198 lines
7.1 KiB
C++
198 lines
7.1 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_GEOMUTILS_NX_CONVEXMESH
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#define PX_PHYSICS_GEOMUTILS_NX_CONVEXMESH
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/** \addtogroup geomutils
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@{
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*/
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#include "foundation/Px.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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/**
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\brief Polygon data
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Plane format: (mPlane[0],mPlane[1],mPlane[2]).dot(x) + mPlane[3] = 0
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With the normal outward-facing from the hull.
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*/
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struct PxHullPolygon
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{
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PxReal mPlane[4]; //!< Plane equation for this polygon
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PxU16 mNbVerts; //!< Number of vertices/edges in the polygon
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PxU16 mIndexBase; //!< Offset in index buffer
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};
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/**
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\brief A convex mesh.
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Internally represented as a list of convex polygons. The number
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of polygons is limited to 256.
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To avoid duplicating data when you have several instances of a particular
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mesh positioned differently, you do not use this class to represent a
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convex object directly. Instead, you create an instance of this mesh via
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the PxConvexMeshGeometry and PxShape classes.
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<h3>Creation</h3>
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To create an instance of this class call PxPhysics::createConvexMesh(),
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and PxConvexMesh::release() to delete it. This is only possible
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once you have released all of its #PxShape 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 PxConvexMeshDesc PxPhysics.createConvexMesh()
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*/
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class PxConvexMesh : public PxBase
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{
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public:
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/**
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\brief Returns the number of vertices.
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\return Number of vertices.
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@see getVertices()
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbVertices() const = 0;
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/**
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\brief Returns the vertices.
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\return Array of vertices.
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@see getNbVertices()
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*/
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PX_PHYSX_COMMON_API virtual const PxVec3* getVertices() const = 0;
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/**
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\brief Returns the index buffer.
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\return Index buffer.
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@see getNbPolygons() getPolygonData()
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*/
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PX_PHYSX_COMMON_API virtual const PxU8* getIndexBuffer() const = 0;
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/**
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\brief Returns the number of polygons.
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\return Number of polygons.
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@see getIndexBuffer() getPolygonData()
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbPolygons() const = 0;
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/**
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\brief Returns the polygon data.
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\param[in] index Polygon index in [0 ; getNbPolygons()[.
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\param[out] data Polygon data.
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\return True if success.
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@see getIndexBuffer() getNbPolygons()
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*/
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PX_PHYSX_COMMON_API virtual bool getPolygonData(PxU32 index, PxHullPolygon& data) const = 0;
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/**
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\brief Decrements the reference count of a convex mesh and releases it if the new reference count is zero.
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@see PxPhysics.createConvexMesh() PxConvexMeshGeometry 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 Returns the reference count of a convex mesh.
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At creation, the reference count of the convex mesh is 1. Every shape referencing this convex mesh increments the
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count by 1. When the reference count reaches 0, and only then, the convex mesh 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 convex mesh.
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This method increases the reference count of the convex mesh 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 the mass properties of the mesh assuming unit density.
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The following relationship holds between mass and volume:
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mass = volume * density
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The mass of a unit density mesh is equal to its volume, so this function returns the volume of the mesh.
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Similarly, to obtain the localInertia of an identically shaped object with a uniform density of d, simply multiply the
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localInertia of the unit density mesh by d.
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\param[out] mass The mass of the mesh assuming unit density.
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\param[out] localInertia The inertia tensor in mesh local space assuming unit density.
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\param[out] localCenterOfMass Position of center of mass (or centroid) in mesh local space.
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*/
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PX_PHYSX_COMMON_API virtual void getMassInformation(PxReal& mass, PxMat33& localInertia, PxVec3& localCenterOfMass) const = 0;
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/**
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\brief Returns the local-space (vertex space) AABB from the convex mesh.
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\return local-space bounds
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*/
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PX_PHYSX_COMMON_API virtual PxBounds3 getLocalBounds() const = 0;
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PX_PHYSX_COMMON_API virtual const char* getConcreteTypeName() const { return "PxConvexMesh"; }
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/**
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\brief This method decides whether a convex mesh is gpu compatible. If the total number of vertices are more than 64 or any number of vertices in a polygon is more than 32, or
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convex hull data was not cooked with GPU data enabled during cooking or was loaded from a serialized collection, the convex hull is incompatible with GPU collision detection. Otherwise
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it is compatible.
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\return True if the convex hull is gpu compatible
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*/
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PX_PHYSX_COMMON_API virtual bool isGpuCompatible() const = 0;
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protected:
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PX_INLINE PxConvexMesh(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
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PX_INLINE PxConvexMesh(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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PX_PHYSX_COMMON_API virtual ~PxConvexMesh() {}
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PX_PHYSX_COMMON_API virtual bool isKindOf(const char* name) const { return !::strcmp("PxConvexMesh", 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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