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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef PX_PHYSICS_EXTENSIONS_TRIANGLE_MESH_H
+#define PX_PHYSICS_EXTENSIONS_TRIANGLE_MESH_H
+/** \addtogroup extensions
+  @{
+*/
+
+#include "PxPhysXConfig.h"
+#include "common/PxPhysXCommonConfig.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxGeometry;
+class PxTriangleMeshGeometry;
+class PxHeightFieldGeometry;
+
+	/**
+	\brief Utility class to find mesh triangles touched by a specified geometry object.
+
+	This class is a helper calling PxMeshQuery::findOverlapTriangleMesh or PxMeshQuery::findOverlapHeightField under the hood,
+	while taking care of necessary memory management issues.
+
+	PxMeshQuery::findOverlapTriangleMesh and PxMeshQuery::findOverlapHeightField are the "raw" functions operating on user-provided fixed-size
+	buffers. These functions abort with an error code in case of buffer overflow. PxMeshOverlapUtil is a convenient helper function checking
+	this error code, and resizing buffers appropriately, until the desired call succeeds.
+	
+	Returned triangle indices are stored within the class, and can be used with PxMeshQuery::getTriangle() to retrieve the triangle properties.
+	*/
+	class PxMeshOverlapUtil
+	{
+		public:
+										PxMeshOverlapUtil();
+										~PxMeshOverlapUtil();
+	/**
+	\brief Find the mesh triangles which touch the specified geometry object.
+
+	\param[in] geom The geometry object to test for mesh triangle overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry
+	\param[in] geomPose Pose of the geometry object
+	\param[in] meshGeom The triangle mesh geometry to check overlap against
+	\param[in] meshPose Pose of the triangle mesh
+	\return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
+
+	@see PxGeometry PxTransform PxTriangleMeshGeometry PxMeshQuery::findOverlapTriangleMesh
+	*/
+						PxU32			findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose);
+
+	/**
+	\brief Find the height field triangles which touch the specified geometry object.
+
+	\param[in] geom The geometry object to test for height field overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
+	\param[in] geomPose Pose of the geometry object
+	\param[in] hfGeom The height field geometry to check overlap against
+	\param[in] hfPose Pose of the height field
+	\return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
+
+	@see PxGeometry PxTransform PxHeightFieldGeometry PxMeshQuery::findOverlapHeightField
+	*/
+						PxU32			findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose);
+
+	/**
+	\brief Retrieves array of triangle indices after a findOverlap call.
+	\return Indices of touched triangles
+	*/
+		PX_FORCE_INLINE	const PxU32*	getResults()	const	{ return mResultsMemory;	}
+
+	/**
+	\brief Retrieves number of triangle indices after a findOverlap call.
+	\return Number of touched triangles
+	*/
+		PX_FORCE_INLINE	PxU32			getNbResults()	const	{ return mNbResults;		}
+
+		private:
+						PxU32*			mResultsMemory;
+						PxU32			mResults[256];
+						PxU32			mNbResults;
+						PxU32			mMaxNbResults;
+	};
+
+	/**
+	\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
+
+	This iterative function computes an approximate vector that can be used to depenetrate a geom object
+	from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.
+
+	The function works best when the amount of overlap between the geom object and the mesh is small. If the
+	geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected,
+	and the function does not compute an MTD vector.
+
+	The function early exits if no overlap is detected after a depenetration attempt. This means that if
+	maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
+	been successful. Usually N = 4 gives good results.
+
+	\param[in] maxIter Max number of iterations before returning.
+	\param[in] geom The geometry object
+	\param[in] geomPose Pose for the geometry object
+	\param[in] meshGeom The mesh geometry
+	\param[in] meshPose Pose for the mesh
+	\param[out] nb Number of depenetrations attempts performed during the call. 0 means no overlap has been detected.
+
+	\return Approximate depenetration vector
+
+	@see PxGeometry PxTransform PxTriangleMeshGeometry
+	*/
+	PX_DEPRECATED	PxVec3 PxComputeMeshPenetration(PxU32 maxIter, 
+													const PxGeometry& geom, 
+													const PxTransform& geomPose, 
+													const PxTriangleMeshGeometry& meshGeom, 
+													const PxTransform& meshPose, PxU32& nb);
+
+
+	/**
+	\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
+
+	This iterative function computes an approximate vector that can be used to depenetrate a geom object
+	from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.
