040 #define PX_MAX_SWEEP_DISTANCE 1e8f
+00041 
+00046 #include "common/PxPhysXCommonConfig.h"
+00047 #include "PxQueryReport.h"
+00048 
+00049 #if !PX_DOXYGEN
+00050 namespace physx
+00051 {
+00052 #endif
+00053 
+00054 class PxGeometry;
+00055 struct PxSweepHit;
+00056 struct PxRaycastHit;
+00057 
+00058 class PxTriangle;
+00059 
+00063 class PxGeometryQuery
+00064 {
+00065 public:
+00066 
+00091     PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir, 
+00092                             const PxReal maxDist,
+00093                             const PxGeometry& geom0,
+00094                             const PxTransform& pose0,
+00095                             const PxGeometry& geom1,
+00096                             const PxTransform& pose1,
+00097                             PxSweepHit& sweepHit,
+00098                             PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
+00099                             const PxReal inflation = 0.f);
+00100 
+00101 
+00118     PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
+00119                                             const PxGeometry& geom1, const PxTransform& pose1);
+00120 
+00121 
+00137     PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& origin,
+00138                             const PxVec3& unitDir,
+00139                             const PxGeometry& geom,
+00140                             const PxTransform& pose,
+00141                             PxReal maxDist,
+00142                             PxHitFlags hitFlags,
+00143                             PxU32 maxHits,
+00144                             PxRaycastHit* PX_RESTRICT rayHits);
+00145 
+00176     PX_PHYSX_COMMON_API static bool     computePenetration(PxVec3& direction, PxF32& depth,
+00177                                             const PxGeometry& geom0, const PxTransform& pose0,
+00178                                             const PxGeometry& geom1, const PxTransform& pose1);
+00179 
+00193     PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
+00194 
+00195 
+00206     PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
+00207 
+00216     PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
+00217 };
+00218 
+00219 
+00220 #if !PX_DOXYGEN
+00221 }
+00222 #endif
+00223 
+00225 #endif
+