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<h1>PxShapeExt.h</h1><a href="PxShapeExt_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">//</span>
<a name="l00002"></a>00002 <span class="comment">// Redistribution and use in source and binary forms, with or without</span>
<a name="l00003"></a>00003 <span class="comment">// modification, are permitted provided that the following conditions</span>
<a name="l00004"></a>00004 <span class="comment">// are met:</span>
<a name="l00005"></a>00005 <span class="comment">// * Redistributions of source code must retain the above copyright</span>
<a name="l00006"></a>00006 <span class="comment">// notice, this list of conditions and the following disclaimer.</span>
<a name="l00007"></a>00007 <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00008"></a>00008 <span class="comment">// notice, this list of conditions and the following disclaimer in the</span>
<a name="l00009"></a>00009 <span class="comment">// documentation and/or other materials provided with the distribution.</span>
<a name="l00010"></a>00010 <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span>
<a name="l00011"></a>00011 <span class="comment">// contributors may be used to endorse or promote products derived</span>
<a name="l00012"></a>00012 <span class="comment">// from this software without specific prior written permission.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY</span>
<a name="l00015"></a>00015 <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span>
<a name="l00016"></a>00016 <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span>
<a name="l00017"></a>00017 <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span>
<a name="l00018"></a>00018 <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span>
<a name="l00019"></a>00019 <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span>
<a name="l00020"></a>00020 <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span>
<a name="l00021"></a>00021 <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span>
<a name="l00022"></a>00022 <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00023"></a>00023 <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span>
<a name="l00024"></a>00024 <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.</span>
<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_SHAPE_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_SHAPE_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="PxShape_8h.html">PxShape.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="PxRigidActor_8h.html">PxRigidActor.h</a>"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "<a class="code" href="PxGeometryQuery_8h.html">geometry/PxGeometryQuery.h</a>"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="preprocessor">#endif</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>
<a name="l00054"></a><a class="code" href="classPxShapeExt.html">00054</a> <span class="keyword">class </span><a class="code" href="classPxShapeExt.html" title="utility functions for use with PxShape">PxShapeExt</a>
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">public</span>:
<a name="l00065"></a><a class="code" href="classPxShapeExt.html#df481eb1ae61121027ae6bbf5829f497">00065</a> <span class="keyword">static</span> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a> getGlobalPose(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>& shape, <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>& actor)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordflow">return</span> actor.<a class="code" href="classPxRigidActor.html#6eb5e3d590e6087c930f8141d40de722" title="Retrieves the actors world space transform.">getGlobalPose</a>() * shape.<a class="code" href="classPxShape.html#f455638230d515adbfb561f1064e70a1" title="Retrieves the pose of the shape in actor space, i.e. relative to the actor they are...">getLocalPose</a>();
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069
<a name="l00085"></a><a class="code" href="classPxShapeExt.html#a96a6b923cccd8bf680d4bf9fb8aee2d">00085</a> <span class="keyword">static</span> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> raycast(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>& shape, <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>& actor,
<a name="l00086"></a>00086 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& rayOrigin, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& rayDir, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxDist, PxHitFlags hitFlags,
<a name="l00087"></a>00087 <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> maxHits, <a class="code" href="structPxRaycastHit.html" title="Stores results of raycast queries.">PxRaycastHit</a>* rayHits)
<a name="l00088"></a>00088 {
<a name="l00089"></a>00089 <span class="keywordflow">return</span> <a class="code" href="classPxGeometryQuery.html#79e90c0d753b17536aa1b8d1f2f29baa" title="Raycast test against a geometry object.">PxGeometryQuery::raycast</a>(
<a name="l00090"></a>00090 rayOrigin, rayDir, shape.<a class="code" href="classPxShape.html#531b866a02c9dc59131bc9887c065ff8" title="Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.">getGeometry</a>().<a class="code" href="classPxGeometryHolder.html#6c9aeca0bda5885f935c8aaae56851bd">any</a>(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00104"></a><a class="code" href="classPxShapeExt.html#ffe9828effe773b79ab836691b72d62a">00104</a> <span class="keyword">static</span> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">bool</span> overlap(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>& shape, <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>& actor,
<a name="l00105"></a>00105 <span class="keyword">const</span> <a class="code" href="classPxGeometry.html" title="A geometry object.">PxGeometry</a>& otherGeom, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& otherGeomPose)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <span class="keywordflow">return</span> <a class="code" href="classPxGeometryQuery.html#62d7a791dba43d475d96a28571f585b4" title="Overlap test for two geometry objects.">PxGeometryQuery::overlap</a>(shape.<a class="code" href="classPxShape.html#531b866a02c9dc59131bc9887c065ff8" title="Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.">getGeometry</a>().<a class="code" href="classPxGeometryHolder.html#6c9aeca0bda5885f935c8aaae56851bd">any</a>(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109
<a name="l00127"></a><a class="code" href="classPxShapeExt.html#9fb19195f3ac80b6ab55fd0aa7a41cf3">00127</a> <span class="keyword">static</span> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <span class="keywordtype">bool</span> sweep(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>& shape, <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>& actor,
<a name="l00128"></a>00128 <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance, <span class="keyword">const</span> <a class="code" href="classPxGeometry.html" title="A geometry object.">PxGeometry</a>& otherGeom, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& otherGeomPose,
<a name="l00129"></a>00129 <a class="code" href="structPxSweepHit.html" title="Stores results of sweep queries.">PxSweepHit</a>& sweepHit, PxHitFlags hitFlags)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 <span class="keywordflow">return</span> <a class="code" href="classPxGeometryQuery.html#574970e722f882778a250c51f77b5b85" title="Sweep a specified geometry object in space and test for collision with a given object...">PxGeometryQuery::sweep</a>(unitDir, distance, otherGeom, otherGeomPose, shape.<a class="code" href="classPxShape.html#531b866a02c9dc59131bc9887c065ff8" title="Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.">getGeometry</a>().<a class="code" href="classPxGeometryHolder.html#6c9aeca0bda5885f935c8aaae56851bd">any</a>(), getGlobalPose(shape, actor), sweepHit, hitFlags);
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a>00134
<a name="l00146"></a><a class="code" href="classPxShapeExt.html#71b7808c2c0623fe264f7973be837897">00146</a> <span class="keyword">static</span> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxBounds3.html" title="Class representing 3D range or axis aligned bounding box.">PxBounds3</a> getWorldBounds(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>& shape, <span class="keyword">const</span> <a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>& actor, <span class="keywordtype">float</span> inflation=1.01f)
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 <span class="keywordflow">return</span> <a class="code" href="classPxGeometryQuery.html#ac80fbc6fd9c2315aee6dddc9c1e9795" title="get the bounds for a geometry object">PxGeometryQuery::getWorldBounds</a>(shape.<a class="code" href="classPxShape.html#531b866a02c9dc59131bc9887c065ff8" title="Retrieve the geometry from the shape in a PxGeometryHolder wrapper class.">getGeometry</a>().<a class="code" href="classPxGeometryHolder.html#6c9aeca0bda5885f935c8aaae56851bd">any</a>(), getGlobalPose(shape, actor), inflation);
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00151"></a>00151 };
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00154"></a>00154 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
<a name="l00155"></a>00155 <span class="preprocessor">#endif</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span>
<a name="l00158"></a>00158 <span class="preprocessor">#endif</span>
</pre></div></div>
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