Method geomHit

physx/source/physx/src/NpSceneQueries.cpp:191–329

struct GeomQueryAny
{
	static PX_FORCE_INLINE PxU32 geomHit(
		const NpSceneQueries& sceneQueries, const MultiQueryInput& input, const ShapeData& sd,
		const PxGeometry& sceneGeom, const PxTransform& pose, PxHitFlags hitFlags,
		PxU32 maxHits, HitType* hits, const PxReal shrunkMaxDistance, PxBounds3* precomputedBounds)
	{
		const PxGeometry& geom0 = *input.geometry;
		const PxTransform& pose0 = *input.pose;
		const PxGeometry& geom1 = sceneGeom;
		const PxTransform& pose1 = pose;

		// Handle raycasts
		if(HitTypeSupport<HitType>::IsRaycast)
		{
			// the test for mesh AABB is archived in //sw/physx/dev/apokrovsky/graveyard/sqMeshAABBTest.cpp
			// TODO: investigate performance impact (see US12801)
			PX_CHECK_AND_RETURN_VAL(input.getDir().isFinite(), "PxScene::raycast(): rayDir is not valid.", 0);
			PX_CHECK_AND_RETURN_VAL(input.getOrigin().isFinite(), "PxScene::raycast(): rayOrigin is not valid.", 0);
			PX_CHECK_AND_RETURN_VAL(pose1.isValid(), "PxScene::raycast(): pose is not valid.", 0);
			PX_CHECK_AND_RETURN_VAL(shrunkMaxDistance >= 0.0f, "PxScene::raycast(): maxDist is negative.", 0);
			PX_CHECK_AND_RETURN_VAL(PxIsFinite(shrunkMaxDistance), "PxScene::raycast(): maxDist is not valid.", 0);
			PX_CHECK_AND_RETURN_VAL(PxAbs(input.getDir().magnitudeSquared()-1)<1e-4f,
				"PxScene::raycast(): ray direction must be unit vector.", 0);

			// PT: TODO: investigate perf difference
			const RaycastFunc func = sceneQueries.mCachedRaycastFuncs[geom1.getType()];
			return func(geom1, pose1, input.getOrigin(), input.getDir(), shrunkMaxDistance,
						hitFlags, maxHits, reinterpret_cast<PxRaycastHit*>(hits));
		}
		// Handle sweeps
		else if(HitTypeSupport<HitType>::IsSweep)
		{
			PX_ASSERT(precomputedBounds != NULL);
			// b0 = query shape bounds
			// b1 = scene shape bounds
			// AP: Here we clip the sweep to bounds with sum of extents. This is needed for GJK stability.
			// because sweep is equivalent to a raycast vs a scene shape with inflated bounds.
			// This also may (or may not) provide an optimization for meshes because top level of rtree has multiple boxes
			// and there is no bounds test for the whole mesh elsewhere
			PxBounds3 b0 = *precomputedBounds, b1;
			// compute the scene geometry bounds
			// PT: TODO: avoid recomputing the bounds here
			Gu::computeBounds(b1, sceneGeom, pose, 0.0f, NULL, 1.0f);
			const PxVec3 combExt = (b0.getExtents() + b1.getExtents())*1.01f;

			PxF32 tnear, tfar;
			if(!intersectRayAABB2(-combExt, combExt, b0.getCenter() - b1.getCenter(), input.getDir(), shrunkMaxDistance, tnear, tfar)) // returns (tnear<tfar)
				if(tnear>tfar) // this second test is needed because shrunkMaxDistance can be 0 for 0 length sweep
					return 0;
			PX_ASSERT(input.getDir().isNormalized());
			// tfar is now the t where the ray exits the AABB. input.getDir() is normalized

			const PxVec3& unitDir = input.getDir();
			PxSweepHit& sweepHit = reinterpret_cast<PxSweepHit&>(hits[0]);
			
			// if we don't start inside the AABB box, offset the start pos, because of precision issues with large maxDist
			const bool offsetPos = (tnear > GU_RAY_SURFACE_OFFSET);
			const PxReal offset = offsetPos ? (tnear - GU_RAY_SURFACE_OFFSET) : 0.0f;
			const PxVec3 offsetVec(offsetPos ? (unitDir*offset) : PxVec3(0.0f));