Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 1443 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXCooking/src/mesh/TriangleMeshBuilder.cpp b/PhysX_3.4/Source/PhysXCooking/src/mesh/TriangleMeshBuilder.cpp
new file mode 100644
index 00000000..877d752e
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXCooking/src/mesh/TriangleMeshBuilder.cpp
@@ -0,0 +1,1443 @@
+// 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.  
+
+#include "RTreeCooking.h"
+#include "TriangleMeshBuilder.h"
+#include "EdgeList.h"
+#include "MeshCleaner.h"
+#include "GuConvexEdgeFlags.h"
+#include "PxTriangleMeshDesc.h"
+#include "GuSerialize.h"
+#include "Cooking.h"
+#include "GuMeshData.h"
+#include "GuTriangle32.h"
+#include "GuRTree.h"
+#include "GuInternal.h"
+#include "GuBV4Build.h"
+#include "GuBV32Build.h"
+#include "PsFoundation.h"
+#include "PsHashMap.h"
+#include "PsSort.h"
+
+namespace physx {
+
+struct int3
+{
+	int x, y, z;
+};
+
+struct uint3
+{
+	unsigned int x, y, z;
+};
+
+PX_ALIGN_PREFIX(16)
+struct uint4
+{
+	unsigned int x, y, z, w;
+}
+PX_ALIGN_SUFFIX(16);
+
+PX_ALIGN_PREFIX(16)
+struct float4
+{
+	float x, y, z, w;
+}
+PX_ALIGN_SUFFIX(16);
+
+}
+
+#include "GrbTriangleMeshCooking.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace Ps;
+
+namespace physx {
+
+TriangleMeshBuilder::TriangleMeshBuilder(TriangleMeshData& m, const PxCookingParams& params) :
+	edgeList	(NULL),
+	mParams		(params),
+	mMeshData	(m)
+{
+}
+
+TriangleMeshBuilder::~TriangleMeshBuilder()
+{
+	releaseEdgeList();
+}
+
+void TriangleMeshBuilder::remapTopology(const PxU32* order)
+{
+	if(!mMeshData.mNbTriangles)
+		return;
+
+	// Remap one array at a time to limit memory usage
+
+	Gu::TriangleT<PxU32>* newTopo = reinterpret_cast<Gu::TriangleT<PxU32>*>(PX_ALLOC(mMeshData.mNbTriangles * sizeof(Gu::TriangleT<PxU32>), "Gu::TriangleT<PxU32>"));
+	for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+		newTopo[i]	= reinterpret_cast<Gu::TriangleT<PxU32>*>(mMeshData.mTriangles)[order[i]];
+	PX_FREE_AND_RESET(mMeshData.mTriangles);
+	mMeshData.mTriangles = newTopo;
+
+	if(mMeshData.mMaterialIndices)
+	{
+		PxMaterialTableIndex* newMat = PX_NEW(PxMaterialTableIndex)[mMeshData.mNbTriangles];
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+			newMat[i] = mMeshData.mMaterialIndices[order[i]];
+		PX_DELETE_POD(mMeshData.mMaterialIndices);
+		mMeshData.mMaterialIndices = newMat;
+	}
+
+	if(!mParams.suppressTriangleMeshRemapTable || mParams.buildGPUData)
+	{
+		PxU32* newMap = PX_NEW(PxU32)[mMeshData.mNbTriangles];
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+			newMap[i] = mMeshData.mFaceRemap ? mMeshData.mFaceRemap[order[i]] : order[i];
+		PX_DELETE_POD(mMeshData.mFaceRemap);
+		mMeshData.mFaceRemap = newMap;
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool TriangleMeshBuilder::cleanMesh(bool validate, PxTriangleMeshCookingResult::Enum* condition)
+{
+	PX_ASSERT(mMeshData.mFaceRemap == NULL);
+
+	PxF32 meshWeldTolerance = 0.0f;
+	if(mParams.meshPreprocessParams & PxMeshPreprocessingFlag::eWELD_VERTICES)
+	{
+		if(mParams.meshWeldTolerance == 0.f)
+		{
+			Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "TriangleMesh: Enable mesh welding with 0 weld tolerance!");
+		}
+		else
+		{
+			meshWeldTolerance = mParams.meshWeldTolerance;
+		}
+	}
+	MeshCleaner cleaner(mMeshData.mNbVertices, mMeshData.mVertices, mMeshData.mNbTriangles, reinterpret_cast<const PxU32*>(mMeshData.mTriangles), meshWeldTolerance);
+	if(!cleaner.mNbTris)
+		return false;
+
+	if(validate)
+	{
+		// if we do only validate, we check if cleaning did not remove any verts or triangles. 
+		// such a mesh can be then directly used for cooking without clean flag
+		if((cleaner.mNbVerts != mMeshData.mNbVertices) || (cleaner.mNbTris != mMeshData.mNbTriangles))
+		{
+			return false;
+		}
+	}
+
+	// PT: deal with the remap table
+	{
+		// PT: TODO: optimize this
+		if(cleaner.mRemap)
+		{
+			const PxU32 newNbTris = cleaner.mNbTris;
+
+			// Remap material array
+			if(mMeshData.mMaterialIndices)
+			{
+				PxMaterialTableIndex* tmp = PX_NEW(PxMaterialTableIndex)[newNbTris];
+				for(PxU32 i=0;i<newNbTris;i++)
+					tmp[i] = mMeshData.mMaterialIndices[cleaner.mRemap[i]];
+
+				PX_DELETE_POD(mMeshData.mMaterialIndices);
+				mMeshData.mMaterialIndices = tmp;
+			}
+
+			if (!mParams.suppressTriangleMeshRemapTable || mParams.buildGPUData)
+			{
+				mMeshData.mFaceRemap = PX_NEW(PxU32)[newNbTris];
+				PxMemCopy(mMeshData.mFaceRemap, cleaner.mRemap, newNbTris*sizeof(PxU32));
+			}
+		}
+	}
+
+	// PT: deal with geometry
+	{
+		if(mMeshData.mNbVertices!=cleaner.mNbVerts)
+		{
+			PX_FREE_AND_RESET(mMeshData.mVertices);
+			mMeshData.allocateVertices(cleaner.mNbVerts);
+		}
+		PxMemCopy(mMeshData.mVertices, cleaner.mVerts, mMeshData.mNbVertices*sizeof(PxVec3));
+	}
+
+	// PT: deal with topology
+	{
+		PX_ASSERT(!(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES));
+		if(mMeshData.mNbTriangles!=cleaner.mNbTris)
+		{
+			PX_FREE_AND_RESET(mMeshData.mTriangles);
+			mMeshData.allocateTriangles(cleaner.mNbTris, true);
+		}
+
+		const float testLength = 500.0f*500.0f*mParams.scale.length*mParams.scale.length;
+		bool bigTriangle = false;
+		const PxVec3* v = mMeshData.mVertices;
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+		{
+			const PxU32 vref0 = cleaner.mIndices[i*3+0];
+			const PxU32 vref1 = cleaner.mIndices[i*3+1];
+			const PxU32 vref2 = cleaner.mIndices[i*3+2];
+			PX_ASSERT(vref0!=vref1 && vref0!=vref2 && vref1!=vref2);
+
+			reinterpret_cast<Gu::TriangleT<PxU32>*>(mMeshData.mTriangles)[i].v[0] = vref0;
+			reinterpret_cast<Gu::TriangleT<PxU32>*>(mMeshData.mTriangles)[i].v[1] = vref1;
+			reinterpret_cast<Gu::TriangleT<PxU32>*>(mMeshData.mTriangles)[i].v[2] = vref2;
+
+			if(		(v[vref0] - v[vref1]).magnitudeSquared() >= testLength
+				||	(v[vref1] - v[vref2]).magnitudeSquared() >= testLength
+				||	(v[vref2] - v[vref0]).magnitudeSquared() >= testLength
+				)
+				bigTriangle = true;
+		}
+		if(bigTriangle)
+		{
+			if(condition)
+				*condition = PxTriangleMeshCookingResult::eLARGE_TRIANGLE;
+			Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "TriangleMesh: triangles are too big, reduce their size to increase simulation stability!");
+		}
+	}
+
+	return true;
+}
+
+void TriangleMeshBuilder::createSharedEdgeData(bool buildAdjacencies, bool buildActiveEdges)
+{
+	if(buildAdjacencies) // building edges is required if buildAdjacencies is requested
+		buildActiveEdges = true;
+
+	PX_ASSERT(mMeshData.mExtraTrigData == NULL);
