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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef GU_MTD_H
#define GU_MTD_H
#include "PxGeometry.h"
namespace physx
{
namespace Gu
{
// PT: we use a define to be able to quickly change the signature of all MTD functions.
// (this also ensures they all use consistent names for passed parameters).
// \param[out] mtd computed depenetration dir
// \param[out] depth computed depenetration depth
// \param[in] geom0 first geometry object
// \param[in] pose0 pose of first geometry object
// \param[in] geom1 second geometry object
// \param[in] pose1 pose of second geometry object
// \param[in] cache optional cached data for triggers
#define GU_MTD_FUNC_PARAMS PxVec3& mtd, PxF32& depth, \
const PxGeometry& geom0, const PxTransform& pose0, \
const PxGeometry& geom1, const PxTransform& pose1
// PT: function pointer for Geom-indexed MTD functions
// See GU_MTD_FUNC_PARAMS for function parameters details.
// \return true if an overlap was found, false otherwise
// \note depenetration vector D is equal to mtd * depth. It should be applied to the 1st object, to get out of the 2nd object.
typedef bool (*GeomMTDFunc) (GU_MTD_FUNC_PARAMS);
}
}
#endif
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