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_SWEEP_TESTS_H
++ #define GU_SWEEP_TESTS_H
++
++ #include "foundation/PxTransform.h"
++ #include "geometry/PxGeometry.h"
++ #include "geometry/PxGeometryHit.h"
++ #include "geometry/PxGeometryQueryContext.h"
++
++ namespace physx
++ {
++ class PxConvexCoreGeometry;
++ class PxConvexMeshGeometry;
++ class PxCapsuleGeometry;
++ class PxTriangle;
++ class PxBoxGeometry;
++
++ #define UNUSED_SWEEP_THREAD_CONTEXT NULL
++
++ // PT: TODO: unify this with raycast calls (names and order of params)
++
++ // PT: we use defines to be able to quickly change the signature of all sweep functions.
++ // (this also ensures they all use consistent names for passed parameters).
++ // \param[in] geom geometry object to sweep against
++ // \param[in] pose pose of geometry object
++ // \param[in] unitDir sweep's unit dir
++ // \param[in] distance sweep's length/max distance
++ // \param[out] sweepHit hit result
++ // \param[in] hitFlags query behavior flags
++ // \param[in] inflation optional inflation value for swept shape
++ // \param[in] threadContext optional per-thread context
++
++ // PT: sweep parameters for capsule
++ #define GU_CAPSULE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
++ const PxCapsuleGeometry& capsuleGeom_, const PxTransform& capsulePose_, const Gu::Capsule& lss, \
++ const PxVec3& unitDir, PxReal distance, \
++ PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
++
++ // PT: sweep parameters for box
++ #define GU_BOX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
++ const PxBoxGeometry& boxGeom_, const PxTransform& boxPose_, const Gu::Box& box, \
++ const PxVec3& unitDir, PxReal distance, \
++ PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
++
++ // VR: sweep parameters for convex core
++ #define GU_CONVEXCORE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
++ const PxConvexCoreGeometry& convexGeom, const PxTransform& convexPose, \
++ const PxVec3& unitDir, PxReal distance, \
++ PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
++
++ // PT: sweep parameters for convex mesh
++ #define GU_CONVEX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
++ const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, \
++ const PxVec3& unitDir, PxReal distance, \
++ PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
++ namespace Gu
++ {
++ class Capsule;
++ class Box;
++
++ // PT: function pointer for Geom-indexed capsule sweep functions
++ // See GU_CAPSULE_SWEEP_FUNC_PARAMS for function parameters details.
++ // \return true if a hit was found, false otherwise
++ typedef bool (*SweepCapsuleFunc) (GU_CAPSULE_SWEEP_FUNC_PARAMS);
++
++ // PT: function pointer for Geom-indexed box sweep functions
++ // See GU_BOX_SWEEP_FUNC_PARAMS for function parameters details.
++ // \return true if a hit was found, false otherwise
++ typedef bool (*SweepBoxFunc) (GU_BOX_SWEEP_FUNC_PARAMS);
++
++ // function pointer for Geom-indexed convex core sweep functions
++ // See GU_CONVEXCORE_SWEEP_FUNC_PARAMS for function parameters details.
++ // \return true if a hit was found, false otherwise
++ typedef bool (*SweepConvexCoreFunc) (GU_CONVEXCORE_SWEEP_FUNC_PARAMS);
++
++ // PT: function pointer for Geom-indexed convex mesh sweep functions
++ // See GU_CONVEX_SWEEP_FUNC_PARAMS for function parameters details.
++ // \return true if a hit was found, false otherwise
++ typedef bool (*SweepConvexFunc) (GU_CONVEX_SWEEP_FUNC_PARAMS);
++
++ // PT: typedef for bundles of all sweep functions, i.e. the function tables themselves (indexed by geom-type).
++ typedef SweepCapsuleFunc GeomSweepCapsuleTable [PxGeometryType::eGEOMETRY_COUNT];
++ typedef SweepBoxFunc GeomSweepBoxTable [PxGeometryType::eGEOMETRY_COUNT];
++ typedef SweepConvexCoreFunc GeomSweepConvexCoreTable[PxGeometryType::eGEOMETRY_COUNT];
++ typedef SweepConvexFunc GeomSweepConvexTable [PxGeometryType::eGEOMETRY_COUNT];
++
++ struct GeomSweepFuncs
++ {
++ GeomSweepCapsuleTable capsuleMap;
++ GeomSweepCapsuleTable preciseCapsuleMap;
++ GeomSweepBoxTable boxMap;
++ GeomSweepBoxTable preciseBoxMap;
++ GeomSweepConvexCoreTable convexCoreMap;
++ GeomSweepConvexTable convexMap;
++ };
++ // PT: grabs all sweep function tables at once (for access by external non-Gu modules)
++ PX_PHYSX_COMMON_API const GeomSweepFuncs& getSweepFuncTable();
++
++ // PT: signature for sweep-vs-triangles functions.
++ // We use defines to be able to quickly change the signature of all sweep functions.
++ // (this also ensures they all use consistent names for passed parameters).
++ // \param[in] nbTris number of triangles in input array
++ // \param[in] triangles array of triangles to sweep the shape against
++ // \param[in] doubleSided true if input triangles are double-sided
++ // \param[in] x geom to sweep against input triangles
++ // \param[in] pose pose of geom x
++ // \param[in] unitDir sweep's unit dir
++ // \param[in] distance sweep's length/max distance
++ // \param[out] hit hit result
++ // \param[in] cachedIndex optional initial triangle index (must be <nbTris)
++ // \param[in] inflation optional inflation value for swept shape
++ // \param[in] hitFlags query behavior flags
++ #define GU_SWEEP_TRIANGLES_FUNC_PARAMS(x) PxU32 nbTris, const PxTriangle* triangles, bool doubleSided, \
++ const x& geom, const PxTransform& pose, \
++ const PxVec3& unitDir, PxReal distance, \
++ PxGeomSweepHit& hit, const PxU32* cachedIndex, \
++ PxReal inflation, PxHitFlags hitFlags
++
++ bool sweepCapsuleTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxCapsuleGeometry));
++ bool sweepBoxTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
++ bool sweepBoxTriangles_Precise (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
++
++ } // namespace Gu
++ }
++
++ #endif