308 lines
9.0 KiB
C++
308 lines
9.0 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_COLLISION_NXCONVEXMESHDESC
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#define PX_COLLISION_NXCONVEXMESHDESC
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/** \addtogroup cooking
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@{
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*/
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#include "foundation/PxVec3.h"
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#include "foundation/PxFlags.h"
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#include "common/PxCoreUtilityTypes.h"
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#include "geometry/PxConvexMesh.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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/**
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\brief Flags which describe the format and behavior of a convex mesh.
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*/
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struct PxConvexFlag
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{
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enum Enum
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{
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/**
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Denotes the use of 16-bit vertex indices in PxConvexMeshDesc::triangles or PxConvexMeshDesc::polygons.
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(otherwise, 32-bit indices are assumed)
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@see #PxConvexMeshDesc.indices
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*/
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e16_BIT_INDICES = (1<<0),
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/**
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Automatically recomputes the hull from the vertices. If this flag is not set, you must provide the entire geometry manually.
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\note There are two different algorithms for hull computation, please see PxConvexMeshCookingType.
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@see PxConvexMeshCookingType
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*/
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eCOMPUTE_CONVEX = (1<<1),
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/**
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\brief Checks and removes almost zero-area triangles during convex hull computation.
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The rejected area size is specified in PxCookingParams::areaTestEpsilon
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\note This flag is only used in combination with eCOMPUTE_CONVEX.
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@see PxCookingParams PxCookingParams::areaTestEpsilon
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*/
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eCHECK_ZERO_AREA_TRIANGLES = (1<<2),
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/**
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\brief Quantizes the input vertices using the k-means clustering
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\note The input vertices are quantized to PxConvexMeshDesc::quantizedCount
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see http://en.wikipedia.org/wiki/K-means_clustering
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*/
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eQUANTIZE_INPUT = (1 << 3),
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/**
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\brief Disables the convex mesh validation to speed-up hull creation. Please use separate validation
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function in checked/debug builds. Creating a convex mesh with invalid input data without prior validation
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may result in undefined behavior.
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@see PxCooking::validateConvexMesh
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*/
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eDISABLE_MESH_VALIDATION = (1 << 4),
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/**
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\brief Enables plane shifting vertex limit algorithm.
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Plane shifting is an alternative algorithm for the case when the computed hull has more vertices
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than the specified vertex limit.
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The default algorithm computes the full hull, and an OBB around the input vertices. This OBB is then sliced
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with the hull planes until the vertex limit is reached.The default algorithm requires the vertex limit
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to be set to at least 8, and typically produces results that are much better quality than are produced
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by plane shifting.
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When plane shifting is enabled, the hull computation stops when vertex limit is reached. The hull planes
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are then shifted to contain all input vertices, and the new plane intersection points are then used to
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generate the final hull with the given vertex limit.Plane shifting may produce sharp edges to vertices
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very far away from the input cloud, and does not guarantee that all input vertices are inside the resulting
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hull.However, it can be used with a vertex limit as low as 4.
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*/
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ePLANE_SHIFTING = (1 << 5),
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/**
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\brief Inertia tensor computation is faster using SIMD code, but the precision is lower, which may result
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in incorrect inertia for very thin hulls.
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*/
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eFAST_INERTIA_COMPUTATION = (1 << 6),
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/**
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\brief Convex hulls are created with respect to GPU simulation limitations. Vertex limit is set to 64 and
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vertex limit per face is internally set to 32.
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\note Can be used only with eCOMPUTE_CONVEX flag.
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*/
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eGPU_COMPATIBLE = (1 << 7),
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/**
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\brief Convex hull input vertices are shifted to be around origin to provide better computation stability.
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It is recommended to provide input vertices around the origin, otherwise use this flag to improve
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numerical stability.
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\note Is used only with eCOMPUTE_CONVEX flag.
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*/
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eSHIFT_VERTICES = (1 << 8)
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};
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};
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/**
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\brief collection of set bits defined in PxConvexFlag.
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@see PxConvexFlag
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*/
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typedef PxFlags<PxConvexFlag::Enum,PxU16> PxConvexFlags;
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PX_FLAGS_OPERATORS(PxConvexFlag::Enum,PxU16)
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/**
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\brief Descriptor class for #PxConvexMesh.
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\note The number of vertices and the number of convex polygons in a cooked convex mesh is limited to 256.
