NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxShapeExt.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.
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+00029 
+00030 
+00031 #ifndef PX_PHYSICS_EXTENSIONS_SHAPE_H
+00032 #define PX_PHYSICS_EXTENSIONS_SHAPE_H
+00033 
+00037 #include "PxPhysXConfig.h"
+00038 
+00039 #include "PxShape.h"
+00040 #include "PxRigidActor.h"
+00041 #include "geometry/PxGeometryQuery.h"
+00042 
+00043 #if !PX_DOXYGEN
+00044 namespace physx
+00045 {
+00046 #endif
+00047 
+00054 class PxShapeExt
+00055 {
+00056 public:
+00065     static PX_INLINE    PxTransform     getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
+00066     {
+00067         return actor.getGlobalPose() * shape.getLocalPose();
+00068     }
+00069 
+00085     static PX_INLINE PxU32              raycast(const PxShape& shape, const PxRigidActor& actor, 
+00086                                                 const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
+00087                                                 PxU32 maxHits, PxRaycastHit* rayHits)
+00088     {
+00089         return PxGeometryQuery::raycast(
+00090             rayOrigin, rayDir, shape.getGeometry().any(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
+00091     }
+00092 
+00104     static PX_INLINE bool               overlap(const PxShape& shape, const PxRigidActor& actor, 
+00105                                                 const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
+00106     {
+00107         return PxGeometryQuery::overlap(shape.getGeometry().any(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
+00108     }
+00109 
+00127     static PX_INLINE bool           sweep(const PxShape& shape, const PxRigidActor& actor, 
+00128                                           const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
+00129                                           PxSweepHit& sweepHit, PxHitFlags hitFlags)
+00130     {
+00131         return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry().any(), getGlobalPose(shape, actor), sweepHit, hitFlags);
+00132     }
+00133 
+00134 
+00146     static PX_INLINE PxBounds3      getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
+00147     {
+00148         return PxGeometryQuery::getWorldBounds(shape.getGeometry().any(), getGlobalPose(shape, actor), inflation);
+00149     }
+00150 
+00151 };
+00152 
+00153 #if !PX_DOXYGEN
+00154 } // namespace physx
+00155 #endif
+00156 
+00158 #endif
+