PxGeometryQuery Class Reference
[Geomutils]

Collection of geometry object queries (sweeps, raycasts, overlaps, ...). More...

#include <PxGeometryQuery.h>

List of all members.

Static Public Member Functions
static PX_PHYSX_COMMON_API bool	sweep (const PxVec3 &unitDir, const PxReal maxDist, const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1, PxSweepHit &sweepHit, PxHitFlags hitFlags=PxHitFlag::eDEFAULT, const PxReal inflation=0.f)
	Sweep a specified geometry object in space and test for collision with a given object.
static PX_PHYSX_COMMON_API bool	overlap (const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1)
	Overlap test for two geometry objects.
static PX_PHYSX_COMMON_API PxU32	raycast (const PxVec3 &origin, const PxVec3 &unitDir, const PxGeometry &geom, const PxTransform &pose, PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxRaycastHit *PX_RESTRICT rayHits)
	Raycast test against a geometry object.
static PX_PHYSX_COMMON_API bool	computePenetration (PxVec3 &direction, PxF32 &depth, const PxGeometry &geom0, const PxTransform &pose0, const PxGeometry &geom1, const PxTransform &pose1)
	Compute minimum translational distance (MTD) between two geometry objects.
static PX_PHYSX_COMMON_API PxReal	pointDistance (const PxVec3 &point, const PxGeometry &geom, const PxTransform &pose, PxVec3 *closestPoint=NULL)
	Computes distance between a point and a geometry object.
static PX_PHYSX_COMMON_API PxBounds3	getWorldBounds (const PxGeometry &geom, const PxTransform &pose, float inflation=1.01f)
	get the bounds for a geometry object
static PX_PHYSX_COMMON_API bool	isValid (const PxGeometry &geom)
	Checks if provided geometry is valid.

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Detailed Description

Collection of geometry object queries (sweeps, raycasts, overlaps, ...).

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Member Function Documentation

static PX_PHYSX_COMMON_API bool PxGeometryQuery::computePenetration	(	PxVec3 &	direction,
		PxF32 &	depth,
		const PxGeometry &	geom0,
		const PxTransform &	pose0,
		const PxGeometry &	geom1,
		const PxTransform &	pose1
	)			[static]

Compute minimum translational distance (MTD) between two geometry objects.

All combinations of geom objects are supported except:

• plane/plane
• plane/mesh
• plane/heightfield
• mesh/mesh
• mesh/heightfield
• heightfield/heightfield

The function returns a unit vector ('direction') and a penetration depth ('depth').

The depenetration vector D = direction * depth should be applied to the first object, to get out of the second object.

Returned depth should always be positive or null.

If objects do not overlap, the function can not compute the MTD and returns false.

Parameters:

[out]	direction	Computed MTD unit direction
[out]	depth	Penetration depth. Always positive or null.
[in]	geom0	The first geometry object
[in]	pose0	Pose of the first geometry object
[in]	geom1	The second geometry object
[in]	pose1	Pose of the second geometry object

Returns:

True if the MTD has successfully been computed, i.e. if objects do overlap.

See also:

PxGeometry PxTransform

static PX_PHYSX_COMMON_API PxBounds3 PxGeometryQuery::getWorldBounds	(	const PxGeometry &	geom,
		const PxTransform &	pose,
		float	inflation = 1.01f
	)			[static]

get the bounds for a geometry object

Parameters:

[in]	geom	The geometry object
[in]	pose	Pose of the geometry object
[in]	inflation	Scale factor for computed world bounds. Box extents are multiplied by this value.

Returns:

The bounds of the object

See also:

PxGeometry PxTransform

Referenced by PxShapeExt::getWorldBounds().

static PX_PHYSX_COMMON_API bool PxGeometryQuery::isValid

(

const PxGeometry &

geom

)

[static]

Checks if provided geometry is valid.

Parameters:

[in]

geom

The geometry object.

Returns:

True if geometry is valid.

