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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_RAYCAST_CCD_H
#define PX_RAYCAST_CCD_H
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxVec3.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxScene;
class PxShape;
class PxRigidDynamic;
class RaycastCCDManagerInternal;
/**
\brief Raycast-CCD manager.
Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.
This implementation has some limitations:
- it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
- it is only implemented for simple actors with 1 shape (not for "compounds")
Also, since it is raycast-based, the solution is not perfect. In particular:
- small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small
hole in the world (like the keyhole from a door).
- dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against
slow-moving dynamic objects.
Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have
scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE
(and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.
*/
class RaycastCCDManager
{
public:
RaycastCCDManager(PxScene* scene);
~RaycastCCDManager();
/**
\brief Register dynamic object for raycast CCD.
\param[in] actor object's actor
\param[in] shape object's shape
\return True if success
*/
bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
/**
\brief Unregister dynamic object for raycast CCD.
\param[in] actor object's actor
\param[in] shape object's shape
\return True if success
*/
bool unregisterRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
/**
\brief Perform raycast CCD. Call this after your simulate/fetchResults calls.
\param[in] doDynamicDynamicCCD True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)
*/
void doRaycastCCD(bool doDynamicDynamicCCD);
private:
RaycastCCDManagerInternal* mImpl;
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif