Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_CUSTOM_GEOMETRY_EXT_H
++ #define PX_CUSTOM_GEOMETRY_EXT_H
++
++ #include "geometry/PxCustomGeometry.h"
++ #include "geometry/PxGjkQuery.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxGeometry;
++ class PxMassProperties;
++ class PxGeometryHolder;
++ struct PxContactPoint;
++
++ /**
++ \brief Pre-made custom geometry callbacks implementations.
++ */
++ class PxCustomGeometryExt
++ {
++ public:
++
++ /// \cond PRIVATE
++ struct BaseConvexCallbacks : PxCustomGeometry::Callbacks, PxGjkQuery::Support
++ {
++ BaseConvexCallbacks(float _margin) : margin(_margin) {}
++
++ // override PxCustomGeometry::Callbacks
++ virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
++ virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
++ const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
++ PxContactBuffer& contactBuffer) const;
++ virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
++ PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext*) const;
++ virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext*) const;
++ virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
++ const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
++ PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext*) const;
++ virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const;
++
++ // override PxGjkQuery::Support
++ virtual PxReal getMargin() const { return margin; }
++ // set margin
++ void setMargin(float m);
++
++ protected:
++
++ // Shape margin
++ float margin;
++
++ // Substitute geometry
++ virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const = 0;
++ };
++ /// \endcond
++
++ /**
++ \brief Cylinder geometry callbacks
++ */
++ struct CylinderCallbacks : BaseConvexCallbacks
++ {
++ /**
++ \brief Construct cylinder geometry callbacks object
++
++ \param[in] height The cylinder height.
++ \param[in] radius The cylinder radius.
++ \param[in] axis The cylinder axis (0 - X, 1 - Y, 2 - Z).
++ \param[in] margin The cylinder margin.
++ */
++ CylinderCallbacks(float height, float radius, int axis = 0, float margin = 0);
++
++ /// \brief Set cylinder height
++ /// \param[in] h The cylinder height
++ void setHeight(float h);
++ /// \brief Get cylinder height
++ /// \return The cylinder height
++ float getHeight() const { return height; }
++
++ /// \brief Set cylinder radius
++ /// \param[in] r The cylinder radius.
++ void setRadius(float r);
++ /// \brief Get cylinder radius
++ /// \return The cylinder radius
++ float getRadius() const { return radius; }
++
++ /// \brief Set cylinder axis
++ /// \param[in] a The cylinder axis (0 - X, 1 - Y, 2 - Z).
++ void setAxis(int a);
++ /// \brief Get cylinder axis
++ /// \return The cylinder axis
++ int getAxis() const { return axis; }
++
++ /// \cond PRIVATE
++ // override PxCustomGeometry::Callbacks
++ DECLARE_CUSTOM_GEOMETRY_TYPE
++ virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
++ virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
++
++ // override PxGjkQuery::Support
++ virtual PxVec3 supportLocal(const PxVec3& dir) const;
++
++ virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const;
++
++ protected:
++
++ // Cylinder height
++ float height;
++ // Cylinder radius
++ float radius;
++ // Cylinder axis
++ int axis;
++
++ // Substitute geometry
++ virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const;
++
++ // Radius at height
++ float getRadiusAtHeight(float height) const;
++ /// \endcond
++ };
++
++ /**
++ \brief Cone geometry callbacks
++ */
++ struct ConeCallbacks : BaseConvexCallbacks
++ {
++ /**
++ \brief Construct cone geometry callbacks object
++
++ \param[in] height The cylinder height.
++ \param[in] radius The cylinder radius.
++ \param[in] axis The cylinder axis (0 - X, 1 - Y, 2 - Z).
++ \param[in] margin The cylinder margin.
++ */
++ ConeCallbacks(float height, float radius, int axis = 0, float margin = 0);
++
++ /// \brief Set cone height
++ /// \param[in] h The cone height
++ void setHeight(float h);
++ /// \brief Get cone height
++ /// \return The cone height
++ float getHeight() const { return height; }
++
++ /// \brief Set cone radius
++ /// \param[in] r The cone radius
++ void setRadius(float r);
++ /// \brief Get cone radius
++ /// \return The cone radius
++ float getRadius() const { return radius; }
++
++ /// \brief Set cone axis
++ /// \param[in] a The cone axis
++ void setAxis(int a);
++ /// \brief Get cone axis
++ /// \return The cone axis
++ int getAxis() const { return axis; }
++
++ /// \cond PRIVATE
++ // override PxCustomGeometry::Callbacks
++ DECLARE_CUSTOM_GEOMETRY_TYPE
++ virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const;
++ virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const;
++
++ // override PxGjkQuery::Support
++ virtual PxVec3 supportLocal(const PxVec3& dir) const;
++
++ protected:
++
++ // Cone height
++ float height;
++ // Cone radius
++ float radius;
++ // Cone axis
++ int axis;
++
++ // Substitute geometry
++ virtual bool useSubstituteGeometry(PxGeometryHolder& geom, PxTransform& preTransform, const PxContactPoint& p, const PxTransform& pose0) const;
++
++ // Radius at height
++ float getRadiusAtHeight(float height) const;
++ /// \endcond
++ };
++ };
++
++ /// \cond PRIVATE
++ // OmniPVD friendly aliases
++ typedef PxCustomGeometryExt::BaseConvexCallbacks PxCustomGeometryExtBaseConvexCallbacks;
++ typedef PxCustomGeometryExt::CylinderCallbacks PxCustomGeometryExtCylinderCallbacks;
++ typedef PxCustomGeometryExt::ConeCallbacks PxCustomGeometryExtConeCallbacks;
++ /// \endcond
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif