564 lines
20 KiB
C
564 lines
20 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_COOKING_H
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#define PX_COOKING_H
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/** \addtogroup cooking
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "common/PxTolerancesScale.h"
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#include "cooking/Pxc.h"
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#include "cooking/PxConvexMeshDesc.h"
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#include "cooking/PxTriangleMeshDesc.h"
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#include "cooking/PxMidphaseDesc.h"
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#include "cooking/PxBVHStructureDesc.h"
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#include "geometry/PxTriangleMesh.h"
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#include "geometry/PxBVHStructure.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 PxPhysicsInsertionCallback;
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class PxFoundation;
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/**
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\brief Result from convex cooking.
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*/
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struct PxConvexMeshCookingResult
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{
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enum Enum
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{
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/**
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\brief Convex mesh cooking succeeded.
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*/
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eSUCCESS,
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/**
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\brief Convex mesh cooking failed, algorithm couldn't find 4 initial vertices without a small triangle.
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@see PxCookingParams::areaTestEpsilon PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES
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*/
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eZERO_AREA_TEST_FAILED,
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/**
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\brief Convex mesh cooking succeeded, but the algorithm has reached the 255 polygons limit.
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The produced hull does not contain all input vertices. Try to simplify the input vertices
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or try to use the eINFLATE_CONVEX or the eQUANTIZE_INPUT flags.
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@see PxConvexFlag::eINFLATE_CONVEX PxConvexFlag::eQUANTIZE_INPUT
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*/
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ePOLYGONS_LIMIT_REACHED,
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/**
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\brief Something unrecoverable happened. Check the error stream to find out what.
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*/
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eFAILURE
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};
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};
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/** \brief Enumeration for convex mesh cooking algorithms. */
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struct PxConvexMeshCookingType
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{
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enum Enum
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{
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/**
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\brief The Quickhull algorithm constructs the hull from the given input points. The resulting hull
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will only contain a subset of the input points.
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*/
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eQUICKHULL
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};
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};
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/**
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\brief Result from triangle mesh cooking
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*/
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struct PxTriangleMeshCookingResult
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{
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enum Enum
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{
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/**
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\brief Everything is A-OK.
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*/
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eSUCCESS = 0,
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/**
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\brief a triangle is too large for well-conditioned results. Tessellate the mesh for better behavior, see the user guide section on cooking for more details.
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*/
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eLARGE_TRIANGLE,
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/**
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\brief Something unrecoverable happened. Check the error stream to find out what.
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*/
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eFAILURE
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};
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};
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/**
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\brief Enum for the set of mesh pre-processing parameters.
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*/
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struct PxMeshPreprocessingFlag
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{
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enum Enum
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{
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/**
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\brief When set, mesh welding is performed. See PxCookingParams::meshWeldTolerance. Clean mesh must be enabled.
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*/
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eWELD_VERTICES = 1 << 0,
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/**
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\brief When set, mesh cleaning is disabled. This makes cooking faster.
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When clean mesh is not performed, mesh welding is also not performed.
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It is recommended to use only meshes that passed during validateTriangleMesh.
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*/
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eDISABLE_CLEAN_MESH = 1 << 1,
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/**
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\brief When set, active edges are set for each triangle edge. This makes cooking faster but slow up contact generation.
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*/
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eDISABLE_ACTIVE_EDGES_PRECOMPUTE = 1 << 2,
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/**
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\brief When set, 32-bit indices will always be created regardless of triangle count.
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\note By default mesh will be created with 16-bit indices for triangle count <= 0xFFFF and 32-bit otherwise.
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*/
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eFORCE_32BIT_INDICES = 1 << 3
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};
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};
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typedef PxFlags<PxMeshPreprocessingFlag::Enum,PxU32> PxMeshPreprocessingFlags;
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/**
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\brief Structure describing parameters affecting mesh cooking.
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@see PxSetCookingParams() PxGetCookingParams()
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*/
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struct PxCookingParams
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{
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/**
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\brief Zero-size area epsilon used in convex hull computation.
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If the area of a triangle of the hull is below this value, the triangle will be rejected. This test
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is done only if PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES is used.
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@see PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES
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<b>Default value:</b> 0.06f*PxTolerancesScale.length*PxTolerancesScale.length
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<b>Range:</b> (0.0f, PX_MAX_F32)
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*/
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float areaTestEpsilon;
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/**
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\brief Plane tolerance used in convex hull computation.
