176 lines
5.8 KiB
C
176 lines
5.8 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_NX_MESHSCALE
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#define PX_PHYSICS_NX_MESHSCALE
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/** \addtogroup geomutils
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxMat33.h"
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#include "foundation/PxAssert.h"
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/** \brief Minimum allowed absolute magnitude for each of mesh scale's components (x,y,z).
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\note Only positive scale values are allowed for convex meshes. */
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#define PX_MESH_SCALE_MIN 1e-6f
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/** \brief Maximum allowed absolute magnitude for each of mesh scale's components (x,y,z).
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\note Only positive scale values are allowed for convex meshes. */
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#define PX_MESH_SCALE_MAX 1e6f
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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 A class expressing a nonuniform scaling transformation.
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The scaling is along arbitrary axes that are specified by PxMeshScale::rotation.
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\note Negative scale values are supported for PxTriangleMeshGeometry
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with absolute values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range.
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Negative scale causes a reflection around the specified axis, in addition PhysX will flip the normals
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for mesh triangles when scale.x*scale.y*scale.z < 0.
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\note Only positive scale values are supported for PxConvexMeshGeometry
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with values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range).
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@see PxConvexMeshGeometry PxTriangleMeshGeometry
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*/
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class PxMeshScale
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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/**
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\brief Constructor initializes to identity scale.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(1.0f), rotationCamera(PxIdentity)
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{
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}
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/**
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\brief Constructor from scalar.
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*/
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(PxReal r): scale(r), rotationCamera(PxIdentity)
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{
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}
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/**
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\brief Constructor to initialize to arbitrary scale and identity scale rotation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s)
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{
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scale = s;
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rotationCamera = PxQuat(PxIdentity);
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}
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/**
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\brief Constructor to initialize to arbitrary scaling.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r)
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{
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PX_ASSERT(r.isUnit());
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scale = s;
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rotationCamera = r;
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}
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/**
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\brief Returns true if the scaling is an identity transformation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const
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{
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return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f);
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}
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/**
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\brief Returns the inverse of this scaling transformation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale getInverse() const
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{
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return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotationCamera);
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}
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/**
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\brief Converts this transformation to a 3x3 matrix representation.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const
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{
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PxMat33 rot(rotationCamera);
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PxMat33 trans = rot.getTranspose();
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trans.column0 *= scale[0];
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trans.column1 *= scale[1];
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trans.column2 *= scale[2];
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return trans * rot;
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}
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/**
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\brief Returns true if combination of negative scale components will cause the triangle normal to flip. The SDK will flip the normals internally.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNegativeDeterminant() const
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{
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return (scale.x * scale.y * scale.z < 0.0f);
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}
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PxVec3 transform(const PxVec3& v) const
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{
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return rotationCamera.rotateInv(scale.multiply(rotationCamera.rotate(v)));
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}
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bool isValidForTriangleMesh() const
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{
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PxVec3 absXYZ = scale.abs();
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return (absXYZ.maxElement() <= PX_MESH_SCALE_MAX) && (absXYZ.minElement() >= PX_MESH_SCALE_MIN);
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}
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bool isValidForConvexMesh() const
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{
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return (scale.maxElement() <= PX_MESH_SCALE_MAX) && (scale.minElement() >= PX_MESH_SCALE_MIN);
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}
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PxVec3 scale; //!< A nonuniform scaling
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PxQuat rotationCamera; //!< The orientation of the scaling axes
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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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