113 lines
4.6 KiB
C++
113 lines
4.6 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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#include "extensions/PxDeformableSkinningExt.h"
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#include "GuAABBTree.h"
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#include "foundation/PxMathUtils.h"
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#include "foundation/PxFPU.h"
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using namespace physx;
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void PxDeformableSkinningExt::initializeInterpolatedVertices(
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PxTriangleMeshEmbeddingInfo* embeddingInfo,
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const PxVec3* guideVertices, const PxVec3* guideNormals,
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const PxU32* guideTriangles, PxU32 numGuideTriangles, const PxVec3* embeddedVertices,
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PxU32 numEmbeddedVertices)
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{
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PX_UNUSED(guideNormals); //The guideNormals could be used for higher quality embedding infos
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PX_SIMD_GUARD
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Gu::TinyBVH bvh;
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Gu::TinyBVH::constructFromTriangles(guideTriangles, numGuideTriangles, guideVertices, bvh);
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Gu::ClosestDistanceToTrimeshTraversalController traversalController(guideTriangles, guideVertices, bvh.mTree.begin());
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//Implements to most basic variant - lots of room for improvements
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for (PxU32 i = 0; i < numEmbeddedVertices; ++i)
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{
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traversalController.setQueryPoint(embeddedVertices[i]);
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bvh.Traverse(traversalController);
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const PxU32 closestTriangleid = traversalController.getClosestTriId();
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const PxU32* tri = &guideTriangles[3 * closestTriangleid];
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const PxVec3& v0 = guideVertices[tri[0]];
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const PxVec3& v1 = guideVertices[tri[1]];
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const PxVec3& v2 = guideVertices[tri[2]];
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const PxVec3 closestPoint = traversalController.getClosestPoint();
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PxVec3 triNormal = (v1 - v0).cross(v2 - v0);
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triNormal.normalize();
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PxVec3 distVec = (embeddedVertices[i] - closestPoint);
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PxReal normalOffset = distVec.dot(triNormal);
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PxVec3 projPoint = embeddedVertices[i] - normalOffset*triNormal;
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PxVec4 barycentric;
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PxComputeBarycentric(v0, v1, v2, projPoint, barycentric);
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embeddingInfo[i] = PxTriangleMeshEmbeddingInfo(PxVec2(barycentric.x, barycentric.y), normalOffset, closestTriangleid);
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}
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}
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void PxDeformableSkinningExt::initializeInterpolatedVertices(
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PxTetrahedronMeshEmbeddingInfo* embeddingInfo,
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const PxVec3* guideVertices,
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const PxU32* guideTetrahedra, PxU32 numGuideTetrahedra, const PxVec3* embeddedVertices,
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PxU32 numEmbeddedVertices )
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{
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PX_SIMD_GUARD
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Gu::TinyBVH bvh;
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Gu::TinyBVH::constructFromTetrahedra(guideTetrahedra, numGuideTetrahedra, guideVertices, bvh);
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Gu::ClosestDistanceToTetmeshTraversalController traversalController(guideTetrahedra, guideVertices, bvh.mTree.begin());
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//Implements to most basic variant - lots of room for improvements
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for (PxU32 i = 0; i < numEmbeddedVertices; ++i)
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{
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traversalController.setQueryPoint(embeddedVertices[i]);
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bvh.Traverse(traversalController);
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const PxU32 closestTetid = traversalController.getClosestTetId();
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const PxU32* tet = &guideTetrahedra[4 * closestTetid];
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const PxVec3 closestPoint = traversalController.getClosestPoint();
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PxVec4 barycentric;
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PxComputeBarycentric(guideVertices[tet[0]], guideVertices[tet[1]], guideVertices[tet[2]], guideVertices[tet[3]], closestPoint, barycentric);
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embeddingInfo[i] = PxTetrahedronMeshEmbeddingInfo(barycentric.getXYZ(), closestTetid);
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}
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}
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