90 lines
3.3 KiB
C++
90 lines
3.3 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) 2008-2025 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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#include "extensions/PxRigidActorExt.h"
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#include "foundation/PxFPU.h"
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#include "foundation/PxAllocator.h"
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#include "foundation/PxInlineArray.h"
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#include "geometry/PxGeometryQuery.h"
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#include "cooking/PxBVHDesc.h"
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#include "cooking/PxCooking.h"
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using namespace physx;
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PxBounds3* PxRigidActorExt::getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds)
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{
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const PxU32 numShapes = actor.getNbShapes();
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if(numShapes == 0)
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return NULL;
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PxInlineArray<PxShape*, 64> shapes("PxShape*");
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shapes.resize(numShapes);
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actor.getShapes(shapes.begin(), shapes.size());
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PxU32 numSqShapes = 0;
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for(PxU32 i=0; i<numShapes; i++)
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{
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if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
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numSqShapes++;
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}
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PxBounds3* bounds = PX_ALLOCATE(PxBounds3, numSqShapes, "PxBounds3");
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numSqShapes = 0;
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{
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PX_SIMD_GUARD // PT: external guard because we use PxGeometryQueryFlag::Enum(0) below
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for(PxU32 i=0; i<numShapes; i++)
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{
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if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
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PxGeometryQuery::computeGeomBounds(bounds[numSqShapes++], shapes[i]->getGeometry(), shapes[i]->getLocalPose(), 0.0f, 1.0f, PxGeometryQueryFlag::Enum(0));
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}
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}
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numBounds = numSqShapes;
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return bounds;
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}
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PxBVH* PxRigidActorExt::createBVHFromActor(PxPhysics& physics, const PxRigidActor& actor)
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{
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PxU32 nbBounds = 0;
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PxBounds3* bounds = PxRigidActorExt::getRigidActorShapeLocalBoundsList(actor, nbBounds);
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PxBVHDesc bvhDesc;
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bvhDesc.bounds.count = nbBounds;
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bvhDesc.bounds.data = bounds;
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bvhDesc.bounds.stride = sizeof(PxBounds3);
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PxBVH* bvh = PxCreateBVH(bvhDesc, physics.getPhysicsInsertionCallback());
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PX_FREE(bounds);
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return bvh;
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}
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