318 lines
11 KiB
C
318 lines
11 KiB
C
|
//
|
||
|
|
// 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) 2008-2019 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_GEOMUTILS_NX_TRIANGLEMESH
|
||
|
|
#define PX_PHYSICS_GEOMUTILS_NX_TRIANGLEMESH
|
||
|
|
/** \addtogroup geomutils
|
||
|
|
@{ */
|
||
|
|
|
||
|
|
#include "foundation/PxVec3.h"
|
||
|
|
#include "foundation/PxBounds3.h"
|
||
|
|
#include "common/PxPhysXCommonConfig.h"
|
||
|
|
#include "common/PxBase.h"
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Enables the dynamic rtree mesh feature. It is recommended to use this feature for scene queries only.
|
||
|
|
@see PxTriangleMesh::getVerticesForModification
|
||
|
|
@see PxTriangleMesh::refitBVH
|
||
|
|
*/
|
||
|
|
#define PX_ENABLE_DYNAMIC_MESH_RTREE 1
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Mesh midphase structure. This enum is used to select the desired acceleration structure for midphase queries
|
||
|
|
(i.e. raycasts, overlaps, sweeps vs triangle meshes).
|
||
|
|
|
||
|
|
The PxMeshMidPhase::eBVH33 structure is the one used in recent PhysX versions (up to PhysX 3.3). It has great performance and is
|
||
|
|
supported on all platforms.
|
||
|
|
|
||
|
|
The PxMeshMidPhase::eBVH34 structure is a revisited implementation introduced in PhysX 3.4. It can be significantly faster both
|
||
|
|
in terms of cooking performance and runtime performance, but it is currently only available on platforms supporting the
|
||
|
|
SSE2 instuction set.
|
||
|
|
*/
|
||
|
|
struct PxMeshMidPhase
|
||
|
|
{
|
||
|
|
enum Enum
|
||
|
|
{
|
||
|
|
eBVH33 = 0, //!< Default midphase mesh structure, as used up to PhysX 3.3
|
||
|
|
eBVH34 = 1, //!< New midphase mesh structure, introduced in PhysX 3.4
|
||
|
|
|
||
|
|
eLAST
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Flags for the mesh geometry properties.
|
||
|
|
|
||
|
|
Used in ::PxTriangleMeshFlags.
|
||
|
|
*/
|
||
|
|
struct PxTriangleMeshFlag
|
||
|
|
{
|
||
|
|
enum Enum
|
||
|
|
{
|
||
|
|
e16_BIT_INDICES = (1<<1), //!< The triangle mesh has 16bits vertex indices.
|
||
|
|
eADJACENCY_INFO = (1<<2) //!< The triangle mesh has adjacency information build.
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief collection of set bits defined in PxTriangleMeshFlag.
|
||
|
|
|
||
|
|
@see PxTriangleMeshFlag
|
||
|
|
*/
|
||
|
|
typedef PxFlags<PxTriangleMeshFlag::Enum,PxU8> PxTriangleMeshFlags;
|
||
|
|
PX_FLAGS_OPERATORS(PxTriangleMeshFlag::Enum,PxU8)
|
||
|
|
|
||
|
|
/**
|
||
|
|
|
||
|
|
\brief A triangle mesh, also called a 'polygon soup'.
|
||
|
|
|
||
|
|
It is represented as an indexed triangle list. There are no restrictions on the
|
||
|
|
triangle data.
|
||
|
|
|
||
|
|
To avoid duplicating data when you have several instances of a particular
|
||
|
|
mesh positioned differently, you do not use this class to represent a
|
||
|
|
mesh object directly. Instead, you create an instance of this mesh via
|
||
|
|
the PxTriangleMeshGeometry and PxShape classes.
|
||
|
|
|
||
|
|
<h3>Creation</h3>
|
||
|
|
|
||
|
|
To create an instance of this class call PxPhysics::createTriangleMesh(),
|
||
|
|
and release() to delete it. This is only possible
|
||
|
|
once you have released all of its PxShape instances.
|
||
|
|
|
||
|
|
|
||
|
|
<h3>Visualizations:</h3>
|
||
|
|
\li #PxVisualizationParameter::eCOLLISION_AABBS
|
||
|
|
\li #PxVisualizationParameter::eCOLLISION_SHAPES
|
||
|
|
\li #PxVisualizationParameter::eCOLLISION_AXES
|
||
|
|
\li #PxVisualizationParameter::eCOLLISION_FNORMALS
|
||
|
|
\li #PxVisualizationParameter::eCOLLISION_EDGES
|
||
|
|
|
||
|
|
@see PxTriangleMeshDesc PxTriangleMeshGeometry PxShape PxPhysics.createTriangleMesh()
|
||
|
|
*/
|
||
|
|
|
||
|
|
class PxTriangleMesh : public PxBase
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
\brief Returns the number of vertices.
