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_RAYCAST_CCD_H
++ #define PX_RAYCAST_CCD_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxVec3.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxScene;
++ class PxShape;
++ class PxRigidDynamic;
++ class RaycastCCDManagerInternal;
++
++ /**
++ \brief Raycast-CCD manager.
++
++ Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.
++
++ This implementation has some limitations:
++ - it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
++ - it is only implemented for simple actors with 1 shape (not for "compounds")
++
++ Also, since it is raycast-based, the solution is not perfect. In particular:
++ - small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small
++ hole in the world (like the keyhole from a door).
++ - dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against
++ slow-moving dynamic objects.
++
++ Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have
++ scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE
++ (and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.
++ */
++ class RaycastCCDManager
++ {
++ public:
++ RaycastCCDManager(PxScene* scene);
++ ~RaycastCCDManager();
++
++ /**
++ \brief Register dynamic object for raycast CCD.
++
++ \param[in] actor object's actor
++ \param[in] shape object's shape
++
++ \return True if success
++ */
++ bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
++
++ /**
++ \brief Unregister dynamic object for raycast CCD.
++
++ \param[in] actor object's actor
++ \param[in] shape object's shape
++
++ \return True if success
++ */
++ bool unregisterRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
++
++ /**
++ \brief Perform raycast CCD. Call this after your simulate/fetchResults calls.
++
++ \param[in] doDynamicDynamicCCD True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)
++ */
++ void doRaycastCCD(bool doDynamicDynamicCCD);
++
++ private:
++ RaycastCCDManagerInternal* mImpl;
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif