263 lines
10 KiB
C
263 lines
10 KiB
C
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//
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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_PHYSICS_GEOMUTILS_NX_HEIGHTFIELD
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#define PX_PHYSICS_GEOMUTILS_NX_HEIGHTFIELD
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/** \addtogroup geomutils
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@{
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*/
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#include "geometry/PxHeightFieldFlag.h"
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#include "geometry/PxHeightFieldSample.h"
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#include "common/PxBase.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxHeightFieldDesc;
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/**
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\brief A height field class.
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Height fields work in a similar way as triangle meshes specified to act as
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height fields, with some important differences:
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Triangle meshes can be made of nonuniform geometry, while height fields are
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regular, rectangular grids. This means that with PxHeightField, you sacrifice
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flexibility in return for improved performance and decreased memory consumption.
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In local space rows extend in X direction, columns in Z direction and height in Y direction.
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Like Convexes and TriangleMeshes, HeightFields are referenced by shape instances
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(see #PxHeightFieldGeometry, #PxShape).
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To avoid duplicating data when you have several instances of a particular
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height field differently, you do not use this class to represent a
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height field object directly. Instead, you create an instance of this height field
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via the PxHeightFieldGeometry and PxShape classes.
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<h3>Creation</h3>
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To create an instance of this class call PxPhysics::createHeightField() or
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PxCooking::createHeightField(const PxHeightFieldDesc&, PxPhysicsInsertionCallback&).
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To delete it call release(). This is only possible
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once you have released all of its PxHeightFiedShape instances.
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<h3>Visualizations:</h3>
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\li #PxVisualizationParameter::eCOLLISION_AABBS
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\li #PxVisualizationParameter::eCOLLISION_SHAPES
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\li #PxVisualizationParameter::eCOLLISION_AXES
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\li #PxVisualizationParameter::eCOLLISION_FNORMALS
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\li #PxVisualizationParameter::eCOLLISION_EDGES
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@see PxHeightFieldDesc PxHeightFieldGeometry PxShape PxPhysics.createHeightField() PxCooking.createHeightField()
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*/
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class PxHeightField : public PxBase
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{
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public:
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/**
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\brief Decrements the reference count of a height field and releases it if the new reference count is zero.
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@see PxPhysics.createHeightField() PxHeightFieldDesc PxHeightFieldGeometry PxShape
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*/
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PX_PHYSX_COMMON_API virtual void release() = 0;
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/**
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\brief Writes out the sample data array.
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The user provides destBufferSize bytes storage at destBuffer.
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The data is formatted and arranged as PxHeightFieldDesc.samples.
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\param[out] destBuffer The destination buffer for the sample data.
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\param[in] destBufferSize The size of the destination buffer.
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\return The number of bytes written.
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@see PxHeightFieldDesc.samples
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*/
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PX_PHYSX_COMMON_API virtual PxU32 saveCells(void* destBuffer, PxU32 destBufferSize) const = 0;
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/**
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\brief Replaces a rectangular subfield in the sample data array.
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The user provides the description of a rectangular subfield in subfieldDesc.
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The data is formatted and arranged as PxHeightFieldDesc.samples.
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\param[in] startCol First cell in the destination heightfield to be modified. Can be negative.
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\param[in] startRow First row in the destination heightfield to be modified. Can be negative.
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\param[in] subfieldDesc Description of the source subfield to read the samples from.
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\param[in] shrinkBounds If left as false, the bounds will never shrink but only grow. If set to true the bounds will be recomputed from all HF samples at O(nbColums*nbRows) perf cost.
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\return True on success, false on failure. Failure can occur due to format mismatch.
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\note Modified samples are constrained to the same height quantization range as the original heightfield.
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Source samples that are out of range of target heightfield will be clipped with no error.
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PhysX does not keep a mapping from the heightfield to heightfield shapes that reference it.
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Call PxShape::setGeometry on each shape which references the height field, to ensure that internal data structures are updated to reflect the new geometry.
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Please note that PxShape::setGeometry does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.
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@see PxHeightFieldDesc.samples PxShape.setGeometry
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*/
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PX_PHYSX_COMMON_API virtual bool modifySamples(PxI32 startCol, PxI32 startRow, const PxHeightFieldDesc& subfieldDesc, bool shrinkBounds = false) = 0;
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/**
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\brief Retrieves the number of sample rows in the samples array.
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\return The number of sample rows in the samples array.
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@see PxHeightFieldDesc.nbRows
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbRows() const = 0;
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/**
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\brief Retrieves the number of sample columns in the samples array.
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\return The number of sample columns in the samples array.
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@see PxHeightFieldDesc.nbColumns
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbColumns() const = 0;
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/**
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\brief Retrieves the format of the sample data.
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\return The format of the sample data.
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@see PxHeightFieldDesc.format PxHeightFieldFormat
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*/
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PX_PHYSX_COMMON_API virtual PxHeightFieldFormat::Enum getFormat() const = 0;
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/**
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\brief Retrieves the offset in bytes between consecutive samples in the array.
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\return The offset in bytes between consecutive samples in the array.
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@see PxHeightFieldDesc.sampleStride
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getSampleStride() const = 0;
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/**
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\brief Retrieves the convex edge threshold.
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\return The convex edge threshold.
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@see PxHeightFieldDesc.convexEdgeThreshold
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*/
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PX_PHYSX_COMMON_API virtual PxReal getConvexEdgeThreshold() const = 0;
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/**
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\brief Retrieves the flags bits, combined from values of the enum ::PxHeightFieldFlag.
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\return The flags bits, combined from values of the enum ::PxHeightFieldFlag.
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@see PxHeightFieldDesc.flags PxHeightFieldFlag
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*/
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PX_PHYSX_COMMON_API virtual PxHeightFieldFlags getFlags() const = 0;
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/**
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\brief Retrieves the height at the given coordinates in grid space.
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\return The height at the given coordinates or 0 if the coordinates are out of range.
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*/
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PX_PHYSX_COMMON_API virtual PxReal getHeight(PxReal x, PxReal z) const = 0;
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/**
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\brief Returns the reference count for shared heightfields.
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At creation, the reference count of the heightfield is 1. Every shape referencing this heightfield increments the
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count by 1. When the reference count reaches 0, and only then, the heightfield gets destroyed automatically.
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\return the current reference count.
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getReferenceCount() const = 0;
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/**
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\brief Acquires a counted reference to a heightfield.
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This method increases the reference count of the heightfield by 1. Decrement the reference count by calling release()
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*/
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PX_PHYSX_COMMON_API virtual void acquireReference() = 0;
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/**
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\brief Returns material table index of given triangle
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\note This function takes a post cooking triangle index.
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\param[in] triangleIndex (internal) index of desired triangle
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\return Material table index, or 0xffff if no per-triangle materials are used
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*/
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PX_PHYSX_COMMON_API virtual PxMaterialTableIndex getTriangleMaterialIndex(PxTriangleID triangleIndex) const = 0;
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/**
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\brief Returns a triangle face normal for a given triangle index
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\note This function takes a post cooking triangle index.
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\param[in] triangleIndex (internal) index of desired triangle
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\return Triangle normal for a given triangle index
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*/
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PX_PHYSX_COMMON_API virtual PxVec3 getTriangleNormal(PxTriangleID triangleIndex) const = 0;
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/**
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\brief Returns heightfield sample of given row and column
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\param[in] row Given heightfield row
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\param[in] column Given heightfield column
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\return Heightfield sample
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*/
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PX_PHYSX_COMMON_API virtual const PxHeightFieldSample& getSample(PxU32 row, PxU32 column) const = 0;
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/**
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\brief Returns the number of times the heightfield data has been modified
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This method returns the number of times modifySamples has been called on this heightfield, so that code that has
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retained state that depends on the heightfield can efficiently determine whether it has been modified.
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\return the number of times the heightfield sample data has been modified.
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getTimestamp() const = 0;
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PX_PHYSX_COMMON_API virtual const char* getConcreteTypeName() const { return "PxHeightField"; }
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protected:
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PX_INLINE PxHeightField(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
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PX_INLINE PxHeightField(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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PX_PHYSX_COMMON_API virtual ~PxHeightField() {}
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PX_PHYSX_COMMON_API virtual bool isKindOf(const char* name) const { return !::strcmp("PxHeightField", name) || PxBase::isKindOf(name); }
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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