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// 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 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