Revision control
+ // 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_H
+ #define PX_GJK_QUERY_H
+
+ #include "common/PxPhysXCommonConfig.h"
+ #include "foundation/PxTransform.h"
+
+ #if !PX_DOXYGEN
+ namespace physx
+ {
+ #endif
+
+ /**
+ \brief Collection of GJK query functions (sweeps, raycasts, overlaps, ...).
+ */
+ class PxGjkQuery
+ {
+ public:
+
+ /**
+ \brief Abstract interface for a user defined shape GJK mapping support.
+ A user defined shape consists of a core shape and a margin. If the distance
+ between two shapes' cores is equal to the sum of their margins, these shapes are
+ considered touching.
+ */
+ struct Support
+ {
+ virtual ~Support() {}
+ /**
+ \brief Return the user defined shape margin. Margin should be greater than or equal to 0
+
+ \return Margin.
+ */
+ virtual PxReal getMargin() const = 0;
+ /**
+ \brief Return the farthest point on the user defined shape's core in given direction.
+
+ \param[in] dir Direction
+
+ \return Farthest point in given direction.
+ */
+ virtual PxVec3 supportLocal(const PxVec3& dir) const = 0;
+ };
+
+ /**
+ \brief Computes proximity information for 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 proximity info begins to be computed 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] pointA The closest/deepest point on shape A surface
+ \param[out] pointB The closest/deepest point on shape B surface
+ \param[out] separatingAxis Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
+ \param[out] separation Translating shape B along 'separatingAxis' by 'separation' makes the shapes touching
+
+ \return False if the distance is greater than contactDistance.
+ */
+ PX_PHYSX_COMMON_API static bool proximityInfo(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
+ PxReal contactDistance, PxReal toleranceLength, PxVec3& pointA, PxVec3& pointB, PxVec3& separatingAxis, PxReal& separation);
+
+ /**
+ \brief Raycast test against the given shape.
+
+ \param[in] shape Shape support mapping
+ \param[in] pose Shape transformation
+ \param[in] rayStart The start point of the ray to test the shape against
+ \param[in] unitDir Normalized direction of the ray to test the shape against
+ \param[in] maxDist Maximum ray length, has to be in the [0, inf) range
+ \param[out] t Hit distance
+ \param[out] n Hit normal
+ \param[out] p Hit point
+
+ \return True if there is a hit.
+ */
+ PX_PHYSX_COMMON_API static bool raycast(const Support& shape, const PxTransform& pose, const PxVec3& rayStart,
+ const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
+
+ /**
+ \brief Overlap test for two shapes.
+
+ \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
+
+ \return True if the shapes overlap.
+ */
+ PX_PHYSX_COMMON_API static bool overlap(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB);
+
+ /**
+ \brief Sweep the shape B in space and test for collision with the shape A.
+
+ \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] unitDir Normalized direction of the ray to test the shape against
+ \param[in] maxDist Maximum ray length, has to be in the [0, inf) range
+ \param[out] t Hit distance
+ \param[out] n Hit normal
+ \param[out] p Hit point
+
+ \return True if there is a hit.
+ */
+ PX_PHYSX_COMMON_API static bool sweep(const Support& a, const Support& b, const PxTransform& poseA, const PxTransform& poseB,
+ const PxVec3& unitDir, PxReal maxDist, PxReal& t, PxVec3& n, PxVec3& p);
+ };
+
+ #if !PX_DOXYGEN
+ }
+ #endif
+
+ #endif