+	PX_ASSERT(mMeshData.mAdjacencies == NULL);
+
+	if(!buildActiveEdges)
+		return;
+
+	const PxU32 nTrigs = mMeshData.mNbTriangles;
+
+	mMeshData.mExtraTrigData = PX_NEW(PxU8)[nTrigs];
+	memset(mMeshData.mExtraTrigData, 0, sizeof(PxU8)*nTrigs); 
+
+	const Gu::TriangleT<PxU32>* trigs = reinterpret_cast<const Gu::TriangleT<PxU32>*>(mMeshData.mTriangles);
+	if(0x40000000 <= nTrigs)
+	{
+		//mesh is too big for this algo, need to be able to express trig indices in 30 bits, and still have an index reserved for "unused":
+		Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "TriangleMesh: mesh is too big for this algo!");
+		return;
+	}
+	
+	createEdgeList();
+	if(edgeList)
+	{
+		PX_ASSERT(edgeList->getNbFaces()==mMeshData.mNbTriangles);
+		if(edgeList->getNbFaces()==mMeshData.mNbTriangles)
+		{
+			for(PxU32 i=0;i<edgeList->getNbFaces();i++)
+			{
+				const Gu::EdgeTriangleData& ET = edgeList->getEdgeTriangle(i);
+				// Replicate flags
+				if(Gu::EdgeTriangleAC::HasActiveEdge01(ET))	mMeshData.mExtraTrigData[i] |= Gu::ETD_CONVEX_EDGE_01;
+				if(Gu::EdgeTriangleAC::HasActiveEdge12(ET))	mMeshData.mExtraTrigData[i] |= Gu::ETD_CONVEX_EDGE_12;
+				if(Gu::EdgeTriangleAC::HasActiveEdge20(ET))	mMeshData.mExtraTrigData[i] |= Gu::ETD_CONVEX_EDGE_20;
+			}
+		}
+	}
+
+	// fill the adjacencies
+	if(buildAdjacencies)
+	{
+		mMeshData.mAdjacencies = PX_NEW(PxU32)[nTrigs*3];
+		memset(mMeshData.mAdjacencies, 0xFFFFffff, sizeof(PxU32)*nTrigs*3);		
+
+		PxU32 NbEdges = edgeList->getNbEdges();
+		const Gu::EdgeDescData* ED = edgeList->getEdgeToTriangles();
+		const Gu::EdgeData* Edges = edgeList->getEdges();
+		const PxU32* FBE = edgeList->getFacesByEdges();
+
+		while(NbEdges--)
+		{
+			// Get number of triangles sharing current edge
+			PxU32 Count = ED->Count;
+			
+			if(Count > 1)
+			{
+				PxU32 FaceIndex0 = FBE[ED->Offset+0];
+				PxU32 FaceIndex1 = FBE[ED->Offset+1];
+
+				const Gu::EdgeData& edgeData = *Edges;
+				const Gu::TriangleT<PxU32>& T0 = trigs[FaceIndex0];
+				const Gu::TriangleT<PxU32>& T1 = trigs[FaceIndex1];
+
+				PxU32 offset0 = T0.findEdgeCCW(edgeData.Ref0,edgeData.Ref1);				
+				PxU32 offset1 = T1.findEdgeCCW(edgeData.Ref0,edgeData.Ref1);
+
+				mMeshData.setTriangleAdjacency(FaceIndex0, FaceIndex1, offset0);
+				mMeshData.setTriangleAdjacency(FaceIndex1, FaceIndex0, offset1);
+			}
+			ED++;
+			Edges++;
+		}
+	}
+
+#if PX_DEBUG
+	for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+	{
+		const Gu::TriangleT<PxU32>& T = trigs[i];
+		PX_UNUSED(T);
+		const Gu::EdgeTriangleData& ET = edgeList->getEdgeTriangle(i);
+		PX_ASSERT((Gu::EdgeTriangleAC::HasActiveEdge01(ET) && (mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_01)) || (!Gu::EdgeTriangleAC::HasActiveEdge01(ET) && !(mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_01)));
+		PX_ASSERT((Gu::EdgeTriangleAC::HasActiveEdge12(ET) && (mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_12)) || (!Gu::EdgeTriangleAC::HasActiveEdge12(ET) && !(mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_12)));
+		PX_ASSERT((Gu::EdgeTriangleAC::HasActiveEdge20(ET) && (mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_20)) || (!Gu::EdgeTriangleAC::HasActiveEdge20(ET) && !(mMeshData.mExtraTrigData[i] & Gu::ETD_CONVEX_EDGE_20)));
+	}
+#endif
+	return;
+}
+
+namespace GrbTrimeshCookerHelper
+{
+
+struct SortedNeighbor
+{
+	PxU32 v, a;		// vertex and adjacent vertex
+	bool boundary;
+
+	SortedNeighbor(PxU32 v_, PxU32 a_, bool b_): v(v_), a(a_), boundary(b_) {}
+
+	// sort boundary edges to the front so that they are kept when duplicates are removed
+	bool operator<(const SortedNeighbor& b) const
+	{
+		return (v<b.v || (v == b.v && a<b.a) || (v == b.v && a == b.a && boundary && !b.boundary));
+	}
+};
+
+struct SharpEdgeRange
+{
+	PxU32 start, length;
+	SharpEdgeRange(): start(0), length(0)  {}
+	SharpEdgeRange(PxU32 s, PxU32 l): start(s), length(l)  {}
+};
+
+class LocalIndexer
+{
+public:
+	bool insert(PxU32 meshIndex)		// returns true if this is a new index
+	{
+		bool isNew = mMeshToLocal.insert(meshIndex, mLocalToMesh.size());
+		if(isNew)
+			mLocalToMesh.pushBack(meshIndex);
+		return isNew;
+	}
+
+	PxU32 meshIndex(PxU32 localIndex)
+	{
+		PX_ASSERT(localIndex<mLocalToMesh.size());
+		return mLocalToMesh[localIndex];
+	}
+
+	PxU32 localIndex(PxU32 meshIndex)
+	{
+		PX_ASSERT(mMeshToLocal.find(meshIndex));
+		return mMeshToLocal[meshIndex];
+	}
+	
+	bool contains(PxU32 meshIndex)
+	{
+		return mMeshToLocal.find(meshIndex) != 0;
+	}
+
+	PxU32 size()
+	{
+		return mLocalToMesh.size();
+	}
+
+private:
+	Ps::Array<PxU32> mLocalToMesh;
+	Ps::HashMap<PxU32, PxU32> mMeshToLocal;
+};
+
+#include <stdio.h>
+
+
+void findSharpVertices(
+		Ps::Array<SortedNeighbor>& pairList,
+		Ps::Array<SharpEdgeRange>& edgeRanges,
+		/*const Ps::Array<Triangle>& triangles,*/
+		const uint3* triIndices,
+		const uint4* triAdjacencies,
+		PxU32 nbTris,
+		PxU32 nbVerts
+		)
+{
+	// sort the edges which are sharp or boundary
+	for(PxU32 i=0;i<nbTris;i++)
+	{
+		const uint4& triAdj = triAdjacencies[i];
+		const uint3& triIdx = triIndices[i];
+
+		if (!isEdgeNonconvex(triAdj.x))
+		{
+			pairList.pushBack(SortedNeighbor(triIdx.x, triIdx.y, triAdj.x == BOUNDARY));
+			pairList.pushBack(SortedNeighbor(triIdx.y, triIdx.x, triAdj.x == BOUNDARY));
+		}
+
+		if (!isEdgeNonconvex(triAdj.y))
+		{
+			pairList.pushBack(SortedNeighbor(triIdx.y, triIdx.z, triAdj.y == BOUNDARY));
+			pairList.pushBack(SortedNeighbor(triIdx.z, triIdx.y, triAdj.y == BOUNDARY));
+		}
+
+		if (!isEdgeNonconvex(triAdj.z))
+		{
+			pairList.pushBack(SortedNeighbor(triIdx.z, triIdx.x, triAdj.z == BOUNDARY));
+			pairList.pushBack(SortedNeighbor(triIdx.x, triIdx.z, triAdj.z == BOUNDARY));
+		}
+	}
+
+	Ps::sort(pairList.begin(), pairList.size());
+
+	// remove duplicates - note that boundary edges are sorted earlier, so we keep them
+	PxU32 unique = 1;
+	for(PxU32 i=1;i<pairList.size();i++)
+	{
+		if(pairList[i].v != pairList[i-1].v || pairList[i].a != pairList[i-1].a)			
+			pairList[unique++] = pairList[i];
+	}
+	pairList.resizeUninitialized(unique);
+
+	// a vertex is marked for sharp vertex processing if it has a boundary edge or at least three convex edges
+	edgeRanges.resize(nbVerts);
+	for(PxU32 p = 0, u ; p<pairList.size(); p = u)
+	{
+		bool boundary = false;
+		for(u=p+1; u<pairList.size() && pairList[u].v == pairList[p].v; u++)
+			boundary |= pairList[u].boundary;
+		if(boundary || u-p>=3)
+			edgeRanges[pairList[p].v] = SharpEdgeRange(p, u-p);
+	}
+}
+
+#if 0
+PxU32 buildVertexConnectionNew_p1(
+	Ps::Array<SortedNeighbor> & pairList,
+	Ps::Array<SharpEdgeRange> & edgeRanges,
+	LocalIndexer & vertexMap,
+
+	const uint4 * triIndices,
+	const uint4 * triAdjacencies,
+	
+	PxU32 nbTris,
+	PxU32 nbVerts
+	)
+{
+	findSharpVertices(
+		pairList,
+		edgeRanges,
+		triIndices,
+		triAdjacencies,
+		nbTris,
+		nbVerts
+		);
+
+	// add all the original triangles and vertices and record how big the core is
+	for(PxU32 i=0; i<nbTris; i++)
+	{
+		const uint4 & triIdx = triIndices[i];
+		vertexMap.insert(triIdx.x);
+		vertexMap.insert(triIdx.y);
+		vertexMap.insert(triIdx.z);
+	}
+	PxU32 nbCoreVerts = vertexMap.size();
+
+	PX_ASSERT(nbCoreVerts == nbVerts);
+
+	// add adjacent triangles
+	for(PxU32 i=0;i<nbTris;i++)
+	{
+		const uint4 & triAdj = triAdjacencies[i];
+
+#define IS_TRI(triAdjIdx) (( (triAdjIdx) != BOUNDARY ) && ( !((triAdjIdx) & NONCONVEX_FLAG) ))
+
+		if(IS_TRI(triAdj.x))
+		{
+			const uint4 & triIdx = triIndices[triAdj.x];
+			vertexMap.insert(triIdx.x);
+			vertexMap.insert(triIdx.y);
+			vertexMap.insert(triIdx.z);
+		}
+
+		if(IS_TRI(triAdj.y))
+		{
+			const uint4 & triIdx = triIndices[triAdj.y];
+			vertexMap.insert(triIdx.x);
+			vertexMap.insert(triIdx.y);
+			vertexMap.insert(triIdx.z);
+		}
+
+		if(IS_TRI(triAdj.z))
+		{
+			const uint4 & triIdx = triIndices[triAdj.z];
+			vertexMap.insert(triIdx.x);
+			vertexMap.insert(triIdx.y);
+			vertexMap.insert(triIdx.z);
+			
+		}
+
+#undef IS_TRI
+	}
+
+	// add the neighbors of the sharp vertices
+	PxU32 nbNeighbors = 0;
+	for(PxU32 i=0;i<nbCoreVerts;i++)
+	{
+		PxU32 meshIndex = vertexMap.meshIndex(i);
+		const SharpEdgeRange& er = edgeRanges[meshIndex];
+		for(PxU32 j = 0;j<er.length;j++)
+		{
+			PX_ASSERT(pairList[er.start+j].v == meshIndex);
+			vertexMap.insert(pairList[er.start + j].a);
+		}
+		nbNeighbors += er.length;
+	}
+
+	return nbNeighbors;
+}
+
+void buildVertexConnectionNew_p2(
+	PxU32 * adjVertStart,
+	PxU32 * vertValency,
+	PxU32 * adjVertices,
+
+	Ps::Array<SortedNeighbor>& pairList,
+	Ps::Array<SharpEdgeRange>& edgeRanges,
+	LocalIndexer & vertexMap,
+
+	const uint4 * /*triIndices*/,
+	const uint4 * /*triAdjacencies*/,
+	
+	PxU32 /*nbTris*/,
+	PxU32 nbVerts,
+	PxU32 /*nbNeighbors*/
+	)
+{
+	PxU32 n = 0;
+	for(PxU32 i=0;i<nbVerts;i++)
+	{
+		PxU32 meshIdx = vertexMap.meshIndex(i);
+		const SharpEdgeRange& er = edgeRanges[vertexMap.meshIndex(i)];
+		adjVertStart[meshIdx] = n;
+		vertValency[meshIdx] = er.length;
+		for(PxU32 j = 0;j<er.length;j++)
+			adjVertices[n++] = pairList[er.start+j].a;
+	}
+}
+#else
+
+
+PxU32 buildVertexConnectionNew_p1(
+	Ps::Array<SortedNeighbor> & pairList,
+	Ps::Array<SharpEdgeRange> & edgeRanges,
+	
+	const uint3* triIndices,
+	const uint4 * triAdjacencies,
+
+	PxU32 nbTris,
+	PxU32 nbVerts
+	)
+{
+	findSharpVertices(
+		pairList,
+		edgeRanges,
+		triIndices,
+		triAdjacencies,
+		nbTris,
+		nbVerts
+		);
+
+
+	// add the neighbors of the sharp vertices
+	PxU32 nbNeighbors = 0;
+	for (PxU32 i = 0; i<nbVerts; i++)
+	{
+		const SharpEdgeRange& er = edgeRanges[i];
+		nbNeighbors += er.length;
+	}
+
+	return nbNeighbors;
+}
+
+void buildVertexConnectionNew_p2(
+	PxU32 * adjVertStart,
+	PxU32 * vertValency,
+	PxU32 * adjVertices,
+
+	Ps::Array<SortedNeighbor>& pairList,
+	Ps::Array<SharpEdgeRange>& edgeRanges,
+	PxU32 nbVerts
+	)
+{
+	PxU32 n = 0;
+	for (PxU32 i = 0; i<nbVerts; i++)
+	{
+		const SharpEdgeRange& er = edgeRanges[i];
+		adjVertStart[i] = n;
+		vertValency[i] = er.length;
+		for (PxU32 j = 0; j<er.length; j++)
+			adjVertices[n++] = pairList[er.start + j].a;
+	}
+}
+#endif
+
+} // namespace GrbTrimeshCookerHelper
+
+void TriangleMeshBuilder::recordTriangleIndices()
+{
+	if (mParams.buildGPUData)
+	{
+		PX_ASSERT(!(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES));
+		PX_ASSERT(mMeshData.mGRB_triIndices);
+
+		//copy the original traingle indices to originalTrangles32
+		PxMemCopy(mMeshData.mGRB_triIndices, mMeshData.mTriangles, sizeof(IndTri32) *mMeshData.mNbTriangles);
+
+
+		if (mMeshData.mFaceRemap)
+		{
+			//We must have discarded some triangles so let's 
+			mMeshData.mGRB_faceRemap = PX_NEW(PxU32)[mMeshData.mNbTriangles];
+			PxMemCopy(mMeshData.mGRB_faceRemap, mMeshData.mFaceRemap, sizeof(PxU32)*mMeshData.mNbTriangles);
+		}
+
+	}
+}
+
+void TriangleMeshBuilder::createGRBData()
+{
+
+	const PxU32 & numTris = mMeshData.mNbTriangles;
+	const PxU32 & numVerts = mMeshData.mNbVertices;
+
+	PX_ASSERT(!(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES));
+
+
+	// Core: Mesh data
+	///////////////////////////////////////////////////////////////////////////////////
+
+	// (by using adjacency info generated by physx cooker)
+	PxVec3 * tempNormalsPerTri_prealloc = reinterpret_cast<PxVec3 *>(PX_ALLOC(numTris * sizeof(PxVec3), PX_DEBUG_EXP("tempNormalsPerTri_prealloc")));
+
+	mMeshData.mGRB_triAdjacencies = PX_ALLOC(sizeof(uint4)*numTris, PX_DEBUG_EXP("GRB_triAdjacencies"));
+
+	
+	buildAdjacencies(
+		reinterpret_cast<uint4 *>(mMeshData.mGRB_triAdjacencies),
+		tempNormalsPerTri_prealloc,
+		mMeshData.mVertices,
+		reinterpret_cast<uint3*>(mMeshData.mGRB_triIndices),
+		numTris
+		);
+	
+
+	PX_FREE(tempNormalsPerTri_prealloc);
+
+	mMeshData.mGRB_vertValency = PX_NEW(PxU32)[numVerts];
+	mMeshData.mGRB_adjVertStart = PX_NEW(PxU32)[numVerts];
+
+
+	Ps::Array<GrbTrimeshCookerHelper::SortedNeighbor>	pairsList;
+	Ps::Array<GrbTrimeshCookerHelper::SharpEdgeRange>	edgeRanges;
+
+	
+	mMeshData.mGRB_meshAdjVerticiesTotal = GrbTrimeshCookerHelper::buildVertexConnectionNew_p1(
+		pairsList,
+		edgeRanges,
+
+		reinterpret_cast<uint3*>(mMeshData.mGRB_triIndices),
+		reinterpret_cast<uint4 *>(mMeshData.mGRB_triAdjacencies),
+		numTris,
+		numVerts
+		);
+	
+
+
+	mMeshData.mGRB_adjVertices = PX_NEW(PxU32)[mMeshData.mGRB_meshAdjVerticiesTotal];
+	GrbTrimeshCookerHelper::buildVertexConnectionNew_p2(
+		mMeshData.mGRB_adjVertStart,
+		mMeshData.mGRB_vertValency,
+		mMeshData.mGRB_adjVertices,
+		pairsList,
+		edgeRanges,
+		numVerts
+		);
+
+
+}
+
+void TriangleMeshBuilder::createGRBMidPhaseAndData(const PxU32 originalTriangleCount)
+{
+	if (mParams.buildGPUData)
+	{
+
+		PX_ASSERT(!(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES));
+
+		BV32Tree* bv32Tree = PX_NEW(BV32Tree);
+		mMeshData.mGRB_BV32Tree = bv32Tree;
+
+		BV32TriangleMeshBuilder::createMidPhaseStructure(mParams, mMeshData, *bv32Tree);
+		
+		createGRBData();
+
+		//create a remap table from GPU to CPU remap table
+		PxU32* orignalToRemap = PX_NEW(PxU32)[originalTriangleCount];
+
+		PX_ASSERT(mMeshData.mFaceRemap);
+
+
+		for (PxU32 i = 0; i < mMeshData.mNbTriangles; ++i)
+		{
+			const PxU32 index = mMeshData.mFaceRemap[i];
+			PX_ASSERT(index < originalTriangleCount);
+			orignalToRemap[index] = i;
+		}
+
+
+		//map CPU remap triangle index to GPU remap triangle index
+		for (PxU32 i = 0; i < mMeshData.mNbTriangles; ++i)
+		{
+			const PxU32 index = mMeshData.mGRB_faceRemap[i];
+			mMeshData.mGRB_faceRemap[i] = orignalToRemap[index];
+		}
+
+#if BV32_VALIDATE
+		IndTri32* grbTriIndices = reinterpret_cast<IndTri32*>(mMeshData.mGRB_triIndices);
+		IndTri32* cpuTriIndices = reinterpret_cast<IndTri32*>(mMeshData.mTriangles);
+		//map CPU remap triangle index to GPU remap triangle index
+		for (PxU32 i = 0; i < mMeshData.mNbTriangles; ++i)
+		{
+			PX_ASSERT(grbTriIndices[i].mRef[0] == cpuTriIndices[mMeshData.mGRB_faceRemap[i]].mRef[0]);
+			PX_ASSERT(grbTriIndices[i].mRef[1] == cpuTriIndices[mMeshData.mGRB_faceRemap[i]].mRef[1]);
+			PX_ASSERT(grbTriIndices[i].mRef[2] == cpuTriIndices[mMeshData.mGRB_faceRemap[i]].mRef[2]);
+		}
+#endif
+
+		if (orignalToRemap)
+			PX_DELETE_POD(orignalToRemap);
+
+	}
+}
+
+void TriangleMeshBuilder::createEdgeList()
+{
+	Gu::EDGELISTCREATE create;
+	create.NbFaces		= mMeshData.mNbTriangles;
+	if(mMeshData.has16BitIndices())
+	{
+		create.DFaces		= NULL;
+		create.WFaces		= reinterpret_cast<PxU16*>(mMeshData.mTriangles);
+	}
+	else
+	{
+		create.DFaces		= reinterpret_cast<PxU32*>(mMeshData.mTriangles);
+		create.WFaces		= NULL;
+	}
+	create.FacesToEdges	= true;
