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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_GEOMETRY_QUERY_H
++ #define PX_GEOMETRY_QUERY_H
++
++ /**
++ \brief Maximum sweep distance for scene sweeps. The distance parameter for sweep functions will be clamped to this value.
++ The reason for this is GJK support cannot be evaluated near infinity. A viable alternative can be a sweep followed by an infinite raycast.
++
++ \see PxScene
++ */
++ #define PX_MAX_SWEEP_DISTANCE 1e8f
++
++
++ #include "foundation/PxTransform.h"
++ #include "common/PxPhysXCommonConfig.h"
++ #include "geometry/PxGeometryHit.h"
++ #include "geometry/PxGeometryQueryFlags.h"
++ #include "geometry/PxGeometryQueryContext.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxGeometry;
++ class PxContactBuffer;
++ class PxBounds3;
++
++ /**
++ \brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
++ */
++ class PxGeometryQuery
++ {
++ public:
++
++ /**
++ \brief Raycast test against a geometry object.
++
++ All geometry types are supported except PxParticleSystemGeometry and PxTetrahedronMeshGeometry.
++
++ \param[in] origin The origin of the ray to test the geometry object against
++ \param[in] unitDir Normalized direction of the ray to test the geometry object against
++ \param[in] geom The geometry object to test the ray against
++ \param[in] pose Pose of the geometry object
++ \param[in] maxDist Maximum ray length, has to be in the [0, inf) range
++ \param[in] hitFlags Specification of the kind of information to retrieve on hit. Combination of #PxHitFlag flags
++ \param[in] maxHits max number of returned hits = size of 'rayHits' buffer
++ \param[out] rayHits Raycast hits information
++ \param[in] stride Stride value (in number of bytes) for rayHits array. Typically sizeof(PxGeomRaycastHit) for packed arrays.
++ \param[in] queryFlags Optional flags controlling the query.
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return Number of hits between the ray and the geometry object
++
++ \see PxGeomRaycastHit PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static PxU32 raycast( const PxVec3& origin, const PxVec3& unitDir,
++ const PxGeometry& geom, const PxTransform& pose,
++ PxReal maxDist, PxHitFlags hitFlags,
++ PxU32 maxHits, PxGeomRaycastHit* PX_RESTRICT rayHits, PxU32 stride = sizeof(PxGeomRaycastHit), PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
++ PxRaycastThreadContext* threadContext = NULL);
++
++ /**
++ \brief Overlap test for two geometry objects.
++
++ All combinations are supported except:
++ \li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++ \li PxTriangleMeshGeometry vs. PxHeightFieldGeometry
++ \li PxHeightFieldGeometry vs. PxHeightFieldGeometry
++ \li Anything involving PxParticleSystemGeometry or PxTetrahedronMeshGeometry
++
++ \param[in] geom0 The first geometry object
++ \param[in] pose0 Pose of the first geometry object
++ \param[in] geom1 The second geometry object
++ \param[in] pose1 Pose of the second geometry object
++ \param[in] queryFlags Optional flags controlling the query.
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return True if the two geometry objects overlap
++
++ \see PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
++ const PxGeometry& geom1, const PxTransform& pose1,
++ PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext* threadContext=NULL);
++
++ /**
++ \brief Sweep a specified geometry object in space and test for collision with a given object.
++
++ The following combinations are supported.
++
++ \li PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexCoreGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++ \li PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexCoreGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++ \li PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexCoreGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++ \li PxConvexCoreGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexCoreGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++ \li PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexCoreGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
++
++ \param[in] unitDir Normalized direction along which object geom0 should be swept
++ \param[in] maxDist Maximum sweep distance, has to be in the [0, inf) range
++ \param[in] geom0 The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry, #PxConvexCoreGeometry, and #PxConvexMeshGeometry
++ \param[in] pose0 Pose of the geometry object to sweep
++ \param[in] geom1 The geometry object to test the sweep against
++ \param[in] pose1 Pose of the geometry object to sweep against
++ \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
++ \param[in] inflation Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.
++ \param[in] queryFlags Optional flags controlling the query.
++ \param[in] threadContext Optional user-defined per-thread context.
++
++ \return True if the swept geometry object geom0 hits the object geom1
++
++ \see PxGeomSweepHit PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static bool sweep( const PxVec3& unitDir, const PxReal maxDist,
++ const PxGeometry& geom0, const PxTransform& pose0,
++ const PxGeometry& geom1, const PxTransform& pose1,
++ PxGeomSweepHit& sweepHit, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
++ const PxReal inflation = 0.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
++ PxSweepThreadContext* threadContext = NULL);
++
++ /**
++ \brief Compute minimum translational distance (MTD) between two geometry objects.
++
++ All combinations of geom objects are supported except:
++ - plane/plane
++ - plane/mesh
++ - plane/heightfield
++ - mesh/mesh
++ - mesh/heightfield
++ - heightfield/heightfield
++ - anything involving PxParticleSystemGeometry, PxTetrahedronMeshGeometry
++
++ The function returns a unit vector ('direction') and a penetration depth ('depth').
++
++ The depenetration vector D = direction * depth should be applied to the first object, to
++ get out of the second object.
++
++ Returned depth should always be positive or null.
++
++ If objects do not overlap, the function can not compute the MTD and returns false.
++
++ \param[out] direction Computed MTD unit direction
++ \param[out] depth Penetration depth. Always positive or null.
++ \param[in] geom0 The first geometry object
++ \param[in] pose0 Pose of the first geometry object
++ \param[in] geom1 The second geometry object
++ \param[in] pose1 Pose of the second geometry object
++ \param[in] queryFlags Optional flags controlling the query.
++ \return True if the MTD has successfully been computed, i.e. if objects do overlap.
++
++ \see PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static bool computePenetration( PxVec3& direction, PxF32& depth,
++ const PxGeometry& geom0, const PxTransform& pose0,
++ const PxGeometry& geom1, const PxTransform& pose1,
++ PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
++
++ /**
++ \brief Computes distance between a point and a geometry object.
++
++ Currently supported geometry objects: box, sphere, capsule, convex core, convex mesh, mesh.
++
++ \note For meshes, only the BVH34 midphase data-structure is supported.
++
++ \param[in] point The point P
++ \param[in] geom The geometry object
++ \param[in] pose Pose of the geometry object
++ \param[out] closestPoint Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
++ \param[out] closestIndex Optionally returned closest (triangle) index. Only valid for triangle meshes.
++ \param[in] queryFlags Optional flags controlling the query.
++ \return Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if an error occured (geometry type is not supported, or invalid pose)
++
++ \see PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose,
++ PxVec3* closestPoint=NULL, PxU32* closestIndex=NULL,
++ PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
++
++ /**
++ \brief computes the bounds for a geometry object
++
++ \param[out] bounds Returned computed bounds
++ \param[in] geom The geometry object
++ \param[in] pose Pose of the geometry object
++ \param[in] offset Offset for computed bounds. This value is added to the geom's extents.
++ \param[in] inflation Scale factor for computed bounds. The geom's extents are multiplied by this value.
++ \param[in] queryFlags Optional flags controlling the query.
++
++ \return True if success, false if an error occurred and the bounds were not written out.
++ \see PxGeometry PxTransform
++ */
++ PX_PHYSX_COMMON_API static bool computeGeomBounds(PxBounds3& bounds, const PxGeometry& geom, const PxTransform& pose, float offset=0.0f, float inflation=1.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
++
++ /**
++ \brief Generate collision contacts between a convex geometry and a single triangle
++
++ \param[in] geom The geometry object. Can be a capsule, a box or a convex mesh
++ \param[in] pose Pose of the geometry object
++ \param[in] triangleVertices Triangle vertices in local space
++ \param[in] triangleIndex Triangle index
++ \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 was collision
++ */
++ PX_PHYSX_COMMON_API static bool generateTriangleContacts(const PxGeometry& geom, const PxTransform& pose, const PxVec3 triangleVertices[3], PxU32 triangleIndex, PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxContactBuffer& contactBuffer);
++
++ /**
++ \brief Checks if provided geometry is valid.
++
++ \param[in] geom The geometry object.
++ \return True if geometry is valid.
++
++ \see PxGeometry
++ */
++ PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
++ };
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif