feat(physics): wire physx sdk into build
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engine/third_party/physx/include/geometry/PxGjkQuery.h
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engine/third_party/physx/include/geometry/PxGjkQuery.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_GJK_QUERY_H
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#define PX_GJK_QUERY_H
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxTransform.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Collection of GJK query functions (sweeps, raycasts, overlaps, ...).
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*/
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class PxGjkQuery
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{
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public:
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/**
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\brief Abstract interface for a user defined shape GJK mapping support.
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A user defined shape consists of a core shape and a margin. If the distance
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between two shapes' cores is equal to the sum of their margins, these shapes are
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considered touching.
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*/
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struct Support
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{
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virtual ~Support() {}
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/**
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\brief Return the user defined shape margin. Margin should be greater than or equal to 0
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\return Margin.
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*/
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virtual PxReal getMargin() const = 0;
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/**
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\brief Return the farthest point on the user defined shape's core in given direction.
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\param[in] dir Direction
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\return Farthest point in given direction.
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*/
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virtual PxVec3 supportLocal(const PxVec3& dir) const = 0;
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};
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/**
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\brief Computes proximity information for two shapes using GJK-EPA algorithm
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\param[in] a Shape A support mapping
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\param[in] b Shape B support mapping
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\param[in] poseA Shape A transformation
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\param[in] poseB Shape B transformation
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\param[in] contactDistance The distance at which proximity info begins to be computed between the shapes
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\param[in] toleranceLength The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
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\param[out] pointA The closest/deepest point on shape A surface
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\param[out] pointB The closest/deepest point on shape B surface
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\param[out] separatingAxis Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
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\param[out] separation Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
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\return False if the distance is greater than contactDistance.
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*/
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PX_PHYSX_COMMON_API static bool proximityInfo(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
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PxReal contactDistance, PxReal toleranceLength, PxVec3& pointA, PxVec3& pointB, PxVec3& separatingAxis, PxReal& separation);
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/**
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\brief Raycast test against the given shape.
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\param[in] shape Shape support mapping
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\param[in] pose Shape transformation
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\param[in] rayStart The start point of the ray to test the shape against
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\param[in] unitDir Normalized direction of the ray to test the shape against
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\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
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\param[out] t Hit distance
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\param[out] n Hit normal
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\param[out] p Hit point
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\return True if there is a hit.
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*/
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PX_PHYSX_COMMON_API static bool raycast(const Support& shape, const PxTransform& pose, const PxVec3& rayStart,
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const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
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/**
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\brief Overlap test for two shapes.
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\param[in] a Shape A support mapping
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\param[in] b Shape B support mapping
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\param[in] poseA Shape A transformation
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\param[in] poseB Shape B transformation
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\return True if the shapes overlap.
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*/
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PX_PHYSX_COMMON_API static bool overlap(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB);
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/**
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\brief Sweep the shape B in space and test for collision with the shape A.
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\param[in] a Shape A support mapping
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\param[in] b Shape B support mapping
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\param[in] poseA Shape A transformation
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\param[in] poseB Shape B transformation
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\param[in] unitDir Normalized direction of the ray to test the shape against
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\param[in] maxDist Maximum ray length, has to be in the [0, inf) range
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\param[out] t Hit distance
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\param[out] n Hit normal
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\param[out] p Hit point
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\return True if there is a hit.
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*/
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PX_PHYSX_COMMON_API static bool sweep(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
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const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
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};
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#if !PX_DOXYGEN
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}
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#endif
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#endif
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