See also:

PxGeometry PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexGeometry

static PX_PHYSX_COMMON_API bool PxGeometryQuery::overlap	(	const PxGeometry &	geom0,
		const PxTransform &	pose0,
		const PxGeometry &	geom1,
		const PxTransform &	pose1
	)			[static]

Overlap test for two geometry objects.

All combinations are supported except:

• PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxTriangleMeshGeometry vs. {PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxHeightFieldGeometry vs. {PxHeightFieldGeometry}

Parameters:

[in]	geom0	The first geometry object
[in]	pose0	Pose of the first geometry object
[in]	geom1	The second geometry object
[in]	pose1	Pose of the second geometry object

Returns:

True if the two geometry objects overlap

See also:

PxGeometry PxTransform

Referenced by PxShapeExt::overlap().

static PX_PHYSX_COMMON_API PxReal PxGeometryQuery::pointDistance	(	const PxVec3 &	point,
		const PxGeometry &	geom,
		const PxTransform &	pose,
		PxVec3 *	closestPoint = NULL
	)			[static]

Computes distance between a point and a geometry object.

Currently supported geometry objects: box, sphere, capsule, convex.

Parameters:

[in]	point	The point P
[in]	geom	The geometry object
[in]	pose	Pose of the geometry object
[out]	closestPoint	Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.

Returns:

Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if the geometry type is not supported.

See also:

PxGeometry PxTransform

static PX_PHYSX_COMMON_API PxU32 PxGeometryQuery::raycast	(	const PxVec3 &	origin,
		const PxVec3 &	unitDir,
		const PxGeometry &	geom,
		const PxTransform &	pose,
		PxReal	maxDist,
		PxHitFlags	hitFlags,
		PxU32	maxHits,
		PxRaycastHit *PX_RESTRICT	rayHits
	)			[static]

Raycast test against a geometry object.

Parameters:

[in]	origin	The origin of the ray to test the geometry object against
[in]	unitDir	Normalized direction of the ray to test the geometry object against
[in]	geom	The geometry object to test the ray against
[in]	pose	Pose of the geometry object
[in]	maxDist	Maximum ray length, has to be in the [0, inf) range
[in]	hitFlags	Specification of the kind of information to retrieve on hit. Combination of PxHitFlag flags
[in]	maxHits	max number of returned hits = size of 'rayHits' buffer
[out]	rayHits	Raycast hits information

Returns:

Number of hits between the ray and the geometry object

See also:

PxRaycastHit PxGeometry PxTransform

Referenced by PxShapeExt::raycast().

static PX_PHYSX_COMMON_API bool PxGeometryQuery::sweep	(	const PxVec3 &	unitDir,
		const PxReal	maxDist,
		const PxGeometry &	geom0,
		const PxTransform &	pose0,
		const PxGeometry &	geom1,
		const PxTransform &	pose1,
		PxSweepHit &	sweepHit,
		PxHitFlags	hitFlags = PxHitFlag::eDEFAULT,
		const PxReal	inflation = 0.f
	)			[static]

Sweep a specified geometry object in space and test for collision with a given object.

The following combinations are supported.

• PxSphereGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxCapsuleGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxBoxGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
• PxConvexMeshGeometry vs. {PxSphereGeometry, PxPlaneGeometry, PxCapsuleGeometry, PxBoxGeometry, PxConvexMeshGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}

Parameters:

[in]	unitDir	Normalized direction along which object geom0 should be swept
[in]	maxDist	Maximum sweep distance, has to be in the [0, inf) range
[in]	geom0	The geometry object to sweep. Supported geometries are PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry and PxConvexMeshGeometry
[in]	pose0	Pose of the geometry object to sweep
[in]	geom1	The geometry object to test the sweep against
[in]	pose1	Pose of the geometry object to sweep against
[out]	sweepHit	The sweep hit information. Only valid if this method returns true.
[in]	hitFlags	Specify which properties per hit should be computed and written to result hit array. Combination of PxHitFlag flags
[in]	inflation	Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.

Returns:

True if the swept geometry object geom0 hits the object geom1

See also:

PxSweepHit PxGeometry PxTransform

Referenced by PxShapeExt::sweep().

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The documentation for this class was generated from the following file:

• PxGeometryQuery.h