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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 GU_SWEEP_TESTS_H
#define GU_SWEEP_TESTS_H
#include "foundation/PxTransform.h"
#include "geometry/PxGeometry.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryContext.h"
namespace physx
{
class PxConvexCoreGeometry;
class PxConvexMeshGeometry;
class PxCapsuleGeometry;
class PxTriangle;
class PxBoxGeometry;
#define UNUSED_SWEEP_THREAD_CONTEXT NULL
// PT: TODO: unify this with raycast calls (names and order of params)
// PT: we use defines to be able to quickly change the signature of all sweep functions.
// (this also ensures they all use consistent names for passed parameters).
// \param[in] geom geometry object to sweep against
// \param[in] pose pose of geometry object
// \param[in] unitDir sweep's unit dir
// \param[in] distance sweep's length/max distance
// \param[out] sweepHit hit result
// \param[in] hitFlags query behavior flags
// \param[in] inflation optional inflation value for swept shape
// \param[in] threadContext optional per-thread context
// PT: sweep parameters for capsule
#define GU_CAPSULE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
const PxCapsuleGeometry& capsuleGeom_, const PxTransform& capsulePose_, const Gu::Capsule& lss, \
const PxVec3& unitDir, PxReal distance, \
PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
// PT: sweep parameters for box
#define GU_BOX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
const PxBoxGeometry& boxGeom_, const PxTransform& boxPose_, const Gu::Box& box, \
const PxVec3& unitDir, PxReal distance, \
PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
// VR: sweep parameters for convex core
#define GU_CONVEXCORE_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
const PxConvexCoreGeometry& convexGeom, const PxTransform& convexPose, \
const PxVec3& unitDir, PxReal distance, \
PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
// PT: sweep parameters for convex mesh
#define GU_CONVEX_SWEEP_FUNC_PARAMS const PxGeometry& geom, const PxTransform& pose, \
const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, \
const PxVec3& unitDir, PxReal distance, \
PxGeomSweepHit& sweepHit, const PxHitFlags hitFlags, PxReal inflation, PxSweepThreadContext* threadContext
namespace Gu
{
class Capsule;
class Box;
// PT: function pointer for Geom-indexed capsule sweep functions
// See GU_CAPSULE_SWEEP_FUNC_PARAMS for function parameters details.
// \return true if a hit was found, false otherwise
typedef bool (*SweepCapsuleFunc) (GU_CAPSULE_SWEEP_FUNC_PARAMS);
// PT: function pointer for Geom-indexed box sweep functions
// See GU_BOX_SWEEP_FUNC_PARAMS for function parameters details.
// \return true if a hit was found, false otherwise
typedef bool (*SweepBoxFunc) (GU_BOX_SWEEP_FUNC_PARAMS);
// function pointer for Geom-indexed convex core sweep functions
// See GU_CONVEXCORE_SWEEP_FUNC_PARAMS for function parameters details.
// \return true if a hit was found, false otherwise
typedef bool (*SweepConvexCoreFunc) (GU_CONVEXCORE_SWEEP_FUNC_PARAMS);
// PT: function pointer for Geom-indexed convex mesh sweep functions
// See GU_CONVEX_SWEEP_FUNC_PARAMS for function parameters details.
// \return true if a hit was found, false otherwise
typedef bool (*SweepConvexFunc) (GU_CONVEX_SWEEP_FUNC_PARAMS);
// PT: typedef for bundles of all sweep functions, i.e. the function tables themselves (indexed by geom-type).
typedef SweepCapsuleFunc GeomSweepCapsuleTable [PxGeometryType::eGEOMETRY_COUNT];
typedef SweepBoxFunc GeomSweepBoxTable [PxGeometryType::eGEOMETRY_COUNT];
typedef SweepConvexCoreFunc GeomSweepConvexCoreTable[PxGeometryType::eGEOMETRY_COUNT];
typedef SweepConvexFunc GeomSweepConvexTable [PxGeometryType::eGEOMETRY_COUNT];
struct GeomSweepFuncs
{
GeomSweepCapsuleTable capsuleMap;
GeomSweepCapsuleTable preciseCapsuleMap;
GeomSweepBoxTable boxMap;
GeomSweepBoxTable preciseBoxMap;
GeomSweepConvexCoreTable convexCoreMap;
GeomSweepConvexTable convexMap;
};
// PT: grabs all sweep function tables at once (for access by external non-Gu modules)
PX_PHYSX_COMMON_API const GeomSweepFuncs& getSweepFuncTable();
// PT: signature for sweep-vs-triangles functions.
// We use defines to be able to quickly change the signature of all sweep functions.
// (this also ensures they all use consistent names for passed parameters).
// \param[in] nbTris number of triangles in input array
// \param[in] triangles array of triangles to sweep the shape against
// \param[in] doubleSided true if input triangles are double-sided
// \param[in] x geom to sweep against input triangles
// \param[in] pose pose of geom x
// \param[in] unitDir sweep's unit dir
// \param[in] distance sweep's length/max distance
// \param[out] hit hit result
// \param[in] cachedIndex optional initial triangle index (must be <nbTris)
// \param[in] inflation optional inflation value for swept shape
// \param[in] hitFlags query behavior flags
#define GU_SWEEP_TRIANGLES_FUNC_PARAMS(x) PxU32 nbTris, const PxTriangle* triangles, bool doubleSided, \
const x& geom, const PxTransform& pose, \
const PxVec3& unitDir, PxReal distance, \
PxGeomSweepHit& hit, const PxU32* cachedIndex, \
PxReal inflation, PxHitFlags hitFlags
bool sweepCapsuleTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxCapsuleGeometry));
bool sweepBoxTriangles (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
bool sweepBoxTriangles_Precise (GU_SWEEP_TRIANGLES_FUNC_PARAMS(PxBoxGeometry));
} // namespace Gu
}
#endif