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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_CUSTOMGEOMETRY_H
+ #define PX_CUSTOMGEOMETRY_H
+
+ #include "foundation/PxTransform.h"
+ #include "foundation/PxBounds3.h"
+ #include "geometry/PxGeometry.h"
+ #include "geometry/PxGeometryHit.h"
+ #include "geometry/PxGeometryQueryContext.h"
+ #include "foundation/PxFoundationConfig.h"
+
+ #if !PX_DOXYGEN
+ namespace physx
+ {
+ #endif
+ class PxContactBuffer;
+ class PxRenderOutput;
+ class PxMassProperties;
+
+ /**
+ \brief Custom geometry class. This class allows user to create custom geometries by providing a set of virtual callback functions.
+ */
+ class PxCustomGeometry : public PxGeometry
+ {
+ public:
+ /**
+ \brief For internal use
+ */
+ PX_PHYSX_COMMON_API static PxU32 getUniqueID();
+
+ /**
+ \brief The type of a custom geometry. Allows to identify a particular kind of it.
+ */
+ struct Type
+ {
+ /**
+ \brief Default constructor
+ */
+ PX_INLINE Type() : mID(getUniqueID()) {}
+
+ /**
+ \brief Default constructor
+ */
+ PX_INLINE Type(const Type& t) : mID(t.mID) {}
+
+ /**
+ \brief Assigment operator
+ */
+ PX_INLINE Type& operator = (const Type& t) { mID = t.mID; return *this; }
+
+ /**
+ \brief Equality operator
+ */
+ PX_INLINE bool operator == (const Type& t) const { return mID == t.mID; }
+
+ /**
+ \brief Inequality operator
+ */
+ PX_INLINE bool operator != (const Type& t) const { return mID != t.mID; }
+
+ /**
+ \brief Invalid type
+ */
+ PX_INLINE static Type INVALID() { PxU32 z(0); return reinterpret_cast<const Type&>(z); }
+
+ private:
+ PxU32 mID;
+ };
+
+ /**
+ \brief Custom geometry callbacks structure. User should inherit this and implement all pure virtual functions.
+ */
+ struct Callbacks
+ {
+ /**
+ \brief Return custom type. The type purpose is for user to differentiate custom geometries. Not used by PhysX.
+
+ \return Unique ID of a custom geometry type.
+
+ \note User should use DECLARE_CUSTOM_GEOMETRY_TYPE and IMPLEMENT_CUSTOM_GEOMETRY_TYPE intead of overwriting this function.
+ */
+ virtual Type getCustomType() const = 0;
+
+ /**
+ \brief Return local bounds.
+
+ \param[in] geometry This geometry.
+
+ \return Bounding box in the geometry local space.
+ */
+ virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const = 0;
+
+ /**
+ \brief Contacts generation. Generate collision contacts between two geometries in given poses.
+
+ \param[in] geom0 This custom geometry
+ \param[in] geom1 The other geometry
+ \param[in] pose0 This custom geometry pose
+ \param[in] pose1 The other geometry pose
+ \param[in] contactDistance The distance at which contacts begin to be generated between the pairs
+ \param[in] meshContactMargin The mesh contact margin.
+ \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 write contacts to.
+
+ \return True if there are contacts. False otherwise.
+ */
+ virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
+ const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
+ PxContactBuffer& contactBuffer) const = 0;
+
+ /**
+ \brief Raycast. Cast a ray against the geometry in given pose.
+
+ \param[in] origin Origin of the ray.
+ \param[in] unitDir Normalized direction of the ray.
+ \param[in] geom This custom geometry
+ \param[in] pose This custom geometry pose
+ \param[in] maxDist Length of the ray. Has to be in the [0, inf) range.
+ \param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
+ \param[in] maxHits max number of returned hits = size of 'rayHits' buffer
+ \param[out] rayHits Ray hits.
+ \param[in] stride Ray hit structure stride.
+ \param[in] threadContext Optional user-defined per-thread context.
+
+ \return Number of hits.
+ */
+ virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
+ PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext* threadContext) const = 0;
+
+ /**
+ \brief Overlap. Test if geometries overlap.
+
+ \param[in] geom0 This custom geometry
+ \param[in] pose0 This custom geometry pose
+ \param[in] geom1 The other geometry
+ \param[in] pose1 The other geometry pose
+ \param[in] threadContext Optional user-defined per-thread context.
+
+ \return True if there is overlap. False otherwise.
+ */
+ virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext* threadContext) const = 0;
+
+ /**
+ \brief Sweep. Sweep geom1 against geom0.
+
+ \param[in] unitDir Normalized direction of the sweep. geom1 is swept along this direction.
+ \param[in] maxDist Length of the sweep. Has to be in the [0, inf) range.
+ \param[in] geom0 This custom geometry
+ \param[in] pose0 This custom geometry pose
+ \param[in] geom1 The other geometry
+ \param[in] pose1 The other geometry pose
+ \param[out] sweepHit Used to report the sweep hit.
+ \param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
+ \param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping.
+ \param[in] threadContext Optional user-defined per-thread context.
+
+ \return True if there is hit. False otherwise.
+ */
+ virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
+ const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
+ PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext* threadContext) const = 0;
+
+ /**
+ \brief Visualize custom geometry for debugging. Optional.
+
+ \param[in] geometry This geometry.
+ \param[in] out Render output.
+ \param[in] absPose Geometry absolute transform.
+ \param[in] cullbox Region to visualize.
+ */
+ virtual void visualize(const PxGeometry& geometry, PxRenderOutput& out, const PxTransform& absPose, const PxBounds3& cullbox) const = 0;
+
+ /**
+ \brief Compute custom geometry mass properties. For geometries usable with dynamic rigidbodies.
+
+ \param[in] geometry This geometry.
+ \param[out] massProperties Mass properties to compute.
+ */
+ virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const = 0;
+
+ /**
+ \brief Compatible with PhysX's PCM feature. Allows to optimize contact generation.
+
+ \param[in] geometry This geometry.
+ \param[out] breakingThreshold The threshold to trigger contacts re-generation.
+ */
+ virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const = 0;
+
+ /* Destructor */
+ virtual ~Callbacks() {}
+ };
+
+ /**
+ \brief Default constructor.
+
+ Creates an empty object with a NULL callbacks pointer.
+ */
+ PX_INLINE PxCustomGeometry() :
+ PxGeometry(PxGeometryType::eCUSTOM),
+ callbacks(NULL)
+ {}
+
+ /**
+ \brief Constructor.
+ */
+ PX_INLINE PxCustomGeometry(Callbacks& _callbacks) :
+ PxGeometry(PxGeometryType::eCUSTOM),
+ callbacks(&_callbacks)
+ {}
+
+ /**
+ \brief Copy constructor.
+
+ \param[in] that Other object
+ */
+ PX_INLINE PxCustomGeometry(const PxCustomGeometry& that) :
+ PxGeometry(that),
+ callbacks(that.callbacks)
+ {}
+
+ /**
+ \brief Assignment operator
+ */
+ PX_INLINE void operator=(const PxCustomGeometry& that)
+ {
+ mType = that.mType;
+ callbacks = that.callbacks;
+ }
+
+ /**
+ \brief Returns true if the geometry is valid.
+
+ \return True if the current settings are valid for shape creation.
+
+ \see PxPhysics::createShape
+ */
+ PX_INLINE bool isValid() const;
+
+ /**
+ \brief Returns the custom type of the custom geometry.
+ */
+ PX_INLINE Type getCustomType() const
+ {
+ return callbacks ? callbacks->getCustomType() : Type::INVALID();
+ }
+
+ public:
+ Callbacks* callbacks; //!< A reference to the callbacks object.
+ };
+
+ PX_INLINE bool PxCustomGeometry::isValid() const
+ {
+ return mType == PxGeometryType::eCUSTOM && callbacks != NULL;
+ }
+
+ #if !PX_DOXYGEN
+ } // namespace physx
+ #endif
+
+ /**
+ \brief Used in pair with IMPLEMENT_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
+ */
+ #define DECLARE_CUSTOM_GEOMETRY_TYPE \
+ static ::physx::PxCustomGeometry::Type TYPE(); \
+ virtual ::physx::PxCustomGeometry::Type getCustomType() const;
+
+ /**
+ \brief Used in pair with DECLARE_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
+ */
+ #define IMPLEMENT_CUSTOM_GEOMETRY_TYPE(CLASS) \
+ ::physx::PxCustomGeometry::Type CLASS::TYPE() \
+ { \
+ static ::physx::PxCustomGeometry::Type customType; \
+ return customType; \
+ } \
+ ::physx::PxCustomGeometry::Type CLASS::getCustomType() const \
+ { \
+ return TYPE(); \
+ }
+
+ #endif