feat(physics): wire physx sdk into build
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189
engine/third_party/physx/source/physxextensions/src/ExtTriangleMeshExt.cpp
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189
engine/third_party/physx/source/physxextensions/src/ExtTriangleMeshExt.cpp
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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 "geometry/PxMeshQuery.h"
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#include "geometry/PxGeometryQuery.h"
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#include "geometry/PxTriangleMeshGeometry.h"
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#include "geometry/PxHeightFieldGeometry.h"
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#include "geometry/PxHeightField.h"
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#include "geometry/PxTriangleMesh.h"
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#include "extensions/PxTriangleMeshExt.h"
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#include "GuSDF.h"
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#include "GuTriangleMesh.h"
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#include "foundation/PxAllocator.h"
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using namespace physx;
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PxMeshOverlapUtil::PxMeshOverlapUtil() : mResultsMemory(mResults), mNbResults(0), mMaxNbResults(256)
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{
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}
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PxMeshOverlapUtil::~PxMeshOverlapUtil()
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{
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if(mResultsMemory != mResults)
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PX_FREE(mResultsMemory);
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}
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PxU32 PxMeshOverlapUtil::findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose)
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{
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bool overflow;
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PxU32 nbTouchedTris = PxMeshQuery::findOverlapTriangleMesh(geom, geomPose, meshGeom, meshPose, mResultsMemory, mMaxNbResults, 0, overflow);
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if(overflow)
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{
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const PxU32 maxNbTris = meshGeom.triangleMesh->getNbTriangles();
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if(!maxNbTris)
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{
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mNbResults = 0;
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return 0;
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}
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if(mMaxNbResults<maxNbTris)
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{
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if(mResultsMemory != mResults)
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PX_FREE(mResultsMemory);
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mResultsMemory = PX_ALLOCATE(PxU32, maxNbTris, "PxMeshOverlapUtil::findOverlap");
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mMaxNbResults = maxNbTris;
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}
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nbTouchedTris = PxMeshQuery::findOverlapTriangleMesh(geom, geomPose, meshGeom, meshPose, mResultsMemory, mMaxNbResults, 0, overflow);
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PX_ASSERT(nbTouchedTris);
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PX_ASSERT(!overflow);
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}
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mNbResults = nbTouchedTris;
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return nbTouchedTris;
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}
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PxU32 PxMeshOverlapUtil::findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose)
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{
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bool overflow = true;
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PxU32 nbTouchedTris = PxMeshQuery::findOverlapHeightField(geom, geomPose, hfGeom, hfPose, mResultsMemory, mMaxNbResults, 0, overflow);
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if(overflow)
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{
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const PxU32 maxNbTris = hfGeom.heightField->getNbRows()*hfGeom.heightField->getNbColumns()*2;
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if(!maxNbTris)
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{
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mNbResults = 0;
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return 0;
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}
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if(mMaxNbResults<maxNbTris)
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{
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if(mResultsMemory != mResults)
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PX_FREE(mResultsMemory);
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mResultsMemory = PX_ALLOCATE(PxU32, maxNbTris, "PxMeshOverlapUtil::findOverlap");
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mMaxNbResults = maxNbTris;
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}
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nbTouchedTris = PxMeshQuery::findOverlapHeightField(geom, geomPose, hfGeom, hfPose, mResultsMemory, mMaxNbResults, 0, overflow);
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PX_ASSERT(nbTouchedTris);
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PX_ASSERT(!overflow);
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}
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mNbResults = nbTouchedTris;
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return nbTouchedTris;
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}
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namespace
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{
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template<typename MeshGeometry>
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bool computeMeshPenetrationT(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 MeshGeometry& meshGeom,
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const PxTransform& meshPose,
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PxU32 maxIter,
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PxU32* nbIterOut)
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{
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PxU32 nbIter = 0;
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PxTransform pose = geomPose;
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for (; nbIter < maxIter; nbIter++)
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{
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PxVec3 currentDir;
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PxF32 currentDepth;
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if (!PxGeometryQuery::computePenetration(currentDir, currentDepth, geom, pose, meshGeom, meshPose))
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break;
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pose.p += currentDir * currentDepth;
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}
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if(nbIterOut)
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*nbIterOut = nbIter;
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PxVec3 diff = pose.p - geomPose.p;
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depth = diff.magnitude();
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if (depth>0)
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direction = diff / depth;
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return nbIter!=0;
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}
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}
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bool physx::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* nbIter)
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{
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return computeMeshPenetrationT(direction, depth, geom, geomPose, meshGeom, meshPose, maxIter, nbIter);
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}
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bool physx::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& hfGeom,
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const PxTransform& meshPose,
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PxU32 maxIter,
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PxU32* nbIter)
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{
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return computeMeshPenetrationT(direction, depth, geom, geomPose, hfGeom, meshPose, maxIter, nbIter);
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}
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bool physx::PxExtractIsosurfaceFromSDF(const PxTriangleMesh& triangleMesh, PxArray<PxVec3>& isosurfaceVertices, PxArray<PxU32>& isosurfaceTriangleIndices)
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{
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PxU32 dimX, dimY, dimZ;
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triangleMesh.getSDFDimensions(dimX, dimY, dimZ);
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if (dimX == 0 || dimY == 0 || dimZ == 0)
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return false;
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const Gu::TriangleMesh* guTriangleMesh = static_cast<const Gu::TriangleMesh*>(&triangleMesh);
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const Gu::SDF& sdf = guTriangleMesh->getSdfDataFast();
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extractIsosurfaceFromSDF(sdf, isosurfaceVertices, isosurfaceTriangleIndices);
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return true;
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}
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