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++ // 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_CUSTOMGEOMETRY_H
++ #define PX_CUSTOMGEOMETRY_H
++
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxBounds3.h"
++ #include "geometry/PxGeometry.h"
++ #include "geometry/PxGeometryHit.h"
++ #include "geometry/PxGeometryQueryContext.h"
++ #include "foundation/PxFoundationConfig.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++ class PxContactBuffer;
++ class PxRenderOutput;
++ class PxMassProperties;
++
++ /**
++ \brief Custom geometry class. This class allows user to create custom geometries by providing a set of virtual callback functions.
++ */
++ class PxCustomGeometry : public PxGeometry
++ {
++ public:
++ /**
++ \brief For internal use
++ */
++ PX_PHYSX_COMMON_API static PxU32 getUniqueID();
++
++ /**
++ \brief The type of a custom geometry. Allows to identify a particular kind of it.
++ */
++ struct Type
++ {
++ /**
++ \brief Default constructor
++ */
++ PX_INLINE Type() : mID(getUniqueID()) {}
++
++ /**
++ \brief Default constructor
++ */
++ PX_INLINE Type(const Type& t) : mID(t.mID) {}
++
++ /**
++ \brief Assigment operator
++ */
++ PX_INLINE Type& operator = (const Type& t) { mID = t.mID; return *this; }
++
++ /**
++ \brief Equality operator
++ */
++ PX_INLINE bool operator == (const Type& t) const { return mID == t.mID; }
++
++ /**
++ \brief Inequality operator
++ */
++ PX_INLINE bool operator != (const Type& t) const { return mID != t.mID; }
++
++ /**
++ \brief Invalid type
++ */
++ PX_INLINE static Type INVALID() { PxU32 z(0); return reinterpret_cast<const Type&>(z); }
++
++ private:
++ PxU32 mID;
++ };
++
++ /**
++ \brief Custom geometry callbacks structure. User should inherit this and implement all pure virtual functions.
++ */
++ struct Callbacks
++ {
++ /**
++ \brief Return custom type. The type purpose is for user to differentiate custom geometries. Not used by PhysX.
++
++ \return Unique ID of a custom geometry type.
++
++ \note User should use DECLARE_CUSTOM_GEOMETRY_TYPE and IMPLEMENT_CUSTOM_GEOMETRY_TYPE intead of overwriting this function.
++ */
++ virtual Type getCustomType() const = 0;
++
++ /**
++ \brief Return local bounds.
++
++ \param[in] geometry This geometry.
++
++ \return Bounding box in the geometry local space.
++ */
++ virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const = 0;
++
++ /**
++ \brief Contacts generation. Generate collision contacts between two geometries in given poses.
++
++ \param[in] geom0 This custom geometry
++ \param[in] geom1 The other geometry
++ \param[in] pose0 This custom geometry pose
++ \param[in] pose1 The other geometry pose
++ \param[in] contactDistance The distance at which contacts begin to be generated between the pairs
++ \param[in] meshContactMargin The mesh contact margin.
++ \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 write contacts to.
++
++ \return True if there are contacts. False otherwise.
++ */
++ 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 = 0;
++
++ /**
++ \brief Raycast. Cast a ray against the geometry in given pose.
++
++ \param[in] origin Origin of the ray.
++ \param[in] unitDir Normalized direction of the ray.
++ \param[in] geom This custom geometry
++ \param[in] pose This custom geometry pose
++ \param[in] maxDist Length of the ray. Has to be in the [0, inf) range.
++ \param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
++ \param[in] maxHits max number of returned hits = size of 'rayHits' buffer
++ \param[out] rayHits Ray hits.
++ \param[in] stride Ray hit structure stride.
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return Number of hits.
++ */
++ 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* threadContext) const = 0;
++
++ /**
++ \brief Overlap. Test if geometries overlap.
++
++ \param[in] geom0 This custom geometry
++ \param[in] pose0 This custom geometry pose
++ \param[in] geom1 The other geometry
++ \param[in] pose1 The other geometry pose
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return True if there is overlap. False otherwise.
++ */
++ virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext* threadContext) const = 0;
++
++ /**
++ \brief Sweep. Sweep geom1 against geom0.
++
++ \param[in] unitDir Normalized direction of the sweep. geom1 is swept along this direction.
++ \param[in] maxDist Length of the sweep. Has to be in the [0, inf) range.
++ \param[in] geom0 This custom geometry
++ \param[in] pose0 This custom geometry pose
++ \param[in] geom1 The other geometry
++ \param[in] pose1 The other geometry pose
++ \param[out] sweepHit Used to report the sweep hit.
++ \param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
++ \param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping.
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return True if there is hit. False otherwise.
++ */
++ 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* threadContext) const = 0;
++
++ /**
++ \brief Visualize custom geometry for debugging. Optional.
++
++ \param[in] geometry This geometry.
++ \param[in] out Render output.
++ \param[in] absPose Geometry absolute transform.
++ \param[in] cullbox Region to visualize.
++ */
++ virtual void visualize(const PxGeometry& geometry, PxRenderOutput& out, const PxTransform& absPose, const PxBounds3& cullbox) const = 0;
++
++ /**
++ \brief Compute custom geometry mass properties. For geometries usable with dynamic rigidbodies.
++
++ \param[in] geometry This geometry.
++ \param[out] massProperties Mass properties to compute.
++ */
++ virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const = 0;
++
++ /**
++ \brief Compatible with PhysX's PCM feature. Allows to optimize contact generation.
++
++ \param[in] geometry This geometry.
++ \param[out] breakingThreshold The threshold to trigger contacts re-generation.
++ */
++ virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const = 0;
++
++ /* Destructor */
++ virtual ~Callbacks() {}
++ };
++
++ /**
++ \brief Default constructor.
++
++ Creates an empty object with a NULL callbacks pointer.
++ */
++ PX_INLINE PxCustomGeometry() :
++ PxGeometry(PxGeometryType::eCUSTOM),
++ callbacks(NULL)
++ {}
++
++ /**
++ \brief Constructor.
++ */
++ PX_INLINE PxCustomGeometry(Callbacks& _callbacks) :
++ PxGeometry(PxGeometryType::eCUSTOM),
++ callbacks(&_callbacks)
++ {}
++
++ /**
++ \brief Copy constructor.
++
++ \param[in] that Other object
++ */
++ PX_INLINE PxCustomGeometry(const PxCustomGeometry& that) :
++ PxGeometry(that),
++ callbacks(that.callbacks)
++ {}
++
++ /**
++ \brief Assignment operator
++ */
++ PX_INLINE void operator=(const PxCustomGeometry& that)
++ {
++ mType = that.mType;
++ callbacks = that.callbacks;
++ }
++
++ /**
++ \brief Returns true if the geometry is valid.
++
++ \return True if the current settings are valid for shape creation.
++
++ \see PxPhysics::createShape
++ */
++ PX_INLINE bool isValid() const;
++
++ /**
++ \brief Returns the custom type of the custom geometry.
++ */
++ PX_INLINE Type getCustomType() const
++ {
++ return callbacks ? callbacks->getCustomType() : Type::INVALID();
++ }
++
++ public:
++ Callbacks* callbacks; //!< A reference to the callbacks object.
++ };
++
++ PX_INLINE bool PxCustomGeometry::isValid() const
++ {
++ return mType == PxGeometryType::eCUSTOM && callbacks != NULL;
++ }
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ /**
++ \brief Used in pair with IMPLEMENT_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
++ */
++ #define DECLARE_CUSTOM_GEOMETRY_TYPE \
++ static ::physx::PxCustomGeometry::Type TYPE(); \
++ virtual ::physx::PxCustomGeometry::Type getCustomType() const;
++
++ /**
++ \brief Used in pair with DECLARE_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
++ */
++ #define IMPLEMENT_CUSTOM_GEOMETRY_TYPE(CLASS) \
++ ::physx::PxCustomGeometry::Type CLASS::TYPE() \
++ { \
++ static ::physx::PxCustomGeometry::Type customType; \
++ return customType; \
++ } \
++ ::physx::PxCustomGeometry::Type CLASS::getCustomType() const \
++ { \
++ return TYPE(); \
++ }
++
++ #endif