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All rights reserved. #ifndef GU_SWEEP_TESTS_H #define GU_SWEEP_TESTS_H #include "CmPhysXCommon.h" #include "PxQueryReport.h" #include "PxGeometry.h" namespace physx { class PxConvexMeshGeometry; class PxCapsuleGeometry; class PxTriangle; class PxBoxGeometry; // PT: TODO: unify this with raycast calls (names and order of params) // PT: we use defines to be able to quickly change the signature of all sweep functions. // (this also ensures they all use consistent names for passed parameters). // \param[in] geom geometry object to sweep against // \param[in] pose pose of geometry object // \param[in] unitDir sweep's unit dir // \param[in] distance sweep's length/max distance // \param[out] sweepHit hit result // \param[in] hitFlags query behavior flags // \param[in] inflation optional inflation value for swept shape // PT: sweep parameters for capsule #define GU_CAPSULE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \ const PxCapsuleGeometry& capsuleGeom_, const PxTransform& capsulePose_, const Gu::Capsule& lss, \ const PxVec3& unitDir, PxReal distance, \ PxSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation // PT: sweep parameters for box #define GU_BOX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \ const PxBoxGeometry& boxGeom_, const PxTransform& boxPose_, const Gu::Box& box, \ const PxVec3& unitDir, PxReal distance, \ PxSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation // PT: sweep parameters for convex #define GU_CONVEX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \ const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, \ const PxVec3& unitDir, PxReal distance, \ PxSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation namespace Gu { class Capsule; class Box; // PT: function pointer for Geom-indexed capsule sweep functions // See GU_CAPSULE_SWEEP_FUNC_PARAMS for function parameters details. // \return true if a hit was found, false otherwise typedef bool (*SweepCapsuleFunc) (GU_CAPSULE_SWEEP_FUNC_PARAMS); // PT: function pointer for Geom-indexed box sweep functions // See GU_BOX_SWEEP_FUNC_PARAMS for function parameters details. // \return true if a hit was found, false otherwise typedef bool (*SweepBoxFunc) (GU_BOX_SWEEP_FUNC_PARAMS); // PT: function pointer for Geom-indexed box sweep functions // See GU_CONVEX_SWEEP_FUNC_PARAMS for function parameters details. // \return true if a hit was found, false otherwise typedef bool (*SweepConvexFunc) (GU_CONVEX_SWEEP_FUNC_PARAMS); // PT: typedef for bundles of all sweep functions, i.e. the function tables themselves (indexed by geom-type). typedef SweepCapsuleFunc GeomSweepCapsuleTable [PxGeometryType::eGEOMETRY_COUNT]; typedef SweepBoxFunc GeomSweepBoxTable [PxGeometryType::eGEOMETRY_COUNT]; typedef SweepConvexFunc GeomSweepConvexTable [PxGeometryType::eGEOMETRY_COUNT]; struct GeomSweepFuncs { GeomSweepCapsuleTable capsuleMap; GeomSweepCapsuleTable preciseCapsuleMap; GeomSweepBoxTable boxMap; GeomSweepBoxTable preciseBoxMap; GeomSweepConvexTable convexMap; }; // PT: grabs all sweep function tables at once (for access by external non-Gu modules) PX_PHYSX_COMMON_API const GeomSweepFuncs& getSweepFuncTable(); // PT: signature for sweep-vs-triangles functions. // We use defines to be able to quickly change the signature of all sweep functions. // (this also ensures they all use consistent names for passed parameters). // \param[in] nbTris number of triangles in input array // \param[in] triangles array of triangles to sweep the shape against // \param[in] doubleSided true if input triangles are double-sided // \param[in] x geom to sweep against input triangles // \param[in] pose pose of geom x // \param[in] unitDir sweep's unit dir // \param[in] distance sweep's length/max distance // \param[out] hit hit result // \param[in] cachedIndex optional initial triangle index (must be