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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #ifndef PX_CONVEX_GEOMETRY_EXT_H
+ #define PX_CONVEX_GEOMETRY_EXT_H
+
+ #include "foundation/PxMat33.h"
+ #include "foundation/PxTransform.h"
+ #include "geometry/PxConvexCoreGeometry.h"
+
+ #if !PX_DOXYGEN
+ namespace physx
+ {
+ #endif
+
+ class PxBounds3;
+ class PxRenderOutput;
+
+ /**
+ \brief Convex geometry helpers
+ */
+ class PxConvexCoreExt
+ {
+ public:
+
+ /**
+ \brief Compute mass properties of the convex core geometry.
+ \param convex The convex geometry.
+ \param[out] density1Mass The mass of the geometry assuming unit density.
+ \param[out] inertiaTensor The inertia tensor of the geometry.
+ \param[out] centerOfMass The center of mass of the geometry.
+ */
+ static void computeMassInfo(const PxConvexCoreGeometry& convex, PxReal& density1Mass, PxMat33& inertiaTensor, PxVec3& centerOfMass);
+
+ /**
+ \brief Visualize the convex core geometry
+ \param convex The convex geometry.
+ \param pose The pose of the geometry in world space
+ \param drawCore If true, draw the core inside the full convex geometry including the margin
+ \param cullbox The culling box for visualization
+ \param out The render output object to use for visualization
+ */
+ static void visualize(const PxConvexCoreGeometry& convex, const PxTransform& pose, bool drawCore, const PxBounds3& cullbox, PxRenderOutput& out);
+
+ };
+
+ #if !PX_DOXYGEN
+ }
+ #endif
+
+ #endif