311 lines
11 KiB
C
311 lines
11 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_CUSTOMGEOMETRY_H
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#define PX_CUSTOMGEOMETRY_H
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/** \addtogroup geomutils
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@{
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*/
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#include "geometry/PxGeometry.h"
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#include "geometry/PxGeometryHit.h"
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#include "geometry/PxGeometryQueryContext.h"
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#include "foundation/PxFoundationConfig.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxContactBuffer;
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class PxRenderOutput;
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class PxMassProperties;
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/**
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\brief Custom geometry class. This class allows user to create custom geometries by providing a set of virtual callback functions.
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*/
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class PxCustomGeometry : public PxGeometry
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{
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public:
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/**
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\brief For internal use
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*/
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PX_PHYSX_COMMON_API static PxU32 getUniqueID();
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/**
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\brief The type of a custom geometry. Allows to identify a particular kind of it.
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*/
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struct Type
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{
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/**
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\brief Default constructor
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*/
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PX_INLINE Type() : mID(getUniqueID()) {}
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/**
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\brief Default constructor
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*/
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PX_INLINE Type(const Type& t) : mID(t.mID) {}
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/**
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\brief Assigment operator
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*/
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PX_INLINE Type& operator = (const Type& t) { mID = t.mID; return *this; }
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/**
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\brief Equality operator
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*/
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PX_INLINE bool operator == (const Type& t) const { return mID == t.mID; }
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/**
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\brief Inequality operator
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*/
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PX_INLINE bool operator != (const Type& t) const { return mID != t.mID; }
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/**
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\brief Invalid type
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*/
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PX_INLINE static Type INVALID() { PxU32 z(0); return reinterpret_cast<const Type&>(z); }
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private:
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PxU32 mID;
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};
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/**
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\brief Custom geometry callbacks structure. User should inherit this and implement all pure virtual functions.
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*/
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struct Callbacks
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{
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/**
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\brief Return custom type. The type purpose is for user to differentiate custom geometries. Not used by PhysX.
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\return Unique ID of a custom geometry type.
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\note User should use DECLARE_CUSTOM_GEOMETRY_TYPE and IMPLEMENT_CUSTOM_GEOMETRY_TYPE intead of overwriting this function.
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*/
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virtual Type getCustomType() const = 0;
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/**
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\brief Return local bounds.
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\param[in] geometry This geometry.
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\return Bounding box in the geometry local space.
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*/
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virtual PxBounds3 getLocalBounds(const PxGeometry& geometry) const = 0;
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/**
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\brief Contacts generation. Generate collision contacts between two geometries in given poses.
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\param[in] geom0 This custom geometry
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\param[in] geom1 The other geometry
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\param[in] pose0 This custom geometry pose
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\param[in] pose1 The other geometry pose
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\param[in] contactDistance The distance at which contacts begin to be generated between the pairs
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\param[in] meshContactMargin The mesh contact margin.
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\param[in] toleranceLength The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
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\param[out] contactBuffer A buffer to write contacts to.
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\return True if there are contacts. False otherwise.
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*/
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virtual bool generateContacts(const PxGeometry& geom0, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
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const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
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PxContactBuffer& contactBuffer) const = 0;
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/**
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\brief Raycast. Cast a ray against the geometry in given pose.
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\param[in] origin Origin of the ray.
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\param[in] unitDir Normalized direction of the ray.
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\param[in] geom This custom geometry
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\param[in] pose This custom geometry pose
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\param[in] maxDist Length of the ray. Has to be in the [0, inf) range.
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\param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
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\param[in] maxHits max number of returned hits = size of 'rayHits' buffer
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\param[out] rayHits Ray hits.
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\param[in] stride Ray hit structure stride.
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\param[in] threadContext Optional user-defined per-thread context.
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\return Number of hits.
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*/
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virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
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PxReal maxDist, PxHitFlags hitFlags, PxU32 maxHits, PxGeomRaycastHit* rayHits, PxU32 stride, PxRaycastThreadContext* threadContext) const = 0;
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/**
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\brief Overlap. Test if geometries overlap.
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\param[in] geom0 This custom geometry
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\param[in] pose0 This custom geometry pose
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\param[in] geom1 The other geometry
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\param[in] pose1 The other geometry pose
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\param[in] threadContext Optional user-defined per-thread context.
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\return True if there is overlap. False otherwise.
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*/
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virtual bool overlap(const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext* threadContext) const = 0;
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/**
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\brief Sweep. Sweep one geometry against the other.
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\param[in] unitDir Normalized direction of the sweep.
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\param[in] maxDist Length of the sweep. Has to be in the [0, inf) range.
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\param[in] geom0 This custom geometry
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\param[in] pose0 This custom geometry pose
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\param[in] geom1 The other geometry
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\param[in] pose1 The other geometry pose
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\param[out] sweepHit Used to report the sweep hit.
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\param[in] hitFlags Specifies which properties per hit should be computed and returned via the hit callback.
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\param[in] inflation This parameter creates a skin around the swept geometry which increases its extents for sweeping.
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\param[in] threadContext Optional user-defined per-thread context.
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\return True if there is hit. False otherwise.
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*/
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virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
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const PxGeometry& geom0, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
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PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext* threadContext) const = 0;
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/**
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\brief Visualize custom geometry for debugging. Optional.
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\param[in] geometry This geometry.
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\param[in] out Render output.
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\param[in] absPose Geometry absolute transform.
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\param[in] cullbox Region to visualize.
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*/
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virtual void visualize(const PxGeometry& geometry, PxRenderOutput& out, const PxTransform& absPose, const PxBounds3& cullbox) const = 0;
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/**
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\brief Compute custom geometry mass properties. For geometries usable with dynamic rigidbodies.
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\param[in] geometry This geometry.
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\param[out] massProperties Mass properties to compute.
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*/
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virtual void computeMassProperties(const PxGeometry& geometry, PxMassProperties& massProperties) const = 0;
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/**
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\brief Compatible with PhysX's PCM feature. Allows to optimize contact generation.
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\param[in] geometry This geometry.
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\param[out] breakingThreshold The threshold to trigger contacts re-generation.
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*/
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virtual bool usePersistentContactManifold(const PxGeometry& geometry, PxReal& breakingThreshold) const = 0;
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/* Destructor */
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virtual ~Callbacks() {}
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};
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/**
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\brief Default constructor.
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Creates an empty object with a NULL callbacks pointer.
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*/
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PX_INLINE PxCustomGeometry() :
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PxGeometry(PxGeometryType::eCUSTOM),
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callbacks(NULL)
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{}
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/**
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\brief Constructor.
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*/
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PX_INLINE PxCustomGeometry(Callbacks& _callbacks) :
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PxGeometry(PxGeometryType::eCUSTOM),
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callbacks(&_callbacks)
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{}
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/**
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\brief Copy constructor.
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\param[in] that Other object
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*/
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PX_INLINE PxCustomGeometry(const PxCustomGeometry& that) :
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PxGeometry(that),
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callbacks(that.callbacks)
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{}
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/**
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\brief Assignment operator
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*/
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PX_INLINE void operator=(const PxCustomGeometry& that)
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{
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mType = that.mType;
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callbacks = that.callbacks;
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}
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/**
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\brief Returns true if the geometry is valid.
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\return True if the current settings are valid for shape creation.
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@see PxRigidActor::createShape, PxPhysics::createShape
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*/
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PX_INLINE bool isValid() const;
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/**
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\brief Returns the custom type of the custom geometry.
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*/
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PX_INLINE Type getCustomType() const
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{
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return callbacks ? callbacks->getCustomType() : Type::INVALID();
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}
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public:
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Callbacks* callbacks; //!< A reference to the callbacks object.
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};
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PX_INLINE bool PxCustomGeometry::isValid() const
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{
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return mType == PxGeometryType::eCUSTOM && callbacks != NULL;
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}
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/**
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\brief Used in pair with IMPLEMENT_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
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*/
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#define DECLARE_CUSTOM_GEOMETRY_TYPE \
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static ::physx::PxCustomGeometry::Type TYPE(); \
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virtual ::physx::PxCustomGeometry::Type getCustomType() const;
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/**
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\brief Used in pair with DECLARE_CUSTOM_GEOMETRY_TYPE to overwrite Callbacks::getCustomType() callback.
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*/
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#define IMPLEMENT_CUSTOM_GEOMETRY_TYPE(CLASS) \
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::physx::PxCustomGeometry::Type CLASS::TYPE() \
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{ \
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static ::physx::PxCustomGeometry::Type customType; \
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return customType; \
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} \
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::physx::PxCustomGeometry::Type CLASS::getCustomType() const \
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{ \
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return TYPE(); \
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}
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/** @} */
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#endif
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