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/*
* Copyright (c) 2008-2017, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, 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.
*/
#ifndef APEX_COLLISION_H
#define APEX_COLLISION_H
#include "ApexDefs.h"
#include "ApexUsingNamespace.h"
#include "PxVec3.h"
#include "PxMat33.h"
namespace nvidia
{
namespace apex
{
struct Segment
{
PxVec3 p0;
PxVec3 p1;
};
struct Capsule : Segment
{
float radius;
};
struct Triangle
{
Triangle(const PxVec3& a, const PxVec3& b, const PxVec3& c) : v0(a), v1(b), v2(c) {}
PxVec3 v0;
PxVec3 v1;
PxVec3 v2;
};
struct Box
{
PxVec3 center;
PxVec3 extents;
PxMat33 rot;
};
bool capsuleCapsuleIntersection(const Capsule& worldCaps0, const Capsule& worldCaps1, float tolerance = 1.2);
bool boxBoxIntersection(const Box& worldBox0, const Box& worldBox1);
float APEX_pointTriangleSqrDst(const Triangle& triangle, const PxVec3& position);
float APEX_segmentSegmentSqrDist(const Segment& seg0, const Segment& seg1, float* s, float* t);
float APEX_pointSegmentSqrDist(const Segment& seg, const PxVec3& point, float* param = 0);
uint32_t APEX_RayCapsuleIntersect(const PxVec3& origin, const PxVec3& dir, const Capsule& capsule, float s[2]);
bool APEX_RayTriangleIntersect(const PxVec3& orig, const PxVec3& dir, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& t, float& u, float& v);
} // namespace apex
} // namespace nvidia
#endif // APEX_COLLISION_H
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