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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
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // 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_GJK_QUERY_EXT_H
+ #define PX_GJK_QUERY_EXT_H
+
+ #include "geometry/PxGjkQuery.h"
+ #include "geometry/PxGeometry.h"
+
+ #if !PX_DOXYGEN
+ namespace physx
+ {
+ #endif
+
+ class PxSphereGeometry;
+ class PxCapsuleGeometry;
+ class PxBoxGeometry;
+ class PxConvexCoreGeometry;
+ class PxConvexMeshGeometry;
+ class PxContactBuffer;
+ class PxConvexMesh;
+
+ /**
+ \brief Pre-made support mapping for built-in convex geometry types.
+ */
+ class PxGjkQueryExt
+ {
+ public:
+ /**
+ \brief Pre-made support mapping for a sphere
+ */
+ struct SphereSupport : PxGjkQuery::Support
+ {
+ PxReal radius;
+
+ /**
+ \brief Default constructor
+ */
+ SphereSupport();
+ /**
+ \brief Constructs a SphereSupport for a sphere radius
+ */
+ SphereSupport(PxReal radius);
+ /**
+ \brief Constructs a SphereSupport for a PxSphereGeometry
+ */
+ SphereSupport(const PxSphereGeometry& geom);
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+ };
+
+ /**
+ \brief Pre-made support mapping for a capsule
+ */
+ struct CapsuleSupport : PxGjkQuery::Support
+ {
+ PxReal radius, halfHeight;
+
+ /**
+ \brief Default constructor
+ */
+ CapsuleSupport();
+ /**
+ \brief Constructs a CapsuleSupport for capsule radius and halfHeight
+ */
+ CapsuleSupport(PxReal radius, PxReal halfHeight);
+ /**
+ \brief Constructs a CapsuleSupport for a PxCapsuleGeometry
+ */
+ CapsuleSupport(const PxCapsuleGeometry& geom);
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+ };
+
+ /**
+ \brief Pre-made support mapping for a box
+ */
+ struct BoxSupport : PxGjkQuery::Support
+ {
+ PxVec3 halfExtents;
+ PxReal margin;
+
+ /**
+ \brief Default constructor
+ */
+ BoxSupport();
+ /**
+ \brief Constructs a BoxSupport for a box halfExtents with optional margin
+ */
+ BoxSupport(const PxVec3& halfExtents, PxReal margin = 0);
+ /**
+ \brief Constructs a BoxSupport for a PxBoxGeometry
+ */
+ BoxSupport(const PxBoxGeometry& box, PxReal margin = 0);
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+ };
+
+ /**
+ \brief Pre-made support mapping for a convex core
+ */
+ struct ConvexCoreSupport : PxGjkQuery::Support
+ {
+ PxU64 shapeData[10];
+
+ /**
+ \brief Default constructor
+ */
+ ConvexCoreSupport();
+ /**
+ \brief Constructs a ConvexCoreSupport for a PxConvexCoreGeometry
+ */
+ ConvexCoreSupport(const PxConvexCoreGeometry& geom, PxReal margin = 0);
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+ };
+
+ /**
+ \brief Pre-made support mapping for a convex mesh
+ */
+ struct ConvexMeshSupport : PxGjkQuery::Support
+ {
+ const PxConvexMesh* convexMesh;
+ PxVec3 scale;
+ PxQuat scaleRotation;
+ PxReal margin;
+
+ /**
+ \brief Default constructor
+ */
+ ConvexMeshSupport();
+ /**
+ \brief Constructs a BoxSupport for a PxConvexMesh
+ */
+ ConvexMeshSupport(const PxConvexMesh& convexMesh, const PxVec3& scale = PxVec3(1), const PxQuat& scaleRotation = PxQuat(PxIdentity), PxReal margin = 0);
+ /**
+ \brief Constructs a BoxSupport for a PxConvexMeshGeometry
+ */
+ ConvexMeshSupport(const PxConvexMeshGeometry& convexMesh, PxReal margin = 0);
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+ };
+
+ /**
+ \brief Pre-made support mapping for any PhysX's convex geometry (sphere, capsule, box, convex mesh)
+ */
+ struct ConvexGeomSupport : PxGjkQuery::Support
+ {
+ /**
+ \brief Default constructor
+ */
+ ConvexGeomSupport();
+ /**
+ \brief Constructs a BoxSupport for a PxGeometry
+ */
+ ConvexGeomSupport(const PxGeometry& geom, PxReal margin = 0);
+ /**
+ \brief Destructor
+ */
+ ~ConvexGeomSupport();
+
+ /**
+ \brief Returns false if ConvexGeomSupport was constructed from non-convex geometry
+ */
+ bool isValid() const;
+
+ virtual PxReal getMargin() const PX_OVERRIDE PX_FINAL;
+ virtual PxVec3 supportLocal(const PxVec3& dir) const PX_OVERRIDE PX_FINAL;
+
+ private:
+ PxGeometryType::Enum mType;
+ union {
+ void* alignment;
+ PxU8 sphere[sizeof(SphereSupport)];
+ PxU8 capsule[sizeof(CapsuleSupport)];
+ PxU8 box[sizeof(BoxSupport)];
+ PxU8 convexCore[sizeof(ConvexCoreSupport)];
+ PxU8 convexMesh[sizeof(ConvexMeshSupport)];
+ } mSupport;
+ };
+
+ /**
+ \brief Generates a contact point between 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 contacts begin to be generated 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] contactBuffer A buffer to store the contact
+
+ \return True if there is a contact.
+ */
+ static bool generateContacts(const PxGjkQuery::Support& a, const PxGjkQuery::Support& b, const PxTransform& poseA, const PxTransform& poseB,
+ PxReal contactDistance, PxReal toleranceLength, PxContactBuffer& contactBuffer);
+
+ };
+
+ #if !PX_DOXYGEN
+ }
+ #endif
+
+ #endif