|
||
|
|
\return number of vertices
|
||
|
|
@see getVertices()
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbVertices() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the vertices.
|
||
|
|
\return array of vertices
|
||
|
|
@see getNbVertices()
|
||
|
|
*/
|
||
|
|
virtual const PxVec3* getVertices() const = 0;
|
||
|
|
|
||
|
|
#if PX_ENABLE_DYNAMIC_MESH_RTREE
|
||
|
|
/**
|
||
|
|
\brief Returns all mesh vertices for modification.
|
||
|
|
|
||
|
|
This function will return the vertices of the mesh so that their positions can be changed in place.
|
||
|
|
After modifying the vertices you must call refitBVH for the refitting to actually take place.
|
||
|
|
This function maintains the old mesh topology (triangle indices).
|
||
|
|
|
||
|
|
\return inplace vertex coordinates for each existing mesh vertex.
|
||
|
|
|
||
|
|
\note works only for PxMeshMidPhase::eBVH33
|
||
|
|
\note Size of array returned is equal to the number returned by getNbVertices().
|
||
|
|
\note This function operates on cooked vertex indices.
|
||
|
|
\note This means the index mapping and vertex count can be different from what was provided as an input to the cooking routine.
|
||
|
|
\note To achieve unchanged 1-to-1 index mapping with orignal mesh data (before cooking) please use the following cooking flags:
|
||
|
|
\note eWELD_VERTICES = 0, eDISABLE_CLEAN_MESH = 1.
|
||
|
|
\note It is also recommended to make sure that a call to validateTriangleMesh returns true if mesh cleaning is disabled.
|
||
|
|
@see getNbVertices()
|
||
|
|
@see refitBVH()
|
||
|
|
*/
|
||
|
|
virtual PxVec3* getVerticesForModification() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Refits BVH for mesh vertices.
|
||
|
|
|
||
|
|
This function will refit the mesh BVH to correctly enclose the new positions updated by getVerticesForModification.
|
||
|
|
Mesh BVH will not be reoptimized by this function so significantly different new positions will cause significantly reduced performance.
|
||
|
|
|
||
|
|
\return New bounds for the entire mesh.
|
||
|
|
|
||
|
|
\note works only for PxMeshMidPhase::eBVH33
|
||
|
|
\note PhysX does not keep a mapping from the mesh to mesh shapes that reference it.
|
||
|
|
\note Call PxShape::setGeometry on each shape which references the mesh, to ensure that internal data structures are updated to reflect the new geometry.
|
||
|
|
\note PxShape::setGeometry does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.
|
||
|
|
\note It is also recommended to make sure that a call to validateTriangleMesh returns true if mesh cleaning is disabled.
|
||
|
|
\note Active edges information will be lost during refit, the rigid body mesh contact generation might not perform as expected.
|
||
|
|
@see getNbVertices()
|
||
|
|
@see getVerticesForModification()
|
||
|
|
*/
|
||
|
|
virtual PxBounds3 refitBVH() = 0;
|
||
|
|
#endif // PX_ENABLE_DYNAMIC_MESH_RTREE
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the number of triangles.
|
||
|
|
\return number of triangles
|
||
|
|
@see getTriangles() getTrianglesRemap()
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbTriangles() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the triangle indices.
|
||
|
|
|
||
|
|
The indices can be 16 or 32bit depending on the number of triangles in the mesh.
|
||
|
|
Call getTriangleMeshFlags() to know if the indices are 16 or 32 bits.
|
||
|
|
|
||
|
|
The number of indices is the number of triangles * 3.
|
||
|
|
|
||
|
|
\return array of triangles
|
||
|
|
@see getNbTriangles() getTriangleMeshFlags() getTrianglesRemap()
|
||
|
|
*/
|
||
|
|
virtual const void* getTriangles() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Reads the PxTriangleMesh flags.
|
||
|
|
|
||
|
|
See the list of flags #PxTriangleMeshFlag
|
||
|
|
|
||
|
|
\return The values of the PxTriangleMesh flags.