+
+	The function works best when the amount of overlap between the geom object and the mesh is small. If the
+	geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected,
+	and the function does not compute an MTD vector.
+
+	The function early exits if no overlap is detected after a depenetration attempt. This means that if
+	maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
+	been successful. Usually N = 4 gives good results.
+
+	\param[out] direction Computed MTD unit direction
+	\param[out] depth Penetration depth. Always positive or zero.
+	\param[in] geom The geometry object
+	\param[in] geomPose Pose for the geometry object
+	\param[in] meshGeom The mesh geometry
+	\param[in] meshPose Pose for the mesh
+	\param[in] maxIter Max number of iterations before returning.
+	\param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
+
+	\return True if the MTD has successfully been computed, i.e. if objects do overlap.
+
+	@see PxGeometry PxTransform PxTriangleMeshGeometry
+	*/
+	bool PxComputeTriangleMeshPenetration(PxVec3& direction, 
+										  PxReal& depth,
+										  const PxGeometry& geom, 
+										  const PxTransform& geomPose, 
+										  const PxTriangleMeshGeometry& meshGeom, 
+										  const PxTransform& meshPose, 
+										  PxU32 maxIter,
+										  PxU32* usedIter = NULL);
+
+	/**
+	\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
+
+	This iterative function computes an approximate vector that can be used to depenetrate a geom object
+	from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.
+
+	The function works best when the amount of overlap between the geom object and the mesh is small. If the
+	geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected,
+	and the function does not compute an MTD vector.
+
+	The function early exits if no overlap is detected after a depenetration attempt. This means that if
+	maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
+	been successful. Usually N = 4 gives good results.
+
+	\param[in] maxIter Max number of iterations before returning.
+	\param[in] geom The geometry object
+	\param[in] geomPose Pose for the geometry object
+	\param[in] heightFieldGeom The heightfield geometry
+	\param[in] heightFieldPose Pose for the heightfield
+	\param[out] nb Number of depenetrations attempts performed during the call. 0 means no overlap has been detected.
+
+	\return Approximate depenetration vector
+
+	@see PxGeometry PxTransform PxHeightFieldGeometry
+	*/
+	PX_DEPRECATED	PxVec3 PxComputeHeightFieldPenetration(PxU32 maxIter, 
+														   const PxGeometry& geom, 
+														   const PxTransform& geomPose, 
+														   const PxHeightFieldGeometry& heightFieldGeom, 
+														   const PxTransform& heightFieldPose, 
+														   PxU32& nb);
+
+
+	/**
+	\brief Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
+
+	This iterative function computes an approximate vector that can be used to depenetrate a geom object
+	from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.
+
+	The function works best when the amount of overlap between the geom object and the mesh is small. If the
+	geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected,
+	and the function does not compute an MTD vector.
+
+	The function early exits if no overlap is detected after a depenetration attempt. This means that if
+	maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
+	been successful. Usually N = 4 gives good results.
+
+	\param[out] direction Computed MTD unit direction
+	\param[out] depth Penetration depth. Always positive or zero.
+	\param[in] geom The geometry object
+	\param[in] geomPose Pose for the geometry object
+	\param[in] heightFieldGeom The heightfield geometry
+	\param[in] heightFieldPose Pose for the heightfield
+	\param[in] maxIter Max number of iterations before returning.
+	\param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
+
+	\return True if the MTD has successfully been computed, i.e. if objects do overlap.
+
+	@see PxGeometry PxTransform PxHeightFieldGeometry
+	*/
+	bool PxComputeHeightFieldPenetration(PxVec3& direction, 
+										 PxReal& depth,
+										 const PxGeometry& geom, 
+									     const PxTransform& geomPose, 
+										 const PxHeightFieldGeometry& heightFieldGeom, 
+										 const PxTransform& heightFieldPose,
+										 PxU32 maxIter, 
+										 PxU32* usedIter = NULL);
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif