Shape.h

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#ifndef SHAPE_H
#define SHAPE_H

#include "foundation/PxPreprocessor.h"
#include "ApexUsingNamespace.h"

#include "ApexDefs.h"

/*#if PX_PHYSICS_VERSION_MAJOR < 3
#include "Nxp.h"
#endif*/

namespace nvidia
{
namespace apex
{

PX_PUSH_PACK_DEFAULT


class SphereShape;
class CapsuleShape;
class BoxShape;
class HalfSpaceShape;
class RenderDebugInterface;

class Shape
{
public:

    virtual bool intersectAgainstAABB(PxBounds3) = 0;

    virtual PxBounds3 getAABB() const = 0;

    virtual const BoxShape* isBoxGeom() const
    {
        return NULL;
    }

    virtual const SphereShape* isSphereGeom() const
    {
        return NULL;
    }

    virtual const CapsuleShape* isCapsuleGeom() const
    {
        return NULL;
    }

    virtual const HalfSpaceShape* isHalfSpaceGeom() const
    {
        return NULL;
    }

    virtual void releaseApexShape() = 0;

    virtual void visualize(RenderDebugInterface* renderer) const = 0;

    virtual PxMat44 getPose() const = 0;

    virtual void setPose(PxMat44 pose) = 0;

    virtual PxMat44 getPreviousPose() const = 0;
};

class SphereShape : public Shape
{
public:
    virtual float getRadius() const = 0;

    virtual void setRadius(float radius) = 0;

};

class CapsuleShape : public Shape
{
public:
    virtual void getDimensions(float& height, float& radius) const = 0;

    virtual void setDimensions(float height, float radius) = 0;

};

class BoxShape : public Shape
{
public:
    virtual void setSize(PxVec3 size) = 0;

    virtual PxVec3 getSize() const = 0;

};

class HalfSpaceShape : public Shape
{
public:
    virtual void setOriginAndNormal(PxVec3 origin, PxVec3 normal) = 0;

    virtual PxVec3 getNormal() const = 0;

    virtual PxVec3 getOrigin() const = 0;

    virtual PxVec3 getPreviousOrigin() const = 0;
};


PX_POP_PACK

}
} // end namespace nvidia::apex

#endif // SHAPE_H