138 lines
4.5 KiB
C++
138 lines
4.5 KiB
C++
// 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 CONVEX_FORMAT_H
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#define CONVEX_FORMAT_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxVec4.h"
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#include "foundation/PxBounds3.h"
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#include "foundation/PxPlane.h"
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#include "foundation/PxMat44.h"
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#include "foundation/PxMemory.h"
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#include "foundation/PxUtilities.h"
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namespace physx
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{
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struct ConvexHullCooked
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{
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struct Valency
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{
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PxU16 mCount;
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PxU16 mOffset;
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};
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struct BigConvexRawData
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{
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// Support vertex map
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PxU16 mSubdiv; // "Gaussmap" subdivision
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PxU16 mNbSamples; // Total #samples in gaussmap PT: this is not even needed at runtime!
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PxU8* mSamples; //mNbSamples * 2 elements
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PX_FORCE_INLINE const PxU8* getSamples2() const
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{
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return mSamples + mNbSamples;
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}
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//~Support vertex map
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// Valencies data
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PxU32 mNbVerts; //!< Number of vertices
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PxU32 mNbAdjVerts; //!< Total number of adjacent vertices ### PT: this is useless at runtime and should not be stored here
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Valency* mValencies; //!< A list of mNbVerts valencies (= number of neighbors) mNbVerts elements
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PxU8* mAdjacentVerts; //!< List of adjacent vertices
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//~Valencies data
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};
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struct InternalObjectsData
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{
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PxReal mRadius;
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PxReal mExtents[3];
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PX_FORCE_INLINE void reset()
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{
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mRadius = 0.0f;
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mExtents[0] = 0.0f;
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mExtents[1] = 0.0f;
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mExtents[2] = 0.0f;
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}
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};
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struct HullPolygon
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{
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PxPlane mPlane; //!< Plane equation for this polygon //Could drop 4th elem as it can be computed from any vertex as: d = - p.dot(n);
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PxU16 mVRef8; //!< Offset of vertex references in hull vertex data (CS: can we assume indices are tightly packed and offsets are ascending?? DrawObjects makes and uses this assumption)
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PxU8 mNbVerts; //!< Number of vertices/edges in the polygon
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PxU8 mMinIndex; //!< Index of the polygon vertex that has minimal projection along this plane's normal.
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PX_FORCE_INLINE PxReal getMin(const PxVec3* PX_RESTRICT hullVertices) const //minimum of projection of the hull along this plane normal
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{
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return mPlane.n.dot(hullVertices[mMinIndex]);
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}
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PX_FORCE_INLINE PxReal getMax() const { return -mPlane.d; } //maximum of projection of the hull along this plane normal
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};
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PxBounds3 mAABB;
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PxVec3 mCenterOfMass;
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PxU16 mNbEdges;
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PxU8 mNbHullVertices;
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PxU8 mNbPolygons;
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HullPolygon* mPolygons; //!< Array of mNbPolygons structures
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PxVec3* mVertices; //mNbHullVertices elements
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PxU8* mFacesByEdges8; //mNbEdges * 2 elements
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PxU8* mFacesByVertices8; //mNbHullVertices * 3 elements
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PxU16* mVerticesByEdges16; //mNbEdges * 2 elements
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PxU8* mVertexData8; //G-d knows how many elements
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BigConvexRawData* mBigConvexRawData; //!< Hill climbing data, only for large convexes! else NULL.
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InternalObjectsData mInternal;
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bool isGpuFriendly()
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{
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bool ret = mNbHullVertices <= 64;
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if(!ret)
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return false;
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for(PxU32 i = 0; i < mNbPolygons; ++i)
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ret &= mPolygons[i].mNbVerts <= 31;
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return ret;
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}
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};
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}
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#endif
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