100 lines
4.1 KiB
C++
100 lines
4.1 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_QUICKHULL_CONVEXHULLLIB_H
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#define PX_QUICKHULL_CONVEXHULLLIB_H
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#include "ConvexHullLib.h"
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#include "Ps.h"
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#include "PsArray.h"
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#include "PsUserAllocated.h"
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namespace local
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{
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class QuickHull;
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struct QuickHullVertex;
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}
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namespace physx
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{
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class ConvexHull;
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//////////////////////////////////////////////////////////////////////////
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// Quickhull lib constructs the hull from given input points. The resulting hull
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// will only contain a subset of the input points. The algorithm does incrementally
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// adds most furthest vertices to the starting simplex. The produced hulls are build with high precision
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// and produce more stable and correct results, than the legacy algorithm.
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class QuickHullConvexHullLib: public ConvexHullLib, public Ps::UserAllocated
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{
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PX_NOCOPY(QuickHullConvexHullLib)
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public:
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// functions
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QuickHullConvexHullLib(const PxConvexMeshDesc& desc, const PxCookingParams& params);
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~QuickHullConvexHullLib();
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// computes the convex hull from provided points
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virtual PxConvexMeshCookingResult::Enum createConvexHull();
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// fills the convexmeshdesc with computed hull data
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virtual void fillConvexMeshDesc(PxConvexMeshDesc& desc);
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// provide the edge list information
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virtual bool createEdgeList(const PxU32, const PxU8* , PxU8** , PxU16** , PxU16** );
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protected:
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// if vertex limit reached we need to expand the hull using the OBB slicing
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PxConvexMeshCookingResult::Enum expandHullOBB();
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// if vertex limit reached we need to expand the hull using the plane shifting
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PxConvexMeshCookingResult::Enum expandHull();
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// checks for collinearity and co planarity
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// returns true if the simplex was ok, we can reuse the computed tolerances and min/max values
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bool cleanupForSimplex(PxVec3* vertices, PxU32 vertexCount, local::QuickHullVertex* minimumVertex,
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local::QuickHullVertex* maximumVertex, float& tolerance, float& planeTolerance);
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// fill the result desc from quick hull convex
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void fillConvexMeshDescFromQuickHull(PxConvexMeshDesc& desc);
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// fill the result desc from cropped hull convex
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void fillConvexMeshDescFromCroppedHull(PxConvexMeshDesc& desc);
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private:
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local::QuickHull* mQuickHull; // the internal quick hull representation
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ConvexHull* mCropedConvexHull; //the hull cropped from OBB, used for vertex limit path
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PxU8* mOutMemoryBuffer; // memory buffer used for output data
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PxU16* mFaceTranslateTable; // translation table mapping output faces to internal quick hull table
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};
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}
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#endif
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