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physx/include/geometry/PxCapsuleGeometry.h

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+//
+// 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) 2008-2021 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_PHYSICS_NX_CAPSULE_GEOMETRY
+#define PX_PHYSICS_NX_CAPSULE_GEOMETRY
+/** \addtogroup geomutils
+@{
+*/
+#include "geometry/PxGeometry.h"
+#include "foundation/PxFoundationConfig.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/**
+\brief Class representing the geometry of a capsule.
+
+Capsules are shaped as the union of a cylinder of length 2 * halfHeight and with the 
+given radius centered at the origin and extending along the x axis, and two hemispherical ends.
+\note The scaling of the capsule is expected to be baked into these values, there is no additional scaling parameter.
+
+The function PxTransformFromSegment is a helper for generating an appropriate transform for the capsule from the capsule's interior line segment.
+
+@see PxTransformFromSegment
+*/
+class PxCapsuleGeometry : public PxGeometry      
+{
+public:
+	/**
+	\brief Default constructor, initializes to a capsule with zero height and radius.
+	*/
+	PX_INLINE PxCapsuleGeometry() : PxGeometry(PxGeometryType::eCAPSULE), radius(0), halfHeight(0)		{}
+
+	/**
+	\brief Constructor, initializes to a capsule with passed radius and half height.
+	*/
+	PX_INLINE PxCapsuleGeometry(PxReal radius_, PxReal halfHeight_) :	PxGeometry(PxGeometryType::eCAPSULE), radius(radius_), halfHeight(halfHeight_)	{}
+
+	/**
+	\brief Returns true if the geometry is valid.
+
+	\return True if the current settings are valid.
+
+	\note A valid capsule has radius > 0, halfHeight > 0.
+	It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a capsule that has zero radius or height.
+
+	@see PxRigidActor::createShape, PxPhysics::createShape
+	*/
+	PX_INLINE bool isValid() const;
+
+public:
+	/**
+	\brief The radius of the capsule.
+	*/
+	PxReal radius;
+
+	/**
+	\brief half of the capsule's height, measured between the centers of the hemispherical ends.
+	*/
+	PxReal halfHeight;
+};
+
+PX_INLINE bool PxCapsuleGeometry::isValid() const
+{
+	if (mType != PxGeometryType::eCAPSULE)
+		return false;
+	if (!PxIsFinite(radius) || !PxIsFinite(halfHeight))
+		return false;
+	if (radius <= 0.0f || halfHeight <= 0.0f)
+		return false;
+
+	return true;
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif