PxShapeExt.h

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#ifndef PX_PHYSICS_EXTENSIONS_SHAPE_H
#define PX_PHYSICS_EXTENSIONS_SHAPE_H

#include "PxPhysXConfig.h"

#include "PxShape.h"
#include "PxRigidActor.h"
#include "geometry/PxGeometryQuery.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxShapeExt
{
public:
    static PX_INLINE    PxTransform     getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
    {
        return actor.getGlobalPose() * shape.getLocalPose();
    }

    static PX_INLINE PxU32              raycast(const PxShape& shape, const PxRigidActor& actor, 
                                                const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
                                                PxU32 maxHits, PxRaycastHit* rayHits)
    {
        return PxGeometryQuery::raycast(
            rayOrigin, rayDir, shape.getGeometry().any(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
    }

    static PX_INLINE bool               overlap(const PxShape& shape, const PxRigidActor& actor, 
                                                const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
    {
        return PxGeometryQuery::overlap(shape.getGeometry().any(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
    }

    static PX_INLINE bool           sweep(const PxShape& shape, const PxRigidActor& actor, 
                                          const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
                                          PxSweepHit& sweepHit, PxHitFlags hitFlags)
    {
        return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry().any(), getGlobalPose(shape, actor), sweepHit, hitFlags);
    }


    static PX_INLINE PxBounds3      getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
    {
        return PxGeometryQuery::getWorldBounds(shape.getGeometry().any(), getGlobalPose(shape, actor), inflation);
    }

};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif