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00003 //
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00007 // any modifications thereto. Any use, reproduction, disclosure, or 
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00010 // 
00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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00016 // Information and code furnished is believed to be accurate and reliable.
00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
00018 // information or for any infringement of patents or other rights of third parties that may
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00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2012 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
00032 #define PX_PHYSICS_GEOMUTILS_PX_GEOMETRY_QUERY
00033 
00038 #include "common/PxPhysXCommon.h"
00039 #include "PxSceneQueryReport.h"
00040 
00041 #ifndef PX_DOXYGEN
00042 namespace physx
00043 {
00044 #endif
00045 
00046 class PxGeometry;
00047 struct PxSweepHit;
00048 struct PxRaycastHit;
00049 
00050 class PxTriangle;
00051 
00055 class PxGeometryQuery
00056 {
00057 public:
00058 
00081     PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir, 
00082                             const PxReal distance,
00083                             const PxGeometry& geom0,
00084                             const PxTransform& pose0,
00085                             const PxGeometry& geom1,
00086                             const PxTransform& pose1,
00087                             PxSweepHit& sweepHit,
00088                             PxSceneQueryFlags hintFlags=(PxSceneQueryFlags)0xffffffff);
00089 
00090 
00108     PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
00109                             const PxGeometry& geom1, const PxTransform& pose1);
00110 
00111 
00128     PX_PHYSX_COMMON_API static PxU32 raycast(const PxVec3& rayOrigin,
00129                             const PxVec3& rayDir,
00130                             const PxGeometry& geom,
00131                             const PxTransform& pose,
00132                             PxReal maxDist,
00133                             PxSceneQueryFlags hintFlags,
00134                             PxU32 maxHits,
00135                             PxRaycastHit* PX_RESTRICT rayHits,
00136                             bool firstHit = false);
00137 
00151     PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose, PxVec3* closestPoint=NULL);
00152 };
00153 
00154 
00155 #ifndef PX_DOXYGEN
00156 }
00157 #endif
00158 
00160 #endif