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The value is used during hull construction. When a new point is about to be added to the hull it
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gets dropped when the point is closer to the hull than the planeTolerance. The planeTolerance
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is increased according to the hull size.
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If 0.0f is set all points are accepted when the convex hull is created. This may lead to edge cases
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where the new points may be merged into an existing polygon and the polygons plane equation might
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slightly change therefore. This might lead to failures during polygon merging phase in the hull computation.
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It is recommended to use the default value, however if it is required that all points needs to be
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accepted or huge thin convexes are created, it might be required to lower the default value.
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\note The plane tolerance is used only within PxConvexMeshCookingType::eQUICKHULL algorithm.
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<b>Default value:</b> 0.0007f
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<b>Range:</b> <0.0f, PX_MAX_F32)
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*/
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float planeTolerance;
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/**
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\brief Convex hull creation algorithm.
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<b>Default value:</b> PxConvexMeshCookingType::eQUICKHULL
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@see PxConvexMeshCookingType
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*/
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PxConvexMeshCookingType::Enum convexMeshCookingType;
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/**
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\brief When true, the face remap table is not created. This saves a significant amount of memory, but the SDK will
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not be able to provide the remap information for internal mesh triangles returned by collisions,
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sweeps or raycasts hits.
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<b>Default value:</b> false
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*/
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bool suppressTriangleMeshRemapTable;
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/**
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\brief When true, the triangle adjacency information is created. You can get the adjacency triangles
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for a given triangle from getTriangle.
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<b>Default value:</b> false
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*/
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bool buildTriangleAdjacencies;
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/**
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\brief When true, addigional information required for GPU-accelerated rigid body simulation is created. This can increase memory usage and cooking times for convex meshes and triangle meshes.
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<b>Default value:</b> false
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*/
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bool buildGPUData;
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/**
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\brief Tolerance scale is used to check if cooked triangles are not too huge. This check will help with simulation stability.
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\note The PxTolerancesScale values have to match the values used when creating a PxPhysics or PxScene instance.
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@see PxTolerancesScale
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*/
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PxTolerancesScale scale;
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/**
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\brief Mesh pre-processing parameters. Used to control options like whether the mesh cooking performs vertex welding before cooking.
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<b>Default value:</b> 0
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*/
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PxMeshPreprocessingFlags meshPreprocessParams;
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/**
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\brief Mesh weld tolerance. If mesh welding is enabled, this controls the distance at which vertices are welded.
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If mesh welding is not enabled, this value defines the acceptance distance for mesh validation. Provided no two vertices are within this distance, the mesh is considered to be
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clean. If not, a warning will be emitted. Having a clean, welded mesh is required to achieve the best possible performance.
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The default vertex welding uses a snap-to-grid approach. This approach effectively truncates each vertex to integer values using meshWeldTolerance.
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Once these snapped vertices are produced, all vertices that snap to a given vertex on the grid are remapped to reference a single vertex. Following this,
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all triangles' indices are remapped to reference this subset of clean vertices. It should be noted that the vertices that we do not alter the
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position of the vertices; the snap-to-grid is only performed to identify nearby vertices.
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The mesh validation approach also uses the same snap-to-grid approach to identify nearby vertices. If more than one vertex snaps to a given grid coordinate,
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we ensure that the distance between the vertices is at least meshWeldTolerance. If this is not the case, a warning is emitted.
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<b>Default value:</b> 0.0
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*/
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PxReal meshWeldTolerance;
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/**
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\brief Controls the desired midphase desc structure for triangle meshes.
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@see PxBVH33MidphaseDesc, PxBVH34MidphaseDesc, PxMidphaseDesc
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<b>Default value:</b> PxMeshMidPhase::eBVH33
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*/
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PxMidphaseDesc midphaseDesc;
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/**
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\brief Vertex limit beyond which additional acceleration structures are computed for each convex mesh. Increase that limit to reduce memory usage.
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Computing the extra structures all the time does not guarantee optimal performance. There is a per-platform break-even point below which the
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extra structures actually hurt performance.
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<b>Default value:</b> 32
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*/
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PxU32 gaussMapLimit;
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PxCookingParams(const PxTolerancesScale& sc):
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areaTestEpsilon (0.06f*sc.length*sc.length),
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planeTolerance (0.0007f),
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convexMeshCookingType (PxConvexMeshCookingType::eQUICKHULL),
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suppressTriangleMeshRemapTable (false),
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buildTriangleAdjacencies (false),
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buildGPUData (false),
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scale (sc),
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meshPreprocessParams (0),
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meshWeldTolerance (0.f),
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gaussMapLimit (32)
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{
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}
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};
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class PxCooking
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{
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public:
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/**
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\brief Closes this instance of the interface.
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This function should be called to cleanly shut down the Cooking library before application exit.
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\note This function is required to be called to release foundation usage.
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*/
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virtual void release() = 0;
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/**
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\brief Sets cooking parameters
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\param[in] params Cooking parameters
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@see getParams()
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*/
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virtual void setParams(const PxCookingParams& params) = 0;
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/**
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\brief Gets cooking parameters
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\return Current cooking parameters.
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@see PxCookingParams setParams()
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*/
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virtual const PxCookingParams& getParams() const = 0;
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/**
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\brief Checks endianness is the same between cooking & target platforms
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\return True if there is and endian mismatch.
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*/
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virtual bool platformMismatch() const = 0;
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/**
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\brief Cooks a triangle mesh. The results are written to the stream.
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To create a triangle mesh object it is necessary to first 'cook' the mesh data into
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a form which allows the SDK to perform efficient collision detection.
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cookTriangleMesh() allows a mesh description to be cooked into a binary stream
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suitable for loading and performing collision detection at runtime.
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\param[in] desc The triangle mesh descriptor to read the mesh from.
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\param[in] stream User stream to output the cooked data.
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\param[out] condition Result from triangle mesh cooking.
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\return true on success
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@see cookConvexMesh() setParams() PxPhysics.createTriangleMesh() PxTriangleMeshCookingResult::Enum
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*/
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virtual bool cookTriangleMesh(const PxTriangleMeshDesc& desc, PxOutputStream& stream, PxTriangleMeshCookingResult::Enum* condition = NULL) const = 0;
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/**
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\brief Cooks and creates a triangle mesh and inserts it into PxPhysics.
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\note PxPhysicsInsertionCallback can be obtained through PxPhysics::getPhysicsInsertionCallback().
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\param[in] desc The triangle mesh descriptor to read the mesh from.
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\param[in] insertionCallback The insertion interface from PxPhysics.
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\param[out] condition Result from triangle mesh cooking.
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\return PxTriangleMesh pointer on success.
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@see cookTriangleMesh() setParams() PxPhysics.createTriangleMesh() PxPhysicsInsertionCallback
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*/
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virtual PxTriangleMesh* createTriangleMesh(const PxTriangleMeshDesc& desc, PxPhysicsInsertionCallback& insertionCallback, PxTriangleMeshCookingResult::Enum* condition = NULL) const = 0;
|
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|
|
||
|
|
/**
|
||
|
|
\brief Verifies if the triangle mesh is valid. Prints an error message for each inconsistency found.
|
||
|
|
|
||
|
|
The following conditions are true for a valid triangle mesh:
|
||
|
|
1. There are no duplicate vertices (within specified vertexWeldTolerance. See PxCookingParams::meshWeldTolerance)
|
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|
|
2. There are no large triangles (within specified PxTolerancesScale.)
|
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|
||
|
|
\param[in] desc The triangle mesh descriptor to read the mesh from.
|
||
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|
||
|
|
\return true if all the validity conditions hold, false otherwise.
|
||
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|
||
|
|
@see cookTriangleMesh()
|
||
|
|
*/
|
||
|
|
virtual bool validateTriangleMesh(const PxTriangleMeshDesc& desc) const = 0;
|
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|
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|
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|
/**
|
||
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|
\brief Cooks a convex mesh. The results are written to the stream.
|
||
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|
||
|
|
To create a triangle mesh object it is necessary to first 'cook' the mesh data into
|
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|
|
a form which allows the SDK to perform efficient collision detection.
|
||
|
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|
||
|
|
cookConvexMesh() allows a mesh description to be cooked into a binary stream
|
||
|
|
suitable for loading and performing collision detection at runtime.
|
||
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|
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|
|
\note The number of vertices and the number of convex polygons in a cooked convex mesh is limited to 255.
|
||
|
|
\note If those limits are exceeded in either the user-provided data or the final cooked mesh, an error is reported.
|
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|
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|
\param[in] desc The convex mesh descriptor to read the mesh from.