|
||
|
|
|
||
|
|
@see PxTriangleMesh
|
||
|
|
*/
|
||
|
|
virtual PxTriangleMeshFlags getTriangleMeshFlags() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the triangle remapping table.
|
||
|
|
|
||
|
|
The triangles are internally sorted according to various criteria. Hence the internal triangle order
|
||
|
|
does not always match the original (user-defined) order. The remapping table helps finding the old
|
||
|
|
indices knowing the new ones:
|
||
|
|
|
||
|
|
remapTable[ internalTriangleIndex ] = originalTriangleIndex
|
||
|
|
|
||
|
|
\return the remapping table (or NULL if 'PxCookingParams::suppressTriangleMeshRemapTable' has been used)
|
||
|
|
@see getNbTriangles() getTriangles() PxCookingParams::suppressTriangleMeshRemapTable
|
||
|
|
*/
|
||
|
|
virtual const PxU32* getTrianglesRemap() const = 0;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Decrements the reference count of a triangle mesh and releases it if the new reference count is zero.
|
||
|
|
|
||
|
|
@see PxPhysics.createTriangleMesh()
|
||
|
|
*/
|
||
|
|
virtual void release() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns material table index of given triangle
|
||
|
|
|
||
|
|
This function takes a post cooking triangle index.
|
||
|
|
|
||
|
|
\param[in] triangleIndex (internal) index of desired triangle
|
||
|
|
\return Material table index, or 0xffff if no per-triangle materials are used
|
||
|
|
*/
|
||
|
|
virtual PxMaterialTableIndex getTriangleMaterialIndex(PxTriangleID triangleIndex) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the local-space (vertex space) AABB from the triangle mesh.
|
||
|
|
|
||
|
|
\return local-space bounds
|
||
|
|
*/
|
||
|
|
virtual PxBounds3 getLocalBounds() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns the reference count for shared meshes.
|
||
|
|
|
||
|
|
At creation, the reference count of the mesh is 1. Every shape referencing this mesh increments the
|
||
|
|
count by 1. When the reference count reaches 0, and only then, the mesh gets destroyed automatically.
|
||
|
|
|
||
|
|
\return the current reference count.
|
||
|
|
*/
|
||
|
|
virtual PxU32 getReferenceCount() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Acquires a counted reference to a triangle mesh.
|
||
|
|
|
||
|
|
This method increases the reference count of the triangle mesh by 1. Decrement the reference count by calling release()
|
||
|
|
*/
|
||
|
|
virtual void acquireReference() = 0;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
PX_INLINE PxTriangleMesh(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
|
||
|
|
PX_INLINE PxTriangleMesh(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
|
||
|
|
virtual ~PxTriangleMesh() {}
|
||
|
|
|
||
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxTriangleMesh", name) || PxBase::isKindOf(name); }
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
|
||
|
|
\brief A triangle mesh containing the PxMeshMidPhase::eBVH33 structure.
|
||
|
|
|
||
|
|
@see PxMeshMidPhase
|
||
|
|
*/
|
||
|
|
class PxBVH33TriangleMesh : public PxTriangleMesh
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
protected:
|
||
|
|
PX_INLINE PxBVH33TriangleMesh(PxType concreteType, PxBaseFlags baseFlags) : PxTriangleMesh(concreteType, baseFlags) {}
|
||
|
|
PX_INLINE PxBVH33TriangleMesh(PxBaseFlags baseFlags) : PxTriangleMesh(baseFlags) {}
|
||
|
|
virtual ~PxBVH33TriangleMesh() {}
|
||
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxBVH33TriangleMesh", name) || PxTriangleMesh::isKindOf(name); }
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
|
||
|
|
\brief A triangle mesh containing the PxMeshMidPhase::eBVH34 structure.
|
||
|
|
|
||
|
|
@see PxMeshMidPhase
|
||
|
|
*/
|
||
|
|
class PxBVH34TriangleMesh : public PxTriangleMesh
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
protected:
|
||
|
|
PX_INLINE PxBVH34TriangleMesh(PxType concreteType, PxBaseFlags baseFlags) : PxTriangleMesh(concreteType, baseFlags) {}
|
||
|
|
PX_INLINE PxBVH34TriangleMesh(PxBaseFlags baseFlags) : PxTriangleMesh(baseFlags) {}
|
||
|
|
virtual ~PxBVH34TriangleMesh() {}
|
||
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxBVH34TriangleMesh", name) || PxTriangleMesh::isKindOf(name); }
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif
|