Static Public Member Functions | List of all members
PxMeshQuery Class Reference
Geomutils

#include <PxMeshQuery.h>

Static Public Member Functions

static PX_PHYSX_COMMON_API void getTriangle (const PxTriangleMeshGeometry &triGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices=NULL, PxU32 *adjacencyIndices=NULL)
 Retrieves triangle data from a triangle ID. More...
 
static PX_PHYSX_COMMON_API void getTriangle (const PxHeightFieldGeometry &hfGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices=NULL, PxU32 *adjacencyIndices=NULL)
 Retrieves triangle data from a triangle ID. More...
 
static PX_PHYSX_COMMON_API PxU32 findOverlapTriangleMesh (const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow)
 Find the mesh triangles which touch the specified geometry object. More...
 
static PX_PHYSX_COMMON_API PxU32 findOverlapHeightField (const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &hfGeom, const PxTransform &hfPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow)
 Find the height field triangles which touch the specified geometry object. More...
 
static PX_PHYSX_COMMON_API bool sweep (const PxVec3 &unitDir, const PxReal distance, const PxGeometry &geom, const PxTransform &pose, PxU32 triangleCount, const PxTriangle *triangles, PxSweepHit &sweepHit, PxHitFlags hitFlags=PxHitFlag::eDEFAULT, const PxU32 *cachedIndex=NULL, const PxReal inflation=0.0f, bool doubleSided=false)
 Sweep a specified geometry object in space and test for collision with a set of given triangles. More...
 

Member Function Documentation

◆ findOverlapHeightField()

static PX_PHYSX_COMMON_API PxU32 PxMeshQuery::findOverlapHeightField ( const PxGeometry &  geom,
const PxTransform &  geomPose,
const PxHeightFieldGeometry &  hfGeom,
const PxTransform &  hfPose,
PxU32 *  results,
PxU32  maxResults,
PxU32  startIndex,
bool &  overflow 
)
static

Find the height field triangles which touch the specified geometry object.

Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.

Parameters
[in]geomThe geometry object to test for height field overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
[in]geomPosePose of the geometry object
[in]hfGeomThe height field geometry to check overlap against
[in]hfPosePose of the height field
[out]resultsIndices of overlapping triangles
[in]maxResultsSize of 'results' buffer
[in]startIndexIndex of first result to be retrieved. Previous indices are skipped.
[out]overflowTrue if a buffer overflow occurred
Returns
Number of overlaps found, i.e. number of elements written to the results buffer
See also
PxHeightFieldGeometry getTriangle()

◆ findOverlapTriangleMesh()

static PX_PHYSX_COMMON_API PxU32 PxMeshQuery::findOverlapTriangleMesh ( const PxGeometry &  geom,
const PxTransform &  geomPose,
const PxTriangleMeshGeometry &  meshGeom,
const PxTransform &  meshPose,
PxU32 *  results,
PxU32  maxResults,
PxU32  startIndex,
bool &  overflow 
)
static

Find the mesh triangles which touch the specified geometry object.

Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.

Parameters
[in]geomThe geometry object to test for mesh triangle overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
[in]geomPosePose of the geometry object
[in]meshGeomThe triangle mesh geometry to check overlap against
[in]meshPosePose of the triangle mesh
[out]resultsIndices of overlapping triangles
[in]maxResultsSize of 'results' buffer
[in]startIndexIndex of first result to be retrieved. Previous indices are skipped.
[out]overflowTrue if a buffer overflow occurred
Returns
Number of overlaps found, i.e. number of elements written to the results buffer
See also
PxTriangleMeshGeometry getTriangle()

◆ getTriangle() [1/2]

static PX_PHYSX_COMMON_API void PxMeshQuery::getTriangle ( const PxTriangleMeshGeometry &  triGeom,
const PxTransform &  transform,
PxTriangleID  triangleIndex,
PxTriangle &  triangle,
PxU32 *  vertexIndices = NULL,
PxU32 *  adjacencyIndices = NULL 
)
static

Retrieves triangle data from a triangle ID.

This function can be used together with findOverlapTriangleMesh() to retrieve triangle properties.

