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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_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