Module de.fabmax.physxjni

Package physx.geometry

Class PxGeometryQuery

java.lang.Object

physx.NativeObject

physx.geometry.PxGeometryQuery

public class PxGeometryQuery
extends NativeObject

Collection of geometry object queries (sweeps, raycasts, overlaps, ...).

Nested Class Summary

Nested classes/interfaces inherited from class physx.NativeObject

NativeObject.Allocator<T>

Field Summary

Fields

Modifier and Type	Field	Description
static final int	ALIGNOF
static final int	SIZEOF

Fields inherited from class physx.NativeObject

address, isExternallyAllocated, SIZEOF_BYTE, SIZEOF_DOUBLE, SIZEOF_FLOAT, SIZEOF_INT, SIZEOF_LONG, SIZEOF_POINTER, SIZEOF_SHORT

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PxGeometryQuery()
protected	PxGeometryQuery(long address)

Method Summary

Modifier and Type	Method	Description
static PxGeometryQuery	arrayGet(long baseAddress, int index)
static void	computeGeomBounds(PxBounds3 bounds, PxGeometry geom, PxTransform pose)	computes the bounds for a geometry object
static void	computeGeomBounds(PxBounds3 bounds, PxGeometry geom, PxTransform pose, float inflation)	computes the bounds for a geometry object
void	destroy()
static boolean	isValid(PxGeometry geom)	Checks if provided geometry is valid.
static boolean	overlap(PxGeometry geom0, PxTransform pose0, PxGeometry geom1, PxTransform pose1)	Overlap test for two geometry objects.
static float	pointDistance(PxVec3 point, PxGeometry geom, PxTransform pose)	Computes distance between a point and a geometry object.
static float	pointDistance(PxVec3 point, PxGeometry geom, PxTransform pose, PxVec3 closestPoint)	Computes distance between a point and a geometry object.
static int	raycast(PxVec3 origin, PxVec3 unitDir, PxGeometry geom, PxTransform pose, float maxDist, PxHitFlags hitFlags, int maxHits, PxRaycastHit rayHits)	Raycast test against a geometry object.
static boolean	sweep(PxVec3 unitDir, float maxDist, PxGeometry geom0, PxTransform pose0, PxGeometry geom1, PxTransform pose1, PxSweepHit sweepHit)	Sweep a specified geometry object in space and test for collision with a given object.
static boolean	sweep(PxVec3 unitDir, float maxDist, PxGeometry geom0, PxTransform pose0, PxGeometry geom1, PxTransform pose1, PxSweepHit sweepHit, PxHitFlags hitFlags)	Sweep a specified geometry object in space and test for collision with a given object.
static boolean	sweep(PxVec3 unitDir, float maxDist, PxGeometry geom0, PxTransform pose0, PxGeometry geom1, PxTransform pose1, PxSweepHit sweepHit, PxHitFlags hitFlags, float inflation)	Sweep a specified geometry object in space and test for collision with a given object.
static PxGeometryQuery	wrapPointer(long address)

Methods inherited from class physx.NativeObject

checkNotNull, equals, getAddress, hashCode

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

SIZEOF

public static final int SIZEOF

ALIGNOF

public static final int ALIGNOF

See Also:

• Constant Field Values

Constructor Details

PxGeometryQuery

protected PxGeometryQuery()

PxGeometryQuery

protected PxGeometryQuery(long address)

Method Details

wrapPointer

public static PxGeometryQuery wrapPointer(long address)

arrayGet

public static PxGeometryQuery arrayGet(long baseAddress,
 int index)

destroy

public void destroy()

sweep

public static boolean sweep(PxVec3 unitDir,
 float maxDist,
 PxGeometry geom0,
 PxTransform pose0,
 PxGeometry geom1,
 PxTransform pose1,
 PxSweepHit sweepHit)

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}

Parameters:

unitDir - Normalized direction along which object geom0 should be swept

maxDist - Maximum sweep distance, has to be in the [0, inf) range

geom0 - The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry

pose0 - Pose of the geometry object to sweep

geom1 - The geometry object to test the sweep against

pose1 - Pose of the geometry object to sweep against

sweepHit - The sweep hit information. Only valid if this method returns true.

