NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxShapeExt.h Source File

NVIDIA PhysX SDK 3.4 API

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PxShapeExt.h

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00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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00029 
00030 
00031 #ifndef PX_PHYSICS_EXTENSIONS_SHAPE_H
00032 #define PX_PHYSICS_EXTENSIONS_SHAPE_H
00033 
00037 #include "PxPhysXConfig.h"
00038 
00039 #include "PxShape.h"
00040 #include "PxRigidActor.h"
00041 #include "geometry/PxGeometryQuery.h"
00042 
00043 #if !PX_DOXYGEN
00044 namespace physx
00045 {
00046 #endif
00047 
00054 class PxShapeExt
00055 {
00056 public:
00065     static PX_INLINE    PxTransform     getGlobalPose(const PxShape& shape, const PxRigidActor& actor)
00066     {
00067         return actor.getGlobalPose() * shape.getLocalPose();
00068     }
00069 
00085     static PX_INLINE PxU32              raycast(const PxShape& shape, const PxRigidActor& actor, 
00086                                                 const PxVec3& rayOrigin, const PxVec3& rayDir, PxReal maxDist, PxHitFlags hitFlags,
00087                                                 PxU32 maxHits, PxRaycastHit* rayHits)
00088     {
00089         return PxGeometryQuery::raycast(
00090             rayOrigin, rayDir, shape.getGeometry().any(), getGlobalPose(shape, actor), maxDist, hitFlags, maxHits, rayHits);
00091     }
00092 
00104     static PX_INLINE bool               overlap(const PxShape& shape, const PxRigidActor& actor, 
00105                                                 const PxGeometry& otherGeom, const PxTransform& otherGeomPose)
00106     {
00107         return PxGeometryQuery::overlap(shape.getGeometry().any(), getGlobalPose(shape, actor), otherGeom, otherGeomPose);
00108     }
00109 
00127     static PX_INLINE bool           sweep(const PxShape& shape, const PxRigidActor& actor, 
00128                                           const PxVec3& unitDir, const PxReal distance, const PxGeometry& otherGeom, const PxTransform& otherGeomPose,
00129                                           PxSweepHit& sweepHit, PxHitFlags hitFlags)
00130     {
00131         return PxGeometryQuery::sweep(unitDir, distance, otherGeom, otherGeomPose, shape.getGeometry().any(), getGlobalPose(shape, actor), sweepHit, hitFlags);
00132     }
00133 
00134 
00146     static PX_INLINE PxBounds3      getWorldBounds(const PxShape& shape, const PxRigidActor& actor, float inflation=1.01f)
00147     {
00148         return PxGeometryQuery::getWorldBounds(shape.getGeometry().any(), getGlobalPose(shape, actor), inflation);
00149     }
00150 
00151 };
00152 
00153 #if !PX_DOXYGEN
00154 } // namespace physx
00155 #endif
00156 
00158 #endif
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