Parameters
[in]triGeomGeometry of the triangle mesh to extract the triangle from.
[in]transformTransform for the triangle mesh
[in]triangleIndexThe index of the triangle to retrieve.
[out]triangleTriangle points in world space.
[out]vertexIndicesReturned vertex indices for given triangle
[out]adjacencyIndicesReturned 3 triangle adjacency internal face indices (0xFFFFFFFF if no adjacency). The mesh must be cooked with cooking param buildTriangleAdjacencies enabled.
Note
This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
See also
PxTriangle PxTriangleFlags PxTriangleID findOverlapTriangleMesh()

◆ getTriangle() [2/2]

static PX_PHYSX_COMMON_API void PxMeshQuery::getTriangle ( const PxHeightFieldGeometry &  hfGeom,
const PxTransform &  transform,
PxTriangleID  triangleIndex,
PxTriangle &  triangle,
PxU32 *  vertexIndices = NULL,
PxU32 *  adjacencyIndices = NULL 
)
static

Retrieves triangle data from a triangle ID.

This function can be used together with findOverlapHeightField() to retrieve triangle properties.

Parameters
[in]hfGeomGeometry of the height field to extract the triangle from.
[in]transformTransform for the height field.
[in]triangleIndexThe index of the triangle to retrieve.
[out]triangleTriangle points in world space.
[out]vertexIndicesReturned vertex indices for given triangle
[out]adjacencyIndicesReturned 3 triangle adjacency triangle indices (0xFFFFFFFF if no adjacency).
Note
This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
TriangleIndex is an index used in internal format, which does have an index out of the bounds in last row. To traverse all tri indices in the HF, the following code can be applied: for (PxU32 row = 0; row < (nbRows - 1); row++) { for (PxU32 col = 0; col < (nbCols - 1); col++) { for (PxU32 k = 0; k < 2; k++) { const PxU32 triIndex = 2 * (row*nbCols + col) + k; .... } } }
See also
PxTriangle PxTriangleFlags PxTriangleID findOverlapHeightField()

◆ sweep()

static PX_PHYSX_COMMON_API bool PxMeshQuery::sweep ( const PxVec3 &  unitDir,
const PxReal  distance,
const PxGeometry &  geom,
const PxTransform &  pose,
PxU32  triangleCount,
const PxTriangle *  triangles,
PxSweepHit &  sweepHit,
PxHitFlags  hitFlags = PxHitFlag::eDEFAULT,
const PxU32 *  cachedIndex = NULL,
const PxReal  inflation = 0.0f,
bool  doubleSided = false 
)
static

Sweep a specified geometry object in space and test for collision with a set of given triangles.

This function simply sweeps input geometry against each input triangle, in the order they are given. This is an O(N) operation with N = number of input triangles. It does not use any particular acceleration structure.

Parameters
[in]unitDirNormalized direction of the sweep.
[in]distanceSweep distance. Needs to be larger than 0. Clamped to PX_MAX_SWEEP_DISTANCE.
[in]geomThe geometry object to sweep. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
[in]posePose of the geometry object to sweep.
[in]triangleCountNumber of specified triangles
[in]trianglesArray of triangles to sweep against
[out]sweepHitThe sweep hit information. See the notes below for limitations about returned results.
[in]hitFlagsSpecification of the kind of information to retrieve on hit. Combination of PxHitFlag flags. See the notes below for limitations about supported flags.
[in]cachedIndexCached triangle index for subsequent calls. Cached triangle is tested first. Optional parameter.
[in]inflationThis parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
[in]doubleSidedCounterpart of PxMeshGeometryFlag::eDOUBLE_SIDED for input triangles.
Returns
True if the swept geometry object hits the specified triangles
Note
Only the following geometry types are currently supported: PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry
If a shape from the scene is already overlapping with the query shape in its starting position, the hit is returned unless eASSUME_NO_INITIAL_OVERLAP was specified.
This function returns a single closest hit across all the input triangles. Multiple hits are not supported.
Supported hitFlags are PxHitFlag::eDEFAULT, PxHitFlag::eASSUME_NO_INITIAL_OVERLAP, PxHitFlag::ePRECISE_SWEEP, PxHitFlag::eMESH_BOTH_SIDES, PxHitFlag::eMESH_ANY.
ePOSITION is only defined when there is no initial overlap (sweepHit.hadInitialOverlap() == false)
The returned normal for initially overlapping sweeps is set to -unitDir.
Otherwise the returned normal is the front normal of the triangle even if PxHitFlag::eMESH_BOTH_SIDES is set.
The returned PxSweepHit::faceIndex parameter will hold the index of the hit triangle in input array, i.e. the range is [0; triangleCount). For initially overlapping sweeps, this is the index of overlapping triangle.
The returned PxSweepHit::actor and PxSweepHit::shape pointers are not filled.
The inflation parameter is not compatible with PxHitFlag::ePRECISE_SWEEP.
See also
PxTriangle PxSweepHit PxGeometry PxTransform
The documentation for this class was generated from the following file: