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_SHAPE_EXT_H
++ #define PX_SHAPE_EXT_H
++
++ #include "PxPhysXConfig.h"
++
++ #include "PxShape.h"
++ #include "PxRigidActor.h"
++ #include "geometry/PxGeometryQuery.h"
++ #include "PxQueryReport.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief utility functions for use with PxShape
++
++ \see PxShape
++ */
++
++ class PxShapeExt
++ {
++ public:
++ /**
++ \brief Retrieves the world space pose of the shape.
++
++ \param[in] shape The shape for which to get the global pose.
++ \param[in] actor The actor to which the shape is attached
++
++ \return Global pose of shape.
++ */
++ static PX_INLINE PxTransform getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
++ {
++ // PT:: tag: scalar transform*transform
++ return actor.getGlobalPose() * shape.getLocalPose();
++ }
++
++ /**
++ \brief Raycast test against the shape.
++
++ \param[in] shape the shape
++ \param[in] actor the actor to which the shape is attached
++ \param[in] rayOrigin The origin of the ray to test the geometry object against
++ \param[in] rayDir The direction of the ray to test the geometry object against
++ \param[in] maxDist Maximum ray length
++ \param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
++ \param[in] maxHits max number of returned hits = size of 'rayHits' buffer
++ \param[out] rayHits Raycast hits information
++ \return Number of hits between the ray and the shape
++
++ \see PxRaycastHit PxTransform
++ */
++ static PX_INLINE PxU32 raycast(const PxShape& shape, const PxRigidActor& actor,
++ const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
++ PxU32 maxHits, PxRaycastHit* rayHits)
++ {
++ return PxGeometryQuery::raycast(
++ rayOrigin, rayDir, shape.getGeometry(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
++ }
++
++ /**
++ \brief Test overlap between the shape and a geometry object
++
++ \param[in] shape the shape
++ \param[in] actor the actor to which the shape is attached
++ \param[in] otherGeom The other geometry object to test overlap with
++ \param[in] otherGeomPose Pose of the other geometry object
++ \return True if the shape overlaps the geometry object
++
++ \see PxGeometry PxTransform
++ */
++ static PX_INLINE bool overlap(const PxShape& shape, const PxRigidActor& actor,
++ const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
++ {
++ return PxGeometryQuery::overlap(shape.getGeometry(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
++ }
++
++ /**
++ \brief Sweep a geometry object against the shape.
++
++ Currently only box, sphere, capsule and convex mesh shapes are supported, i.e. the swept geometry object must be one of those types.
++
++ \param[in] shape the shape
++ \param[in] actor the actor to which the shape is attached
++ \param[in] unitDir Normalized direction along which the geometry object should be swept.
++ \param[in] distance Sweep distance. Needs to be larger than 0.
++ \param[in] otherGeom The geometry object to sweep against the shape
++ \param[in] otherGeomPose Pose of the geometry object
++ \param[out] sweepHit The sweep hit information. Only valid if this method returns true.
++ \param[in] hitFlags Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags
++ \return True if the swept geometry object hits the shape
++
++ \see PxGeometry PxTransform PxSweepHit
++ */
++ static PX_INLINE bool sweep(const PxShape& shape, const PxRigidActor& actor,
++ const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
++ PxSweepHit& sweepHit, PxHitFlags hitFlags)
++ {
++ return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry(), getGlobalPose(shape, actor), sweepHit, hitFlags);
++ }
++
++ /**
++ \brief Retrieves the axis aligned bounding box enclosing the shape.
++
++ \return The shape's bounding box.
++
++ \param[in] shape the shape
++ \param[in] actor the actor to which the shape is attached
++ \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
++
++ \see PxBounds3
++ */
++ static PX_INLINE PxBounds3 getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
++ {
++ PxBounds3 bounds;
++ PxGeometryQuery::computeGeomBounds(bounds, shape.getGeometry(), getGlobalPose(shape, actor), 0.0f, inflation);
++ return bounds;
++ }
++
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif