116 lines
4.6 KiB
C++
116 lines
4.6 KiB
C++
// 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 GU_OVERLAP_TESTS_H
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#define GU_OVERLAP_TESTS_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxAssert.h"
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#include "foundation/PxErrors.h"
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#include "foundation/PxFoundation.h"
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#include "geometry/PxGeometry.h"
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#include "geometry/PxGeometryHit.h"
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#include "geometry/PxGeometryQueryContext.h"
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namespace physx
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{
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namespace Gu
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{
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class Capsule;
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class Sphere;
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// PT: this is just a shadow of what it used to be. We currently don't use TRIGGER_INSIDE anymore, but I leave it for now,
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// since I really want to put this back the way it was before.
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enum TriggerStatus
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{
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TRIGGER_DISJOINT,
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TRIGGER_INSIDE,
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TRIGGER_OVERLAP
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};
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// PT: currently only used for convex triggers
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struct TriggerCache
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{
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PxVec3 dir;
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PxU16 state;
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PxU16 gjkState; //gjk succeed or fail
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};
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#define UNUSED_OVERLAP_THREAD_CONTEXT NULL
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// PT: we use a define to be able to quickly change the signature of all overlap functions.
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// (this also ensures they all use consistent names for passed parameters).
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// \param[in] geom0 first geometry object
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// \param[in] pose0 pose of first geometry object
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// \param[in] geom1 second geometry object
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// \param[in] pose1 pose of second geometry object
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// \param[in] cache optional cached data for triggers
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// \param[in] threadContext optional per-thread context
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#define GU_OVERLAP_FUNC_PARAMS const PxGeometry& geom0, const PxTransform& pose0, \
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const PxGeometry& geom1, const PxTransform& pose1, \
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Gu::TriggerCache* cache, PxOverlapThreadContext* threadContext
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// PT: function pointer for Geom-indexed overlap functions
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// See GU_OVERLAP_FUNC_PARAMS for function parameters details.
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// \return true if an overlap was found, false otherwise
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typedef bool (*GeomOverlapFunc) (GU_OVERLAP_FUNC_PARAMS);
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// PT: typedef for a bundle of all overlap functions, i.e. the function table itself (indexed by geom-type).
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typedef GeomOverlapFunc GeomOverlapTable[PxGeometryType::eGEOMETRY_COUNT];
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// PT: retrieves the overlap function table (for access by external non-Gu modules)
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PX_PHYSX_COMMON_API const GeomOverlapTable* getOverlapFuncTable();
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PX_FORCE_INLINE bool overlap( const PxGeometry& geom0, const PxTransform& pose0,
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const PxGeometry& geom1, const PxTransform& pose1,
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const GeomOverlapTable* PX_RESTRICT overlapFuncs, PxOverlapThreadContext* threadContext)
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{
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PX_CHECK_AND_RETURN_VAL(pose0.isValid(), "Gu::overlap(): pose0 is not valid.", false);
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PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "Gu::overlap(): pose1 is not valid.", false);
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if(geom0.getType() > geom1.getType())
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{
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GeomOverlapFunc overlapFunc = overlapFuncs[geom1.getType()][geom0.getType()];
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PX_ASSERT(overlapFunc);
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return overlapFunc(geom1, pose1, geom0, pose0, NULL, threadContext);
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}
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else
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{
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GeomOverlapFunc overlapFunc = overlapFuncs[geom0.getType()][geom1.getType()];
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PX_ASSERT(overlapFunc);
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return overlapFunc(geom0, pose0, geom1, pose1, NULL, threadContext);
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}
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}
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} // namespace Gu
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}
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#endif
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