|
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|
|
\param[in] stream User stream to output the cooked data.
|
||
|
|
\param[out] condition Result from convex mesh cooking.
|
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|
|
\return true on success.
|
||
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|
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|
|
@see cookTriangleMesh() setParams() PxConvexMeshCookingResult::Enum
|
||
|
|
*/
|
||
|
|
virtual bool cookConvexMesh(const PxConvexMeshDesc& desc, PxOutputStream& stream, PxConvexMeshCookingResult::Enum* condition = NULL) const = 0;
|
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|
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|
|
/**
|
||
|
|
\brief Cooks and creates a convex mesh and inserts it into PxPhysics.
|
||
|
|
|
||
|
|
\note This method does the same as cookConvexMesh, but the produced convex mesh is not stored
|
||
|
|
into a stream but is directly inserted in PxPhysics. Use this method if you are unable to cook offline.
|
||
|
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|
||
|
|
\note PxPhysicsInsertionCallback can be obtained through PxPhysics::getPhysicsInsertionCallback().
|
||
|
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|
||
|
|
\param[in] desc The convex mesh descriptor to read the mesh from.
|
||
|
|
\param[in] insertionCallback The insertion interface from PxPhysics.
|
||
|
|
\param[out] condition Result from convex mesh cooking.
|
||
|
|
\return PxConvexMesh pointer on success
|
||
|
|
|
||
|
|
@see cookConvexMesh() setParams() PxPhysicsInsertionCallback
|
||
|
|
*/
|
||
|
|
virtual PxConvexMesh* createConvexMesh(const PxConvexMeshDesc& desc, PxPhysicsInsertionCallback& insertionCallback, PxConvexMeshCookingResult::Enum* condition = NULL) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Verifies if the convex mesh is valid. Prints an error message for each inconsistency found.
|
||
|
|
|
||
|
|
The convex mesh descriptor must contain an already created convex mesh - the vertices, indices and polygons must be provided.
|
||
|
|
|
||
|
|
\note This function should be used if PxConvexFlag::eDISABLE_MESH_VALIDATION is planned to be used in release builds.
|
||
|
|
|
||
|
|
\param[in] desc The convex mesh descriptor to read the mesh from.
|
||
|
|
|
||
|
|
\return true if all the validity conditions hold, false otherwise.
|
||
|
|
|
||
|
|
@see cookConvexMesh()
|
||
|
|
*/
|
||
|
|
virtual bool validateConvexMesh(const PxConvexMeshDesc& desc) const = 0;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Computed hull polygons from given vertices and triangles. Polygons are needed for PxConvexMeshDesc rather than triangles.
|
||
|
|
|
||
|
|
Please note that the resulting polygons may have different number of vertices. Some vertices may be removed.
|
||
|
|
The output vertices, indices and polygons must be used to construct a hull.
|
||
|
|
|
||
|
|
The provided PxAllocatorCallback does allocate the out array's. It is the user responsibility to deallocated those
|
||
|
|
array's.
|
||
|
|
|
||
|
|
\param[in] mesh Simple triangle mesh containing vertices and triangles used to compute polygons.
|
||
|
|
\param[in] inCallback Memory allocator for out array allocations.
|
||
|
|
\param[out] nbVerts Number of vertices used by polygons.
|
||
|
|
\param[out] vertices Vertices array used by polygons.
|
||
|
|
\param[out] nbIndices Number of indices used by polygons.
|
||
|
|
\param[out] indices Indices array used by polygons.
|
||
|
|
\param[out] nbPolygons Number of created polygons.
|
||
|
|
\param[out] hullPolygons Polygons array.
|
||
|
|
\return true on success
|
||
|
|
|
||
|
|
@see cookConvexMesh() PxConvexFlags PxConvexMeshDesc PxSimpleTriangleMesh
|
||
|
|
*/
|
||
|
|
virtual bool computeHullPolygons(const PxSimpleTriangleMesh& mesh, PxAllocatorCallback& inCallback, PxU32& nbVerts, PxVec3*& vertices,
|
||
|
|
PxU32& nbIndices, PxU32*& indices, PxU32& nbPolygons, PxHullPolygon*& hullPolygons) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Cooks a heightfield. The results are written to the stream.
|
||
|
|
|
||
|
|
To create a heightfield object there is an option to precompute some of calculations done while loading the heightfield data.
|
||
|
|
|
||
|
|
cookHeightField() allows a heightfield description to be cooked into a binary stream
|
||
|
|
suitable for loading and performing collision detection at runtime.
|
||
|
|
|
||
|
|
\param[in] desc The heightfield descriptor to read the HF from.
|
||
|
|
\param[in] stream User stream to output the cooked data.
|
||
|
|
\return true on success
|
||
|
|
|
||
|
|
@see PxPhysics.createHeightField()
|
||
|
|
*/
|
||
|
|
virtual bool cookHeightField(const PxHeightFieldDesc& desc, PxOutputStream& stream) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Cooks and creates a heightfield mesh and inserts it into PxPhysics.
|
||
|
|
|
||
|
|
\param[in] desc The heightfield descriptor to read the HF from.
|
||
|
|
\param[in] insertionCallback The insertion interface from PxPhysics.
|
||
|
|
\return PxHeightField pointer on success
|
||
|
|
|
||
|
|
@see cookConvexMesh() setParams() PxPhysics.createTriangleMesh() PxPhysicsInsertionCallback
|
||
|
|
*/
|
||
|
|
virtual PxHeightField* createHeightField(const PxHeightFieldDesc& desc, PxPhysicsInsertionCallback& insertionCallback) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Cooks a bounding volume hierarchy structure. The results are written to the stream.
|
||
|
|
|
||
|
|
cookBVHStructure() allows a BVH structure description to be cooked into a binary stream
|
||
|
|
suitable for loading and performing BVH detection at runtime.
|
||
|
|
|
||
|
|
\param[in] desc The BVH structure descriptor.
|
||
|
|
\param[in] stream User stream to output the cooked data.
|
||
|
|
\return true on success.
|
||
|
|
|
||
|
|
@see PxBVHStructure PxRigidActorExt::getRigidActorShapeLocalBoundsList
|
||
|
|
*/
|
||
|
|
virtual bool cookBVHStructure(const PxBVHStructureDesc& desc, PxOutputStream& stream) const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Cooks and creates a bounding volume hierarchy structure and inserts it into PxPhysics.
|
||
|
|
|
||
|
|
\note This method does the same as cookBVHStructure, but the produced BVH structure is not stored
|
||
|
|
into a stream but is directly inserted in PxPhysics. Use this method if you are unable to cook offline.
|
||
|
|
|
||
|
|
\note PxPhysicsInsertionCallback can be obtained through PxPhysics::getPhysicsInsertionCallback().
|
||
|
|
|
||
|
|
\param[in] desc The BVH structure descriptor.
|
||
|
|
\param[in] insertionCallback The insertion interface from PxPhysics.
|
||
|
|
\return PxBVHStructure pointer on success
|
||
|
|
|
||
|
|
@see cookBVHStructure() PxPhysicsInsertionCallback
|
||
|
|
*/
|
||
|
|
virtual PxBVHStructure* createBVHStructure(const PxBVHStructureDesc& desc, PxPhysicsInsertionCallback& insertionCallback) const = 0;
|
||
|
|
protected:
|
||
|
|
virtual ~PxCooking(){}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Create an instance of the cooking interface.
|
||
|
|
|
||
|
|
Note that the foundation object is handled as an application-wide singleton in statically linked executables
|
||
|
|
and a DLL-wide singleton in dynamically linked executables. Therefore, if you are using the runtime SDK in the
|
||
|
|
same executable as cooking, you should pass the Physics's copy of foundation (acquired with
|
||
|
|
PxPhysics::getFoundation()) to the cooker. This will also ensure correct handling of memory for objects
|
||
|
|
passed from the cooker to the SDK.
|
||
|
|
|
||
|
|
To use cooking in standalone mode, create an instance of the Foundation object with PxCreateCookingFoundation.
|
||
|
|
You should pass the same foundation object to all instances of the cooking interface.
|
||
|
|
|
||
|
|
\param[in] version the SDK version number
|
||
|
|
\param[in] foundation the foundation object associated with this instance of the cooking interface.
|
||
|
|
\param[in] params the parameters for this instance of the cooking interface
|
||
|
|
\return true on success.
|
||
|
|
*/
|
||
|
|
PX_C_EXPORT PX_PHYSX_COOKING_API physx::PxCooking* PX_CALL_CONV PxCreateCooking(physx::PxU32 version,
|
||
|
|
physx::PxFoundation& foundation,
|
||
|
|
const physx::PxCookingParams& params);
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif
|