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@see PxConvexMesh PxConvexMeshGeometry PxShape PxPhysics.createConvexMesh()
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*/
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class PxConvexMeshDesc
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{
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public:
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/**
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\brief Vertex positions data in PxBoundedData format.
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<b>Default:</b> NULL
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*/
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PxBoundedData points;
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/**
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\brief Polygons data in PxBoundedData format.
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<p>Pointer to first polygon. </p>
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<b>Default:</b> NULL
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@see PxHullPolygon
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*/
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PxBoundedData polygons;
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/**
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\brief Polygon indices data in PxBoundedData format.
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<p>Pointer to first index.</p>
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<b>Default:</b> NULL
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<p>This is declared as a void pointer because it is actually either an PxU16 or a PxU32 pointer.</p>
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@see PxHullPolygon PxConvexFlag::e16_BIT_INDICES
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*/
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PxBoundedData indices;
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/**
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\brief Flags bits, combined from values of the enum ::PxConvexFlag
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<b>Default:</b> 0
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*/
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PxConvexFlags flags;
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/**
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\brief Limits the number of vertices of the result convex mesh. Hard maximum limit is 256
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and minimum limit is 4 if PxConvexFlag::ePLANE_SHIFTING is used, otherwise the minimum
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limit is 8.
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\note Vertex limit is only used when PxConvexFlag::eCOMPUTE_CONVEX is specified.
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\note The please see PxConvexFlag::ePLANE_SHIFTING for algorithm explanation
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@see PxConvexFlag::ePLANE_SHIFTING
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<b>Range:</b> [4, 255]<br>
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<b>Default:</b> 255
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*/
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PxU16 vertexLimit;
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/**
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\brief Maximum number of vertices after quantization. The quantization is done during the vertex cleaning phase.
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The quantization is applied when PxConvexFlag::eQUANTIZE_INPUT is specified.
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@see PxConvexFlag::eQUANTIZE_INPUT
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<b>Range:</b> [4, 65535]<br>
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<b>Default:</b> 255
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*/
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PxU16 quantizedCount;
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/**
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\brief constructor sets to default.
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*/
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PX_INLINE PxConvexMeshDesc();
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/**
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\brief (re)sets the structure to the default.
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*/
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PX_INLINE void setToDefault();
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/**
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\brief Returns true if the descriptor is valid.
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\return True if the current settings are valid
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*/
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PX_INLINE bool isValid() const;
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};
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PX_INLINE PxConvexMeshDesc::PxConvexMeshDesc() //constructor sets to default
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: vertexLimit(255), quantizedCount(255)
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{
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}
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PX_INLINE void PxConvexMeshDesc::setToDefault()
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{
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*this = PxConvexMeshDesc();
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}
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PX_INLINE bool PxConvexMeshDesc::isValid() const
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{
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// Check geometry
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if(points.count < 3 || //at least 1 trig's worth of points
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(points.count > 0xffff && flags & PxConvexFlag::e16_BIT_INDICES))
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return false;
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if(!points.data)
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return false;
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if(points.stride < sizeof(PxVec3)) //should be at least one point's worth of data
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return false;
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if (quantizedCount < 4)
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return false;
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// Check topology
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if(polygons.data)
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{
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if(polygons.count < 4) // we require 2 neighbors for each vertex - 4 polygons at least
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return false;
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if(!indices.data) // indices must be provided together with polygons
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return false;
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PxU32 limit = (flags & PxConvexFlag::e16_BIT_INDICES) ? sizeof(PxU16) : sizeof(PxU32);
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if(indices.stride < limit)
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return false;
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limit = sizeof(PxHullPolygon);
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if(polygons.stride < limit)
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return false;
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}
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else
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{
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// We can compute the hull from the vertices
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if(!(flags & PxConvexFlag::eCOMPUTE_CONVEX))
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return false; // If the mesh is convex and we're not allowed to compute the hull,
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// you have to provide it completely (geometry & topology).
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}
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if((flags & PxConvexFlag::ePLANE_SHIFTING) && vertexLimit < 4)
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{
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return false;
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}
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if (!(flags & PxConvexFlag::ePLANE_SHIFTING) && vertexLimit < 8)
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{
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return false;
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}
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if(vertexLimit > 256)
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{
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return false;
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}
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return true;
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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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