Returns:

True if the swept geometry object geom0 hits the object geom1

See Also:

• PxGeomSweepHit
• PxGeometry
• PxTransform

sweep

public static boolean sweep(PxVec3 unitDir,
 float maxDist,
 PxGeometry geom0,
 PxTransform pose0,
 PxGeometry geom1,
 PxTransform pose1,
 PxSweepHit sweepHit,
 PxHitFlags hitFlags)

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}

Parameters:

unitDir - Normalized direction along which object geom0 should be swept

maxDist - Maximum sweep distance, has to be in the [0, inf) range

geom0 - The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry

pose0 - Pose of the geometry object to sweep

geom1 - The geometry object to test the sweep against

pose1 - Pose of the geometry object to sweep against

sweepHit - The sweep hit information. Only valid if this method returns true.

hitFlags - Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags

Returns:

True if the swept geometry object geom0 hits the object geom1

See Also:

• PxGeomSweepHit
• PxGeometry
• PxTransform

sweep

public static boolean sweep(PxVec3 unitDir,
 float maxDist,
 PxGeometry geom0,
 PxTransform pose0,
 PxGeometry geom1,
 PxTransform pose1,
 PxSweepHit sweepHit,
 PxHitFlags hitFlags,
 float inflation)

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}

Parameters:

unitDir - Normalized direction along which object geom0 should be swept

maxDist - Maximum sweep distance, has to be in the [0, inf) range

geom0 - The geometry object to sweep. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry, #PxBoxGeometry and #PxConvexMeshGeometry

pose0 - Pose of the geometry object to sweep

geom1 - The geometry object to test the sweep against

pose1 - Pose of the geometry object to sweep against

sweepHit - The sweep hit information. Only valid if this method returns true.

hitFlags - Specify which properties per hit should be computed and written to result hit array. Combination of #PxHitFlag flags

inflation - Surface of the swept shape is additively extruded in the normal direction, rounding corners and edges.

Returns:

True if the swept geometry object geom0 hits the object geom1

See Also:

• PxGeomSweepHit
• PxGeometry
• PxTransform

overlap

public static boolean overlap(PxGeometry geom0,
 PxTransform pose0,
 PxGeometry geom1,
 PxTransform pose1)

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 PxConvexCoreGeometry

Parameters:

geom0 - The first geometry object

pose0 - Pose of the first geometry object

geom1 - The second geometry object

pose1 - Pose of the second geometry object

Returns:

True if the two geometry objects overlap

See Also:

• PxGeometry
• PxTransform

raycast

public static int raycast(PxVec3 origin,
 PxVec3 unitDir,
 PxGeometry geom,
 PxTransform pose,
 float maxDist,
 PxHitFlags hitFlags,
 int maxHits,
 PxRaycastHit rayHits)

Raycast test against a geometry object.

All geometry types are supported except PxParticleSystemGeometry and PxTetrahedronMeshGeometry.

Parameters:

origin - The origin of the ray to test the geometry object against

unitDir - Normalized direction of the ray to test the geometry object against

geom - The geometry object to test the ray against

pose - Pose of the geometry object

maxDist - Maximum ray length, has to be in the [0, inf) range

hitFlags - Specification of the kind of information to retrieve on hit. Combination of #PxHitFlag flags

maxHits - max number of returned hits = size of 'rayHits' buffer

rayHits - Raycast hits information

Returns:

Number of hits between the ray and the geometry object

See Also:

• PxGeomRaycastHit
• PxGeometry
• PxTransform

pointDistance

public static float pointDistance(PxVec3 point,
 PxGeometry geom,
 PxTransform pose)

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.

Parameters:

point - The point P

geom - The geometry object

pose - Pose of the geometry object

Returns:

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 Also:

• PxGeometry
• PxTransform

pointDistance

public static float pointDistance(PxVec3 point,
 PxGeometry geom,
 PxTransform pose,
 PxVec3 closestPoint)

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.

Parameters:

point - The point P

geom - The geometry object

pose - Pose of the geometry object

closestPoint - Optionally returned closest point to P on the geom object. Only valid when returned distance is strictly positive.

Returns:

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 Also:

• PxGeometry
• PxTransform

computeGeomBounds

public static void computeGeomBounds(PxBounds3 bounds,
 PxGeometry geom,
 PxTransform pose)

computes the bounds for a geometry object

Parameters:

bounds - Returned computed bounds

geom - The geometry object

pose - Pose of the geometry object

See Also:

• PxGeometry
• PxTransform

computeGeomBounds

public static void computeGeomBounds(PxBounds3 bounds,
 PxGeometry geom,
 PxTransform pose,
 float inflation)

computes the bounds for a geometry object

Parameters:

bounds - Returned computed bounds

geom - The geometry object

pose - Pose of the geometry object

inflation - Scale factor for computed bounds. The geom's extents are multiplied by this value.

See Also:

• PxGeometry
• PxTransform

isValid

public static boolean isValid(PxGeometry geom)

Checks if provided geometry is valid.

Parameters:

geom - The geometry object.

Returns:

True if geometry is valid.

See Also:

• PxGeometry