189 lines
8.5 KiB
C
189 lines
8.5 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_EXTENSIONS_TRIANGLE_MESH_H
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#define PX_PHYSICS_EXTENSIONS_TRIANGLE_MESH_H
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/** \addtogroup extensions
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "common/PxPhysXCommonConfig.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 PxGeometry;
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class PxTriangleMeshGeometry;
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class PxHeightFieldGeometry;
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/**
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\brief Utility class to find mesh triangles touched by a specified geometry object.
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This class is a helper calling PxMeshQuery::findOverlapTriangleMesh or PxMeshQuery::findOverlapHeightField under the hood,
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while taking care of necessary memory management issues.
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PxMeshQuery::findOverlapTriangleMesh and PxMeshQuery::findOverlapHeightField are the "raw" functions operating on user-provided fixed-size
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buffers. These functions abort with an error code in case of buffer overflow. PxMeshOverlapUtil is a convenient helper function checking
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this error code, and resizing buffers appropriately, until the desired call succeeds.
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Returned triangle indices are stored within the class, and can be used with PxMeshQuery::getTriangle() to retrieve the triangle properties.
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*/
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class PxMeshOverlapUtil
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{
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public:
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PxMeshOverlapUtil();
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~PxMeshOverlapUtil();
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/**
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\brief Find the mesh triangles which touch the specified geometry object.
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\param[in] geom The geometry object to test for mesh triangle overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry
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\param[in] geomPose Pose of the geometry object
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\param[in] meshGeom The triangle mesh geometry to check overlap against
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\param[in] meshPose Pose of the triangle mesh
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\return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
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@see PxGeometry PxTransform PxTriangleMeshGeometry PxMeshQuery::findOverlapTriangleMesh
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*/
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PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose);
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/**
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\brief Find the height field triangles which touch the specified geometry object.
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\param[in] geom The geometry object to test for height field overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
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\param[in] geomPose Pose of the geometry object
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\param[in] hfGeom The height field geometry to check overlap against
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\param[in] hfPose Pose of the height field
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\return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
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@see PxGeometry PxTransform PxHeightFieldGeometry PxMeshQuery::findOverlapHeightField
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*/
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PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose);
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/**
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\brief Retrieves array of triangle indices after a findOverlap call.
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\return Indices of touched triangles
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*/
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PX_FORCE_INLINE const PxU32* getResults() const { return mResultsMemory; }
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/**
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\brief Retrieves number of triangle indices after a findOverlap call.
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\return Number of touched triangles
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*/
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PX_FORCE_INLINE PxU32 getNbResults() const { return mNbResults; }
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private:
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PxU32* mResultsMemory;
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PxU32 mResults[256];
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PxU32 mNbResults;
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PxU32 mMaxNbResults;
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};
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/**
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\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
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This iterative function computes an approximate vector that can be used to depenetrate a geom object
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from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.
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The function works best when the amount of overlap between the geom object and the mesh is small. If the
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geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected,
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and the function does not compute an MTD vector.
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The function early exits if no overlap is detected after a depenetration attempt. This means that if
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maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
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been successful. Usually N = 4 gives good results.
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\param[out] direction Computed MTD unit direction
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\param[out] depth Penetration depth. Always positive or zero.
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\param[in] geom The geometry object
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\param[in] geomPose Pose for the geometry object
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\param[in] meshGeom The mesh geometry
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\param[in] meshPose Pose for the mesh
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\param[in] maxIter Max number of iterations before returning.
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\param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
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\return True if the MTD has successfully been computed, i.e. if objects do overlap.
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@see PxGeometry PxTransform PxTriangleMeshGeometry
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*/
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bool PxComputeTriangleMeshPenetration(PxVec3& direction,
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PxReal& depth,
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const PxGeometry& geom,
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const PxTransform& geomPose,
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const PxTriangleMeshGeometry& meshGeom,
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const PxTransform& meshPose,
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PxU32 maxIter,
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PxU32* usedIter = NULL);
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/**
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\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
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This iterative function computes an approximate vector that can be used to depenetrate a geom object
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from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.
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The function works best when the amount of overlap between the geom object and the mesh is small. If the
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geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected,
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and the function does not compute an MTD vector.
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The function early exits if no overlap is detected after a depenetration attempt. This means that if
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maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
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been successful. Usually N = 4 gives good results.
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\param[out] direction Computed MTD unit direction
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\param[out] depth Penetration depth. Always positive or zero.
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\param[in] geom The geometry object
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\param[in] geomPose Pose for the geometry object
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\param[in] heightFieldGeom The heightfield geometry
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\param[in] heightFieldPose Pose for the heightfield
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\param[in] maxIter Max number of iterations before returning.
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\param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
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\return True if the MTD has successfully been computed, i.e. if objects do overlap.
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@see PxGeometry PxTransform PxHeightFieldGeometry
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*/
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bool PxComputeHeightFieldPenetration(PxVec3& direction,
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PxReal& depth,
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const PxGeometry& geom,
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const PxTransform& geomPose,
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const PxHeightFieldGeometry& heightFieldGeom,
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const PxTransform& heightFieldPose,
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PxU32 maxIter,
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PxU32* usedIter = NULL);
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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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