// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_GEOMETRY_QUERY_H
#define PX_GEOMETRY_QUERY_H

/**
\brief Maximum sweep distance for scene sweeps. The distance parameter for sweep functions will be clamped to this value.
The reason for this is GJK support cannot be evaluated near infinity. A viable alternative can be a sweep followed by an infinite raycast.

@see PxScene
*/
#define PX_MAX_SWEEP_DISTANCE 1e8f

/** \addtogroup geomutils
  @{
*/

#include "common/PxPhysXCommonConfig.h"
#include "geometry/PxGeometryHit.h"
#include "geometry/PxGeometryQueryFlags.h"
#include "geometry/PxGeometryQueryContext.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxGeometry;
class PxContactBuffer;

/**
\brief Collection of geometry object queries (sweeps, raycasts, overlaps, ...).
*/
class PxGeometryQuery
{
public:

	/**
	\brief Raycast test against a geometry object.

	All geometry types are supported except PxParticleSystemGeometry, PxTetrahedronMeshGeometry and PxHairSystemGeometry.

	\param[in] origin			The origin of the ray to test the geometry object against
	\param[in] unitDir			Normalized direction of the ray to test the geometry object against
	\param[in] geom				The geometry object to test the ray against
	\param[in] pose				Pose of the geometry object
	\param[in] maxDist			Maximum ray length, has to be in the [0, inf) range
	\param[in] hitFlags			Specification of the kind of information to retrieve on hit. Combination of #PxHitFlag flags
	\param[in] maxHits			max number of returned hits = size of 'rayHits' buffer
	\param[out] rayHits			Raycast hits information
	\param[in] stride			Stride value (in number of bytes) for rayHits array. Typically sizeof(PxGeomRaycastHit) for packed arrays.
	\param[in] queryFlags		Optional flags controlling the query.
	\param[in] threadContext	Optional user-defined per-thread context.

	\return Number of hits between the ray and the geometry object

	@see PxGeomRaycastHit PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static PxU32 raycast(	const PxVec3& origin, const PxVec3& unitDir,
												const PxGeometry& geom, const PxTransform& pose,
												PxReal maxDist, PxHitFlags hitFlags,
												PxU32 maxHits, PxGeomRaycastHit* PX_RESTRICT rayHits, PxU32 stride, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
												PxRaycastThreadContext* threadContext = NULL);

	/**
	 * @brief Backward compatibility helper
	 * @deprecated
	 */
	template<class HitT>
	PX_DEPRECATED PX_FORCE_INLINE static PxU32 raycast(	const PxVec3& origin, const PxVec3& unitDir,
														const PxGeometry& geom, const PxTransform& pose,
														PxReal maxDist, PxHitFlags hitFlags,
														PxU32 maxHits, HitT* PX_RESTRICT rayHits)
	{
		return raycast(origin, unitDir, geom, pose, maxDist, hitFlags, maxHits, rayHits, sizeof(HitT));
	}

	/**
	\brief Overlap test for two geometry objects.

	All combinations are supported except:
	\li PxPlaneGeometry vs. {PxPlaneGeometry, PxTriangleMeshGeometry, PxHeightFieldGeometry}
	\li PxTriangleMeshGeometry vs. PxHeightFieldGeometry
	\li PxHeightFieldGeometry vs. PxHeightFieldGeometry
	\li Anything involving PxParticleSystemGeometry, PxTetrahedronMeshGeometry or PxHairSystemGeometry.

	\param[in] geom0			The first geometry object
	\param[in] pose0			Pose of the first geometry object
	\param[in] geom1			The second geometry object
	\param[in] pose1			Pose of the second geometry object
	\param[in] queryFlags		Optional flags controlling the query.
	\param[in] threadContext	Optional user-defined per-thread context.

	\return True if the two geometry objects overlap

	@see PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static bool overlap(const PxGeometry& geom0, const PxTransform& pose0,
											const PxGeometry& geom1, const PxTransform& pose1,
											PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT, PxOverlapThreadContext* threadContext=NULL);

	/**
	\brief Sweep a specified geometry object in space and test for collision with a given object.

	The following combinations are supported.

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

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

	\return True if the swept geometry object geom0 hits the object geom1

	@see PxGeomSweepHit PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static bool sweep(	const PxVec3& unitDir, const PxReal maxDist,
											const PxGeometry& geom0, const PxTransform& pose0,
											const PxGeometry& geom1, const PxTransform& pose1,
											PxGeomSweepHit& sweepHit, PxHitFlags hitFlags = PxHitFlag::eDEFAULT,
											const PxReal inflation = 0.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT,
											PxSweepThreadContext* threadContext = NULL);

	/**
	\brief 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
	- anything involving PxParticleSystemGeometry, PxTetrahedronMeshGeometry or PxHairSystemGeometry

	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.

	\param[out] direction	Computed MTD unit direction
	\param[out] depth		Penetration depth. Always positive or null.
	\param[in] geom0		The first geometry object
	\param[in] pose0		Pose of the first geometry object
	\param[in] geom1		The second geometry object
	\param[in] pose1		Pose of the second geometry object
	\param[in] queryFlags	Optional flags controlling the query.
	\return True if the MTD has successfully been computed, i.e. if objects do overlap.

	@see PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static bool	computePenetration(	PxVec3& direction, PxF32& depth,
														const PxGeometry& geom0, const PxTransform& pose0,
														const PxGeometry& geom1, const PxTransform& pose1,
														PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

	/**
	\brief Computes distance between a point and a geometry object.

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

	\note For meshes, only the BVH34 midphase data-structure is supported.

	\param[in] point			The point P
	\param[in] geom				The geometry object
	\param[in] pose				Pose of the geometry object
	\param[out] closestPoint	Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.
	\param[out] closestIndex	Optionally returned closest (triangle) index. Only valid for triangle meshes.
	\param[in] queryFlags		Optional flags controlling the query.
	\return Square distance between the point and the geom object, or 0.0 if the point is inside the object, or -1.0 if an error occured (geometry type is not supported, or invalid pose)

	@see PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static PxReal pointDistance(const PxVec3& point, const PxGeometry& geom, const PxTransform& pose,
													PxVec3* closestPoint=NULL, PxU32* closestIndex=NULL,
													PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

	/**
	\brief computes the bounds for a geometry object

	\param[out] bounds		Returned computed bounds
	\param[in] geom			The geometry object
	\param[in] pose			Pose of the geometry object
	\param[in] offset		Offset for computed bounds. This value is added to the geom's extents.
	\param[in] inflation	Scale factor for computed bounds. The geom's extents are multiplied by this value.
	\param[in] queryFlags	Optional flags controlling the query.

	@see PxGeometry PxTransform
	*/
	PX_PHYSX_COMMON_API static void	computeGeomBounds(PxBounds3& bounds, const PxGeometry& geom, const PxTransform& pose, float offset=0.0f, float inflation=1.0f, PxGeometryQueryFlags queryFlags = PxGeometryQueryFlag::eDEFAULT);

	/**
	\brief get the bounds for a geometry object

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

	@see PxGeometry PxTransform
	@deprecated
	*/
	PX_DEPRECATED PX_PHYSX_COMMON_API static PxBounds3 getWorldBounds(const PxGeometry& geom, const PxTransform& pose, float inflation=1.01f);

	/**
	\brief Generate collision contacts between a convex geometry and a single triangle

	\param[in] geom					The geometry object. Can be a capsule, a box or a convex mesh
	\param[in] pose					Pose of the geometry object
	\param[in] triangleVertices		Triangle vertices in local space
	\param[in] triangleIndex		Triangle index
	\param[in] contactDistance		The distance at which contacts begin to be generated between the pairs
	\param[in] meshContactMargin	The mesh contact margin.
	\param[in] toleranceLength		The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
	\param[out] contactBuffer		A buffer to write contacts to.

	\return True if there was collision
	*/
	PX_PHYSX_COMMON_API static bool generateTriangleContacts(const PxGeometry& geom, const PxTransform& pose, const PxVec3 triangleVertices[3], PxU32 triangleIndex, PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxContactBuffer& contactBuffer);

	/**
	\brief Checks if provided geometry is valid.

	\param[in] geom	The geometry object.
	\return True if geometry is valid.

	@see PxGeometry
	*/
	PX_PHYSX_COMMON_API static bool isValid(const PxGeometry& geom);
};

#if !PX_DOXYGEN
}
#endif

/** @} */
#endif