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_GJK_QUERY_EXT_H
++ #define PX_GJK_QUERY_EXT_H
++
++ #include "geometry/PxGjkQuery.h"
++ #include "geometry/PxGeometry.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxSphereGeometry;
++ class PxCapsuleGeometry;
++ class PxBoxGeometry;
++ class PxConvexCoreGeometry;
++ class PxConvexMeshGeometry;
++ class PxContactBuffer;
++ class PxConvexMesh;
++
++ /**
++ \brief Pre-made support mapping for built-in convex geometry types.
++ */
++ class PxGjkQueryExt
++ {
++ public:
++ /**
++ \brief Pre-made support mapping for a sphere
++ */
++ struct SphereSupport : PxGjkQuery::Support
++ {
++ PxReal radius;
++
++ /**
++ \brief Default constructor
++ */
++ SphereSupport();
++ /**
++ \brief Constructs a SphereSupport for a sphere radius
++ */
++ SphereSupport(PxReal radius);
++ /**
++ \brief Constructs a SphereSupport for a PxSphereGeometry
++ */
++ SphereSupport(const PxSphereGeometry& geom);
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++ };
++
++ /**
++ \brief Pre-made support mapping for a capsule
++ */
++ struct CapsuleSupport : PxGjkQuery::Support
++ {
++ PxReal radius, halfHeight;
++
++ /**
++ \brief Default constructor
++ */
++ CapsuleSupport();
++ /**
++ \brief Constructs a CapsuleSupport for capsule radius and halfHeight
++ */
++ CapsuleSupport(PxReal radius, PxReal halfHeight);
++ /**
++ \brief Constructs a CapsuleSupport for a PxCapsuleGeometry
++ */
++ CapsuleSupport(const PxCapsuleGeometry& geom);
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++ };
++
++ /**
++ \brief Pre-made support mapping for a box
++ */
++ struct BoxSupport : PxGjkQuery::Support
++ {
++ PxVec3 halfExtents;
++ PxReal margin;
++
++ /**
++ \brief Default constructor
++ */
++ BoxSupport();
++ /**
++ \brief Constructs a BoxSupport for a box halfExtents with optional margin
++ */
++ BoxSupport(const PxVec3& halfExtents, PxReal margin = 0);
++ /**
++ \brief Constructs a BoxSupport for a PxBoxGeometry
++ */
++ BoxSupport(const PxBoxGeometry& box, PxReal margin = 0);
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++ };
++
++ /**
++ \brief Pre-made support mapping for a convex core
++ */
++ struct ConvexCoreSupport : PxGjkQuery::Support
++ {
++ PxU64 shapeData[10];
++
++ /**
++ \brief Default constructor
++ */
++ ConvexCoreSupport();
++ /**
++ \brief Constructs a ConvexCoreSupport for a PxConvexCoreGeometry
++ */
++ ConvexCoreSupport(const PxConvexCoreGeometry& geom, PxReal margin = 0);
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++ };
++
++ /**
++ \brief Pre-made support mapping for a convex mesh
++ */
++ struct ConvexMeshSupport : PxGjkQuery::Support
++ {
++ const PxConvexMesh* convexMesh;
++ PxVec3 scale;
++ PxQuat scaleRotation;
++ PxReal margin;
++
++ /**
++ \brief Default constructor
++ */
++ ConvexMeshSupport();
++ /**
++ \brief Constructs a BoxSupport for a PxConvexMesh
++ */
++ ConvexMeshSupport(const PxConvexMesh& convexMesh, const PxVec3& scale = PxVec3(1), const PxQuat& scaleRotation = PxQuat(PxIdentity), PxReal margin = 0);
++ /**
++ \brief Constructs a BoxSupport for a PxConvexMeshGeometry
++ */
++ ConvexMeshSupport(const PxConvexMeshGeometry& convexMesh, PxReal margin = 0);
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++ };
++
++ /**
++ \brief Pre-made support mapping for any PhysX's convex geometry (sphere, capsule, box, convex mesh)
++ */
++ struct ConvexGeomSupport : PxGjkQuery::Support
++ {
++ /**
++ \brief Default constructor
++ */
++ ConvexGeomSupport();
++ /**
++ \brief Constructs a BoxSupport for a PxGeometry
++ */
++ ConvexGeomSupport(const PxGeometry& geom, PxReal margin = 0);
++ /**
++ \brief Destructor
++ */
++ ~ConvexGeomSupport();
++
++ /**
++ \brief Returns false if ConvexGeomSupport was constructed from non-convex geometry
++ */
++ bool isValid() const;
++
++ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
++ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
++
++ private:
++ PxGeometryType::Enum mType;
++ union {
++ void* alignment;
++ PxU8 sphere[sizeof(SphereSupport)];
++ PxU8 capsule[sizeof(CapsuleSupport)];
++ PxU8 box[sizeof(BoxSupport)];
++ PxU8 convexCore[sizeof(ConvexCoreSupport)];
++ PxU8 convexMesh[sizeof(ConvexMeshSupport)];
++ } mSupport;
++ };
++
++ /**
++ \brief Generates a contact point between two shapes using GJK-EPA algorithm
++
++ \param[in] a Shape A support mapping
++ \param[in] b Shape B support mapping
++ \param[in] poseA Shape A transformation
++ \param[in] poseB Shape B transformation
++ \param[in] contactDistance The distance at which contacts begin to be generated between the shapes
++ \param[in] toleranceLength The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
++ \param[out] contactBuffer A buffer to store the contact
++
++ \return True if there is a contact.
++ */
++ static bool generateContacts(const PxGjkQuery::Support& a, const PxGjkQuery::Support& b, const PxTransform& poseA, const PxTransform& poseB,
++ PxReal contactDistance, PxReal toleranceLength, PxContactBuffer& contactBuffer);
++
++ };
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif