PxMeshQuery Class Reference
[Geomutils]

#include <PxMeshQuery.h>

List of all members.

Static Public Member Functions
static PX_PHYSX_COMMON_API void	getTriangle (const PxTriangleMeshGeometry &triGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices=NULL, PxU32 *adjacencyIndices=NULL)
	Retrieves triangle data from a triangle ID.
static PX_PHYSX_COMMON_API void	getTriangle (const PxHeightFieldGeometry &hfGeom, const PxTransform &transform, PxTriangleID triangleIndex, PxTriangle &triangle, PxU32 *vertexIndices=NULL, PxU32 *adjacencyIndices=NULL)
	Retrieves triangle data from a triangle ID.
static PX_PHYSX_COMMON_API PxU32	findOverlapTriangleMesh (const PxGeometry &geom, const PxTransform &geomPose, const PxTriangleMeshGeometry &meshGeom, const PxTransform &meshPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow)
	Find the mesh triangles which touch the specified geometry object.
static PX_PHYSX_COMMON_API PxU32	findOverlapHeightField (const PxGeometry &geom, const PxTransform &geomPose, const PxHeightFieldGeometry &hfGeom, const PxTransform &hfPose, PxU32 *results, PxU32 maxResults, PxU32 startIndex, bool &overflow)
	Find the height field triangles which touch the specified geometry object.
static PX_PHYSX_COMMON_API bool	sweep (const PxVec3 &unitDir, const PxReal distance, const PxGeometry &geom, const PxTransform &pose, PxU32 triangleCount, const PxTriangle *triangles, PxSweepHit &sweepHit, PxHitFlags hitFlags=PxHitFlag::eDEFAULT, const PxU32 *cachedIndex=NULL, const PxReal inflation=0.0f, bool doubleSided=false)
	Sweep a specified geometry object in space and test for collision with a set of given triangles.

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Member Function Documentation

static PX_PHYSX_COMMON_API PxU32 PxMeshQuery::findOverlapHeightField	(	const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxHeightFieldGeometry &	hfGeom,
		const PxTransform &	hfPose,
		PxU32 *	results,
		PxU32	maxResults,
		PxU32	startIndex,
		bool &	overflow
	)			[static]

Find the height field triangles which touch the specified geometry object.

Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.

Parameters:

[in]	geom	The geometry object to test for height field overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
[in]	geomPose	Pose of the geometry object
[in]	hfGeom	The height field geometry to check overlap against
[in]	hfPose	Pose of the height field
[out]	results	Indices of overlapping triangles
[in]	maxResults	Size of 'results' buffer
[in]	startIndex	Index of first result to be retrieved. Previous indices are skipped.
[out]	overflow	True if a buffer overflow occurred

Returns:

Number of overlaps found, i.e. number of elements written to the results buffer

See also:

PxHeightFieldGeometry getTriangle()

static PX_PHYSX_COMMON_API PxU32 PxMeshQuery::findOverlapTriangleMesh	(	const PxGeometry &	geom,
		const PxTransform &	geomPose,
		const PxTriangleMeshGeometry &	meshGeom,
		const PxTransform &	meshPose,
		PxU32 *	results,
		PxU32	maxResults,
		PxU32	startIndex,
		bool &	overflow
	)			[static]

Find the mesh triangles which touch the specified geometry object.

Returned triangle indices can be used with getTriangle() to retrieve the triangle properties.

Parameters:

[in]	geom	The geometry object to test for mesh triangle overlaps. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
[in]	geomPose	Pose of the geometry object
[in]	meshGeom	The triangle mesh geometry to check overlap against
[in]	meshPose	Pose of the triangle mesh
[out]	results	Indices of overlapping triangles
[in]	maxResults	Size of 'results' buffer
[in]	startIndex	Index of first result to be retrieved. Previous indices are skipped.
[out]	overflow	True if a buffer overflow occurred

Returns:

Number of overlaps found, i.e. number of elements written to the results buffer

See also:

PxTriangleMeshGeometry getTriangle()

static PX_PHYSX_COMMON_API void PxMeshQuery::getTriangle	(	const PxHeightFieldGeometry &	hfGeom,
		const PxTransform &	transform,
		PxTriangleID	triangleIndex,
		PxTriangle &	triangle,
		PxU32 *	vertexIndices = NULL,
		PxU32 *	adjacencyIndices = NULL
	)			[static]

Retrieves triangle data from a triangle ID.

This function can be used together with findOverlapHeightField() to retrieve triangle properties.

Parameters:

[in]	hfGeom	Geometry of the height field to extract the triangle from.
[in]	transform	Transform for the height field.
[in]	triangleIndex	The index of the triangle to retrieve.
[out]	triangle	Triangle points in world space.
[out]	vertexIndices	Returned vertex indices for given triangle
[out]	adjacencyIndices	Returned 3 triangle adjacency triangle indices (0xFFFFFFFF if no adjacency).

Note:

This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.

See also:

PxTriangle PxTriangleFlags PxTriangleID findOverlapHeightField()

static PX_PHYSX_COMMON_API void PxMeshQuery::getTriangle	(	const PxTriangleMeshGeometry &	triGeom,
		const PxTransform &	transform,
		PxTriangleID	triangleIndex,
		PxTriangle &	triangle,
		PxU32 *	vertexIndices = NULL,
		PxU32 *	adjacencyIndices = NULL
	)			[static]

Retrieves triangle data from a triangle ID.

This function can be used together with findOverlapTriangleMesh() to retrieve triangle properties.

Parameters:

[in]	triGeom	Geometry of the triangle mesh to extract the triangle from.
[in]	transform	Transform for the triangle mesh
[in]	triangleIndex	The index of the triangle to retrieve.
[out]	triangle	Triangle points in world space.
[out]	vertexIndices	Returned vertex indices for given triangle
[out]	adjacencyIndices	Returned 3 triangle adjacency internal face indices (0xFFFFFFFF if no adjacency). The mesh must be cooked with cooking param buildTriangleAdjacencies enabled.

Note:

This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.

See also:

PxTriangle PxTriangleFlags PxTriangleID findOverlapTriangleMesh()

static PX_PHYSX_COMMON_API bool PxMeshQuery::sweep	(	const PxVec3 &	unitDir,
		const PxReal	distance,
		const PxGeometry &	geom,
		const PxTransform &	pose,
		PxU32	triangleCount,
		const PxTriangle *	triangles,
		PxSweepHit &	sweepHit,
		PxHitFlags	hitFlags = PxHitFlag::eDEFAULT,
		const PxU32 *	cachedIndex = NULL,
		const PxReal	inflation = 0.0f,
		bool	doubleSided = false
	)			[static]

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

This function simply sweeps input geometry against each input triangle, in the order they are given. This is an O(N) operation with N = number of input triangles. It does not use any particular acceleration structure.

Parameters:

[in]	unitDir	Normalized direction of the sweep.
[in]	distance	Sweep distance. Needs to be larger than 0. Clamped to PX_MAX_SWEEP_DISTANCE.
[in]	geom	The geometry object to sweep. Supported geometries are PxSphereGeometry, PxCapsuleGeometry and PxBoxGeometry
[in]	pose	Pose of the geometry object to sweep.
[in]	triangleCount	Number of specified triangles
[in]	triangles	Array of triangles to sweep against
[out]	sweepHit	The sweep hit information. See the notes below for limitations about returned results.
[in]	hitFlags	Specification of the kind of information to retrieve on hit. Combination of PxHitFlag flags. See the notes below for limitations about supported flags.
[in]	cachedIndex	Cached triangle index for subsequent calls. Cached triangle is tested first. Optional parameter.
[in]	inflation	This parameter creates a skin around the swept geometry which increases its extents for sweeping. The sweep will register a hit as soon as the skin touches a shape, and will return the corresponding distance and normal.
[in]	doubleSided	Counterpart of PxMeshGeometryFlag::eDOUBLE_SIDED for input triangles.

Returns:

True if the swept geometry object hits the specified triangles

Note:

Only the following geometry types are currently supported: PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry

If a shape from the scene is already overlapping with the query shape in its starting position, the hit is returned unless eASSUME_NO_INITIAL_OVERLAP was specified.

This function returns a single closest hit across all the input triangles. Multiple hits are not supported.

Supported hitFlags are PxHitFlag::eDEFAULT, PxHitFlag::eASSUME_NO_INITIAL_OVERLAP, PxHitFlag::ePRECISE_SWEEP, PxHitFlag::eMESH_BOTH_SIDES, PxHitFlag::eMESH_ANY.

ePOSITION is only defined when there is no initial overlap (sweepHit.hadInitialOverlap() == false)

The returned normal for initially overlapping sweeps is set to -unitDir.

Otherwise the returned normal is the front normal of the triangle even if PxHitFlag::eMESH_BOTH_SIDES is set.

The returned PxSweepHit::faceIndex parameter will hold the index of the hit triangle in input array, i.e. the range is [0; triangleCount). For initially overlapping sweeps, this is the index of overlapping triangle.

The returned PxSweepHit::actor and PxSweepHit::shape pointers are not filled.

The inflation parameter is not compatible with PxHitFlag::ePRECISE_SWEEP.

See also:

PxTriangle PxSweepHit PxGeometry PxTransform

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

• PxMeshQuery.h