feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/cooking/GuCookingGrbTriangleMesh.h
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engine/third_party/physx/source/geomutils/src/cooking/GuCookingGrbTriangleMesh.h
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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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#ifndef GU_COOKING_GRB_TRIANGLE_MESH_H
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#define GU_COOKING_GRB_TRIANGLE_MESH_H
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#include "foundation/PxPlane.h"
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#include "foundation/PxSort.h"
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#include "GuMeshData.h"
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#include "GuTriangle.h"
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#include "GuEdgeList.h"
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#include "cooking/PxCooking.h"
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#include "CmRadixSort.h"
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//#define CHECK_OLD_CODE_VS_NEW_CODE
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namespace physx
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{
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namespace Gu
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{
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PX_ALIGN_PREFIX(16)
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struct uint4
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{
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unsigned int x, y, z, w;
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}
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PX_ALIGN_SUFFIX(16);
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// TODO avoroshilov: remove duplicate definitions
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static const PxU32 BOUNDARY = 0xffffffff;
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static const PxU32 NONCONVEX_FLAG = 0x80000000;
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#ifdef CHECK_OLD_CODE_VS_NEW_CODE
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struct EdgeTriLookup
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{
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PxU32 edgeId0, edgeId1;
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PxU32 triId;
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bool operator < (const EdgeTriLookup& edge1) const
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{
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return edgeId0 < edge1.edgeId0 || (edgeId0 == edge1.edgeId0 && edgeId1 < edge1.edgeId1);
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}
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bool operator <=(const EdgeTriLookup& edge1) const
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{
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return edgeId0 < edge1.edgeId0 || (edgeId0 == edge1.edgeId0 && edgeId1 <= edge1.edgeId1);
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}
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};
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static PxU32 binarySearch(const EdgeTriLookup* PX_RESTRICT data, const PxU32 numElements, const EdgeTriLookup& value)
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{
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PxU32 left = 0;
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PxU32 right = numElements;
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while ((right - left) > 1)
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{
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const PxU32 pos = (left + right) / 2;
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const EdgeTriLookup& element = data[pos];
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if (element <= value)
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{
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left = pos;
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}
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else
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{
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right = pos;
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}
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}
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return left;
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}
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// slightly different behavior from collide2: boundary edges are filtered out
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static PxU32 findAdjacent(const PxVec3* triVertices, const PxVec3* triNormals, const IndexedTriangle32* triIndices,
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PxU32 nbTris, PxU32 i0, PxU32 i1, const PxPlane& plane,
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EdgeTriLookup* triLookups, PxU32 triangleIndex)
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{
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PxU32 result = BOUNDARY;
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PxReal bestCos = -FLT_MAX;
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EdgeTriLookup lookup;
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lookup.edgeId0 = PxMin(i0, i1);
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lookup.edgeId1 = PxMax(i0, i1);
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PxU32 startIndex = binarySearch(triLookups, nbTris * 3, lookup);
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for (PxU32 a = startIndex; a > 0; --a)
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{
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if (triLookups[a - 1].edgeId0 == lookup.edgeId0 && triLookups[a - 1].edgeId1 == lookup.edgeId1)
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startIndex = a - 1;
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else
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break;
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}
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for (PxU32 a = startIndex; a < nbTris * 3; ++a)
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{
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const EdgeTriLookup& edgeTri = triLookups[a];
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if (edgeTri.edgeId0 != lookup.edgeId0 || edgeTri.edgeId1 != lookup.edgeId1)
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break;
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if (edgeTri.triId == triangleIndex)
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continue;
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const IndexedTriangle32& triIdx = triIndices[edgeTri.triId];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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const PxU32 other = vIdx0 + vIdx1 + vIdx2 - (i0 + i1);
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const PxReal c = plane.n.dot(triNormals[edgeTri.triId]);
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if (plane.distance(triVertices[other]) >= 0 && c > 0.f)
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return NONCONVEX_FLAG | edgeTri.triId;
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if (c>bestCos)
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{
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bestCos = c;
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result = edgeTri.triId;
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}
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}
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return result;
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}
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#endif
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static PxU32 findAdjacent(const PxVec3* triVertices, const PxVec3* triNormals, const IndexedTriangle32* triIndices, const PxU32* faceByEdge, PxU32 nbTris, PxU32 i0, PxU32 i1, const PxPlane& plane, PxU32 triangleIndex)
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{
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PxU32 result = BOUNDARY;
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PxReal bestCos = -FLT_MAX;
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for(PxU32 i=0; i<nbTris; i++)
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{
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const PxU32 candidateTriIndex = faceByEdge[i];
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if(triangleIndex==candidateTriIndex)
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continue;
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const IndexedTriangle32& triIdx = triIndices[candidateTriIndex];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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const PxU32 other = vIdx0 + vIdx1 + vIdx2 - (i0 + i1);
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const PxReal c = plane.n.dot(triNormals[candidateTriIndex]);
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if(plane.distance(triVertices[other]) >= 0 && c > 0.f)
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return NONCONVEX_FLAG | candidateTriIndex;
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if(c>bestCos)
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{
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bestCos = c;
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result = candidateTriIndex;
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}
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}
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return result;
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}
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static void buildAdjacencies(uint4* triAdjacencies, PxVec3* tempNormalsPerTri_prealloc, const PxVec3* triVertices, const IndexedTriangle32* triIndices, PxU32 nbTris)
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{
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#ifdef CHECK_OLD_CODE_VS_NEW_CODE
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{
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EdgeTriLookup* edgeLookups = PX_ALLOCATE(EdgeTriLookup, (nbTris * 3), "edgeLookups");
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for (PxU32 i = 0; i < nbTris; i++)
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{
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const IndexedTriangle32& triIdx = triIndices[i];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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tempNormalsPerTri_prealloc[i] = (triVertices[vIdx1] - triVertices[vIdx0]).cross(triVertices[vIdx2] - triVertices[vIdx0]).getNormalized();
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edgeLookups[i * 3].edgeId0 = PxMin(vIdx0, vIdx1);
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edgeLookups[i * 3].edgeId1 = PxMax(vIdx0, vIdx1);
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edgeLookups[i * 3].triId = i;
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edgeLookups[i * 3 + 1].edgeId0 = PxMin(vIdx1, vIdx2);
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edgeLookups[i * 3 + 1].edgeId1 = PxMax(vIdx1, vIdx2);
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edgeLookups[i * 3 + 1].triId = i;
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edgeLookups[i * 3 + 2].edgeId0 = PxMin(vIdx0, vIdx2);
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edgeLookups[i * 3 + 2].edgeId1 = PxMax(vIdx0, vIdx2);
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edgeLookups[i * 3 + 2].triId = i;
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}
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PxSort<EdgeTriLookup>(edgeLookups, PxU32(nbTris * 3));
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for (PxU32 i = 0; i < nbTris; i++)
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{
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const IndexedTriangle32& triIdx = triIndices[i];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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const PxPlane triPlane(triVertices[vIdx0], tempNormalsPerTri_prealloc[i]);
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uint4 triAdjIdx;
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triAdjIdx.x = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, nbTris, vIdx0, vIdx1, triPlane, edgeLookups, i);
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triAdjIdx.y = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, nbTris, vIdx1, vIdx2, triPlane, edgeLookups, i);
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triAdjIdx.z = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, nbTris, vIdx2, vIdx0, triPlane, edgeLookups, i);
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triAdjIdx.w = 0;
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triAdjacencies[i] = triAdjIdx;
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}
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PX_FREE(edgeLookups);
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}
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#endif
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if(1)
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{
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EDGELISTCREATE create;
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create.NbFaces = nbTris;
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create.DFaces = triIndices->mRef;
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create.WFaces = NULL;
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create.FacesToEdges = true;
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create.EdgesToFaces = true;
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// PT: important: do NOT set the vertices, it triggers computation of edge flags that we don't need
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//create.Verts = triVertices;
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EdgeList edgeList;
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if(edgeList.init(create))
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{
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for(PxU32 i=0; i<nbTris; i++)
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{
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const IndexedTriangle32& triIdx = triIndices[i];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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tempNormalsPerTri_prealloc[i] = (triVertices[vIdx1] - triVertices[vIdx0]).cross(triVertices[vIdx2] - triVertices[vIdx0]).getNormalized();
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}
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const EdgeTriangleData* edgeTriangleData = edgeList.getEdgeTriangles();
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const EdgeDescData* edgeToTriangle = edgeList.getEdgeToTriangles();
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const PxU32* faceByEdge = edgeList.getFacesByEdges();
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PX_ASSERT(edgeList.getNbFaces()==nbTris);
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for(PxU32 i=0; i<nbTris; i++)
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{
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const IndexedTriangle32& triIdx = triIndices[i];
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const PxU32 vIdx0 = triIdx.mRef[0];
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const PxU32 vIdx1 = triIdx.mRef[1];
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const PxU32 vIdx2 = triIdx.mRef[2];
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const PxPlane triPlane(triVertices[vIdx0], tempNormalsPerTri_prealloc[i]);
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const EdgeTriangleData& edgeTri = edgeTriangleData[i];
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const EdgeDescData& edgeData0 = edgeToTriangle[edgeTri.mLink[0] & MSH_EDGE_LINK_MASK];
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const EdgeDescData& edgeData1 = edgeToTriangle[edgeTri.mLink[1] & MSH_EDGE_LINK_MASK];
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const EdgeDescData& edgeData2 = edgeToTriangle[edgeTri.mLink[2] & MSH_EDGE_LINK_MASK];
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uint4 triAdjIdx;
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triAdjIdx.x = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, faceByEdge + edgeData0.Offset, edgeData0.Count, vIdx0, vIdx1, triPlane, i);
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triAdjIdx.y = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, faceByEdge + edgeData1.Offset, edgeData1.Count, vIdx1, vIdx2, triPlane, i);
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triAdjIdx.z = findAdjacent(triVertices, tempNormalsPerTri_prealloc, triIndices, faceByEdge + edgeData2.Offset, edgeData2.Count, vIdx2, vIdx0, triPlane, i);
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triAdjIdx.w = 0;
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#ifdef CHECK_OLD_CODE_VS_NEW_CODE
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PX_ASSERT(triAdjacencies[i].x == triAdjIdx.x);
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PX_ASSERT(triAdjacencies[i].y == triAdjIdx.y);
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PX_ASSERT(triAdjacencies[i].z == triAdjIdx.z);
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#endif
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triAdjacencies[i] = triAdjIdx;
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}
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}
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}
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}
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}
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}
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#endif
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