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 GU_OVERLAP_TESTS_H
++ #define GU_OVERLAP_TESTS_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxAssert.h"
++ #include "foundation/PxErrors.h"
++ #include "foundation/PxFoundation.h"
++ #include "geometry/PxGeometry.h"
++ #include "geometry/PxGeometryHit.h"
++ #include "geometry/PxGeometryQueryContext.h"
++
++ namespace physx
++ {
++ namespace Gu
++ {
++ class Capsule;
++ class Sphere;
++
++ // PT: this is just a shadow of what it used to be. We currently don't use TRIGGER_INSIDE anymore, but I leave it for now,
++ // since I really want to put this back the way it was before.
++ enum TriggerStatus
++ {
++ TRIGGER_DISJOINT,
++ TRIGGER_INSIDE,
++ TRIGGER_OVERLAP
++ };
++
++ // PT: currently only used for convex triggers
++ struct TriggerCache
++ {
++ PxVec3 dir;
++ PxU16 state;
++ PxU16 gjkState; //gjk succeed or fail
++ };
++
++ #define UNUSED_OVERLAP_THREAD_CONTEXT NULL
++
++ // PT: we use a define to be able to quickly change the signature of all overlap functions.
++ // (this also ensures they all use consistent names for passed parameters).
++ // \param[in] geom0 first geometry object
++ // \param[in] pose0 pose of first geometry object
++ // \param[in] geom1 second geometry object
++ // \param[in] pose1 pose of second geometry object
++ // \param[in] cache optional cached data for triggers
++ // \param[in] threadContext optional per-thread context
++ #define GU_OVERLAP_FUNC_PARAMS const PxGeometry& geom0, const PxTransform& pose0, \
++ const PxGeometry& geom1, const PxTransform& pose1, \
++ Gu::TriggerCache* cache, PxOverlapThreadContext* threadContext
++
++ // PT: function pointer for Geom-indexed overlap functions
++ // See GU_OVERLAP_FUNC_PARAMS for function parameters details.
++ // \return true if an overlap was found, false otherwise
++ typedef bool (*GeomOverlapFunc) (GU_OVERLAP_FUNC_PARAMS);
++
++ // PT: typedef for a bundle of all overlap functions, i.e. the function table itself (indexed by geom-type).
++ typedef GeomOverlapFunc GeomOverlapTable[PxGeometryType::eGEOMETRY_COUNT];
++
++ // PT: retrieves the overlap function table (for access by external non-Gu modules)
++ PX_PHYSX_COMMON_API const GeomOverlapTable* getOverlapFuncTable();
++
++ PX_FORCE_INLINE bool overlap( const PxGeometry& geom0, const PxTransform& pose0,
++ const PxGeometry& geom1, const PxTransform& pose1,
++ const GeomOverlapTable* PX_RESTRICT overlapFuncs, PxOverlapThreadContext* threadContext)
++ {
++ PX_CHECK_AND_RETURN_VAL(pose0.isValid(), "Gu::overlap(): pose0 is not valid.", false);
++ PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "Gu::overlap(): pose1 is not valid.", false);
++
++ if(geom0.getType() > geom1.getType())
++ {
++ GeomOverlapFunc overlapFunc = overlapFuncs[geom1.getType()][geom0.getType()];
++ PX_ASSERT(overlapFunc);
++ return overlapFunc(geom1, pose1, geom0, pose0, NULL, threadContext);
++ }
++ else
++ {
++ GeomOverlapFunc overlapFunc = overlapFuncs[geom0.getType()][geom1.getType()];
++ PX_ASSERT(overlapFunc);
++ return overlapFunc(geom0, pose0, geom1, pose1, NULL, threadContext);
++ }
++ }
++
++ } // namespace Gu
++
++ }
++
++ #endif