248 lines
13 KiB
C
248 lines
13 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_MESH_QUERY_H
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#define PX_MESH_QUERY_H
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "geometry/PxGeometryHit.h"
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#include "geometry/PxGeometryQueryFlags.h"
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#include "geometry/PxReportCallback.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 PxGeometry;
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class PxConvexMeshGeometry;
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class PxTriangleMeshGeometry;
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class PxHeightFieldGeometry;
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class PxTriangle;
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struct PxMeshMeshQueryFlag
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{
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enum Enum
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{
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eDEFAULT = 0, //!< Report all overlaps
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eDISCARD_COPLANAR = (1<<0) //!< Ignore coplanar triangle-triangle overlaps
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};
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};
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PX_FLAGS_TYPEDEF(PxMeshMeshQueryFlag, PxU32)
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class PxMeshQuery
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{
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public:
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/**
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\brief Retrieves triangle data from a triangle ID.
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This function can be used together with #findOverlapTriangleMesh() to retrieve triangle properties.
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\param[in] triGeom Geometry of the triangle mesh to extract the triangle from.
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\param[in] transform Transform for the triangle mesh
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\param[in] triangleIndex The index of the triangle to retrieve.
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\param[out] triangle Triangle points in world space.
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\param[out] vertexIndices Returned vertex indices for given triangle
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\param[out] adjacencyIndices Returned 3 triangle adjacency internal face indices (0xFFFFFFFF if no adjacency). The mesh must be cooked with cooking param buildTriangleAdjacencies enabled.
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\note This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
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@see PxTriangle PxTriangleFlags PxTriangleID findOverlapTriangleMesh()
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*/
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PX_PHYSX_COMMON_API static void getTriangle(const PxTriangleMeshGeometry& triGeom, const PxTransform& transform, PxTriangleID triangleIndex, PxTriangle& triangle, PxU32* vertexIndices=NULL, PxU32* adjacencyIndices=NULL);
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/**
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\brief Retrieves triangle data from a triangle ID.
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This function can be used together with #findOverlapHeightField() to retrieve triangle properties.
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\param[in] hfGeom Geometry of the height field to extract the triangle from.
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\param[in] transform Transform for the height field.
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\param[in] triangleIndex The index of the triangle to retrieve.
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\param[out] triangle Triangle points in world space.
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\param[out] vertexIndices Returned vertex indices for given triangle
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\param[out] adjacencyIndices Returned 3 triangle adjacency triangle indices (0xFFFFFFFF if no adjacency).
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\note This function will flip the triangle normal whenever triGeom.scale.hasNegativeDeterminant() is true.
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\note TriangleIndex is an index used in internal format, which does have an index out of the bounds in last row.
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To traverse all tri indices in the HF, the following code can be applied:
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for (PxU32 row = 0; row < (nbRows - 1); row++)
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{
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for (PxU32 col = 0; col < (nbCols - 1); col++)
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{
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for (PxU32 k = 0; k < 2; k++)
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{
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const PxU32 triIndex = 2 * (row*nbCols + col) + k;
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....
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}
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}
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}
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@see PxTriangle PxTriangleFlags PxTriangleID findOverlapHeightField()
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*/
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PX_PHYSX_COMMON_API static void getTriangle(const PxHeightFieldGeometry& hfGeom, const PxTransform& transform, PxTriangleID triangleIndex, PxTriangle& triangle, PxU32* vertexIndices=NULL, PxU32* adjacencyIndices=NULL);
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/**
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\brief Find the mesh triangles which touch the specified geometry object.
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For mesh-vs-mesh overlap tests, please use the specialized function below.
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Returned triangle indices can be used with #getTriangle() to retrieve the triangle properties.
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\param[in] geom The geometry object to test for mesh triangle overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry
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\param[in] geomPose Pose of the geometry object
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\param[in] meshGeom The triangle mesh geometry to check overlap against
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\param[in] meshPose Pose of the triangle mesh
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\param[out] results Indices of overlapping triangles
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\param[in] maxResults Size of 'results' buffer
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\param[in] startIndex Index of first result to be retrieved. Previous indices are skipped.
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\param[out] overflow True if a buffer overflow occurred
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\param[in] queryFlags Optional flags controlling the query.
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\return Number of overlaps found, i.e. number of elements written to the results buffer
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@see PxTriangleMeshGeometry getTriangle() PxGeometryQueryFlags
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*/
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PX_PHYSX_COMMON_API static PxU32 findOverlapTriangleMesh( const PxGeometry& geom, const PxTransform& geomPose,
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const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose,
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PxU32* results, PxU32 maxResults, PxU32 startIndex, bool& overflow,
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PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
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/**
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\brief Mesh-vs-mesh overlap test
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A specialized findOverlapTriangleMesh function for mesh-vs-mesh. The other findOverlapTriangleMesh() function above cannot be used
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directly since it only returns a single set of triangle indices that belongs to one of the meshes only. This function returns pairs
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of triangle indices that belong to both the first & second input meshes.
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Returned triangle indices can be used with #getTriangle() to retrieve the triangle properties.
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\note This is only implemented for the PxMeshMidPhase::eBVH34 data structure.
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\param[in] callback The callback object used to report results
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\param[in] meshGeom0 First triangle mesh geometry
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\param[in] meshPose0 Pose of first triangle mesh geometry
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\param[in] meshGeom1 Second triangle mesh geometry
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\param[in] meshPose1 Pose of second triangle mesh geometry
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\param[in] queryFlags Optional flags controlling the query.
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\param[in] meshMeshFlags Optional flags controlling the query.
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\return true if an overlap has been detected, false if the meshes are disjoint
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@see PxTriangleMeshGeometry getTriangle() PxReportCallback PxGeometryQueryFlags PxMeshMeshQueryFlags
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*/
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PX_PHYSX_COMMON_API static bool findOverlapTriangleMesh(PxReportCallback<PxGeomIndexPair>& callback,
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const PxTriangleMeshGeometry& meshGeom0, const PxTransform& meshPose0,
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const PxTriangleMeshGeometry& meshGeom1, const PxTransform& meshPose1,
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PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
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PxMeshMeshQueryFlags meshMeshFlags = PxMeshMeshQueryFlag::eDEFAULT);
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/**
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\brief Find the height field triangles which touch the specified geometry object.
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Returned triangle indices can be used with #getTriangle() to retrieve the triangle properties.
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\param[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.
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\param[in] geomPose Pose of the geometry object
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\param[in] hfGeom The height field geometry to check overlap against
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\param[in] hfPose Pose of the height field
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\param[out] results Indices of overlapping triangles
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\param[in] maxResults Size of 'results' buffer
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\param[in] startIndex Index of first result to be retrieved. Previous indices are skipped.
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\param[out] overflow True if a buffer overflow occurred
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\param[in] queryFlags Optional flags controlling the query.
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\return Number of overlaps found, i.e. number of elements written to the results buffer
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@see PxHeightFieldGeometry getTriangle() PxGeometryQueryFlags
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*/
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PX_PHYSX_COMMON_API static PxU32 findOverlapHeightField(const PxGeometry& geom, const PxTransform& geomPose,
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const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose,
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PxU32* results, PxU32 maxResults, PxU32 startIndex, bool& overflow,
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PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
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/**
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\brief Sweep a specified geometry object in space and test for collision with a set of given triangles.
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This function simply sweeps input geometry against each input triangle, in the order they are given.
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This is an O(N) operation with N = number of input triangles. It does not use any particular acceleration structure.
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\param[in] unitDir Normalized direction of the sweep.
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\param[in] distance Sweep distance. Needs to be larger than 0. Clamped to PX_MAX_SWEEP_DISTANCE.
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\param[in] geom The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry
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\param[in] pose Pose of the geometry object to sweep.
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\param[in] triangleCount Number of specified triangles
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\param[in] triangles Array of triangles to sweep against
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\param[out] sweepHit The sweep hit information. See the notes below for limitations about returned results.
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\param[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.
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\param[in] cachedIndex Cached triangle index for subsequent calls. Cached triangle is tested first. Optional parameter.
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\param[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.
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\param[in] doubleSided Counterpart of PxMeshGeometryFlag::eDOUBLE_SIDED for input triangles.
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\param[in] queryFlags Optional flags controlling the query.
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\return True if the swept geometry object hits the specified triangles
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\note Only the following geometry types are currently supported: PxSphereGeometry, PxCapsuleGeometry, PxBoxGeometry
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\note 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.
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\note This function returns a single closest hit across all the input triangles. Multiple hits are not supported.
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\note Supported hitFlags are PxHitFlag::eDEFAULT, PxHitFlag::eASSUME_NO_INITIAL_OVERLAP, PxHitFlag::ePRECISE_SWEEP, PxHitFlag::eMESH_BOTH_SIDES, PxHitFlag::eMESH_ANY.
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\note ePOSITION is only defined when there is no initial overlap (sweepHit.hadInitialOverlap() == false)
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\note The returned normal for initially overlapping sweeps is set to -unitDir.
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\note Otherwise the returned normal is the front normal of the triangle even if PxHitFlag::eMESH_BOTH_SIDES is set.
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\note The returned PxGeomSweepHit::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.
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\note The inflation parameter is not compatible with PxHitFlag::ePRECISE_SWEEP.
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@see PxTriangle PxSweepHit PxGeometry PxTransform PxGeometryQueryFlags
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*/
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PX_PHYSX_COMMON_API static bool sweep(const PxVec3& unitDir,
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const PxReal distance,
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const PxGeometry& geom,
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const PxTransform& pose,
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PxU32 triangleCount,
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const PxTriangle* triangles,
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PxGeomSweepHit& sweepHit,
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PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
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const PxU32* cachedIndex = NULL,
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const PxReal inflation = 0.0f,
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bool doubleSided = false,
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PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);
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};
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#if !PX_DOXYGEN
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}
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#endif
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/** @} */
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#endif
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