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_H
++ #define PX_GJK_QUERY_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxTransform.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Collection of GJK query functions (sweeps, raycasts, overlaps, ...).
++ */
++ class PxGjkQuery
++ {
++ public:
++
++ /**
++ \brief Abstract interface for a user defined shape GJK mapping support.
++ A user defined shape consists of a core shape and a margin. If the distance
++ between two shapes' cores is equal to the sum of their margins, these shapes are
++ considered touching.
++ */
++ struct Support
++ {
++ virtual ~Support() {}
++ /**
++ \brief Return the user defined shape margin. Margin should be greater than or equal to 0
++
++ \return Margin.
++ */
++ virtual PxReal getMargin() const = 0;
++ /**
++ \brief Return the farthest point on the user defined shape's core in given direction.
++
++ \param[in] dir Direction
++
++ \return Farthest point in given direction.
++ */
++ virtual PxVec3 supportLocal(const PxVec3& dir) const = 0;
++ };
++
++ /**
++ \brief Computes proximity information for 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 proximity info begins to be computed 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] pointA The closest/deepest point on shape A surface
++ \param[out] pointB The closest/deepest point on shape B surface
++ \param[out] separatingAxis Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
++ \param[out] separation Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
++
++ \return False if the distance is greater than contactDistance.
++ */
++ PX_PHYSX_COMMON_API static bool proximityInfo(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
++ PxReal contactDistance, PxReal toleranceLength, PxVec3& pointA, PxVec3& pointB, PxVec3& separatingAxis, PxReal& separation);
++
++ /**
++ \brief Raycast test against the given shape.
++
++ \param[in] shape Shape support mapping
++ \param[in] pose Shape transformation
++ \param[in] rayStart The start point of the ray to test the shape against
++ \param[in] unitDir Normalized direction of the ray to test the shape against
++ \param[in] maxDist Maximum ray length, has to be in the [0, inf) range
++ \param[out] t Hit distance
++ \param[out] n Hit normal
++ \param[out] p Hit point
++
++ \return True if there is a hit.
++ */
++ PX_PHYSX_COMMON_API static bool raycast(const Support& shape, const PxTransform& pose, const PxVec3& rayStart,
++ const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
++
++ /**
++ \brief Overlap test for two shapes.
++
++ \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
++
++ \return True if the shapes overlap.
++ */
++ PX_PHYSX_COMMON_API static bool overlap(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB);
++
++ /**
++ \brief Sweep the shape B in space and test for collision with the shape A.
++
++ \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] unitDir Normalized direction of the ray to test the shape against
++ \param[in] maxDist Maximum ray length, has to be in the [0, inf) range
++ \param[out] t Hit distance
++ \param[out] n Hit normal
++ \param[out] p Hit point
++
++ \return True if there is a hit.
++ */
++ PX_PHYSX_COMMON_API static bool sweep(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
++ const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
++ };
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif