Revision control
Copy as Markdown
// 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 GU_OVERLAP_TESTS_H
#define GU_OVERLAP_TESTS_H
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxAssert.h"
#include "foundation/PxErrors.h"
#include "foundation/PxFoundation.h"
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"
namespace physx
{
namespace Gu
{
class Capsule;
class Sphere;
// PT: this is just a shadow of what it used to be. We currently don't use TRIGGER_INSIDE anymore, but I leave it for now,
// since I really want to put this back the way it was before.
enum TriggerStatus
{
TRIGGER_DISJOINT,
TRIGGER_INSIDE,
TRIGGER_OVERLAP
};
// PT: currently only used for convex triggers
struct TriggerCache
{
PxVec3 dir;
PxU16 state;
PxU16 gjkState; //gjk succeed or fail
};
#define UNUSED_OVERLAP_THREAD_CONTEXT NULL
// PT: we use a define to be able to quickly change the signature of all overlap functions.
// (this also ensures they all use consistent names for passed parameters).
// \param[in] geom0 first geometry object
// \param[in] pose0 pose of first geometry object
// \param[in] geom1 second geometry object
// \param[in] pose1 pose of second geometry object
// \param[in] cache optional cached data for triggers
// \param[in] threadContext optional per-thread context
#define GU_OVERLAP_FUNC_PARAMS const PxGeometry& geom0, const PxTransform& pose0, \
const PxGeometry& geom1, const PxTransform& pose1, \
Gu::TriggerCache* cache, PxOverlapThreadContext* threadContext
// PT: function pointer for Geom-indexed overlap functions
// See GU_OVERLAP_FUNC_PARAMS for function parameters details.
// \return true if an overlap was found, false otherwise
typedef bool (*GeomOverlapFunc) (GU_OVERLAP_FUNC_PARAMS);
// PT: typedef for a bundle of all overlap functions, i.e. the function table itself (indexed by geom-type).
typedef GeomOverlapFunc GeomOverlapTable[PxGeometryType::eGEOMETRY_COUNT];
// PT: retrieves the overlap function table (for access by external non-Gu modules)
PX_PHYSX_COMMON_API const GeomOverlapTable* getOverlapFuncTable();
PX_FORCE_INLINE bool overlap( const PxGeometry& geom0, const PxTransform& pose0,
const PxGeometry& geom1, const PxTransform& pose1,
const GeomOverlapTable* PX_RESTRICT overlapFuncs, PxOverlapThreadContext* threadContext)
{
PX_CHECK_AND_RETURN_VAL(pose0.isValid(), "Gu::overlap(): pose0 is not valid.", false);
PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "Gu::overlap(): pose1 is not valid.", false);
if(geom0.getType() > geom1.getType())
{
GeomOverlapFunc overlapFunc = overlapFuncs[geom1.getType()][geom0.getType()];
PX_ASSERT(overlapFunc);
return overlapFunc(geom1, pose1, geom0, pose0, NULL, threadContext);
}
else
{
GeomOverlapFunc overlapFunc = overlapFuncs[geom0.getType()][geom1.getType()];
PX_ASSERT(overlapFunc);
return overlapFunc(geom0, pose0, geom1, pose1, NULL, threadContext);
}
}
} // namespace Gu
}
#endif