PxGeometryQuery.h

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/*
 * Copyright (c) 2008-2015, 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.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
#define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY

#define PX_MAX_SWEEP_DISTANCE 1e8f

#include "common/PxPhysXCommonConfig.h"
#include "PxQueryReport.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxGeometry;
struct PxSweepHit;
struct PxRaycastHit;

class PxTriangle;

class PxGeometryQuery
{
public:

    PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir, 
                            const PxReal maxDist,
                            const PxGeometry& geom0,
                            const PxTransform& pose0,
                            const PxGeometry& geom1,
                            const PxTransform& pose1,
                            PxSweepHit& sweepHit,
                            PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
                            const PxReal inflation = 0.f);


    PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1);


    PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& origin,
                            const PxVec3& unitDir,
                            const PxGeometry& geom,
                            const PxTransform& pose,
                            PxReal maxDist,
                            PxHitFlags hitFlags,
                            PxU32 maxHits,
                            PxRaycastHit* PX_RESTRICT rayHits,
                            bool anyHit = false);

    PX_PHYSX_COMMON_API static bool     computePenetration(PxVec3& direction, PxF32& depth,
                                            const PxGeometry& geom0, const PxTransform& pose0,
                                            const PxGeometry& geom1, const PxTransform& pose1);

    PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);


    PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);
};


#ifndef PX_DOXYGEN
}
#endif

#endif