+	create.EdgesToFaces	= true;
+	create.Verts		= mMeshData.mVertices;
+	//create.Epsilon = 0.1f;
+	//	create.Epsilon		= convexEdgeThreshold;
+	edgeList = PX_NEW(Gu::EdgeListBuilder);
+	if(!edgeList->init(create))
+	{
+		PX_DELETE(edgeList);
+		edgeList = 0;
+	}
+}
+
+void TriangleMeshBuilder::releaseEdgeList()
+{
+	PX_DELETE_AND_RESET(edgeList);
+}
+
+//
+// When suppressTriangleMeshRemapTable is true, the face remap table is not created.  This saves a significant amount of memory,
+// but the SDK will not be able to provide information about which mesh triangle is hit in collisions, sweeps or raycasts hits.
+//
+// The sequence is as follows:
+
+bool TriangleMeshBuilder::loadFromDesc(const PxTriangleMeshDesc& _desc, PxTriangleMeshCookingResult::Enum* condition, bool validateMesh)
+{
+	const PxU32 originalTriangleCount = _desc.triangles.count;
+	if(!_desc.isValid())
+	{
+		Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "TriangleMesh::loadFromDesc: desc.isValid() failed!");
+		return false;
+	}
+
+	// verify the mesh params
+	if(!mParams.midphaseDesc.isValid())
+	{
+		Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "TriangleMesh::loadFromDesc: mParams.midphaseDesc.isValid() failed!");
+		return false;
+	}
+
+	// Create a local copy that we can modify
+	PxTriangleMeshDesc desc = _desc;
+
+	// Save simple params
+	{
+		// Handle implicit topology
+		PxU32* topology = NULL;
+		if(!desc.triangles.data)
+		{
+			// We'll create 32-bit indices
+			desc.flags &= ~PxMeshFlag::e16_BIT_INDICES;
+			desc.triangles.stride = sizeof(PxU32)*3;
+
+			{
+			// Non-indexed mesh => create implicit topology
+			desc.triangles.count = desc.points.count/3;
+			// Create default implicit topology
+			topology = PX_NEW_TEMP(PxU32)[desc.points.count];
+			for(PxU32 i=0;i<desc.points.count;i++)
+				topology[i] = i;
+			desc.triangles.data = topology;
+			}
+		}
+		// Continue as usual using our new descriptor
+
+		// Convert and clean the input mesh
+		if (!importMesh(desc, mParams, condition, validateMesh))
+			return false;
+
+		// Cleanup if needed
+		PX_DELETE_POD(topology);
+	}
+
+
+	//copy the original triangle indices to grb triangle indices if buildGRBData is true
+	recordTriangleIndices();
+
+	createMidPhaseStructure();
+
+	// Compute local bounds
+	computeLocalBounds(); // AP scaffold: local bounds are already computed in builder.createRTree efficiently with SIMD
+
+	createSharedEdgeData(mParams.buildTriangleAdjacencies, !(mParams.meshPreprocessParams & PxMeshPreprocessingFlag::eDISABLE_ACTIVE_EDGES_PRECOMPUTE));
+
+	createGRBMidPhaseAndData(originalTriangleCount);
+
+
+	return true;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool TriangleMeshBuilder::save(PxOutputStream& stream, bool platformMismatch, const PxCookingParams& params) const
+{
+	// Export header
+	if(!writeHeader('M', 'E', 'S', 'H', PX_MESH_VERSION, platformMismatch, stream))
+		return false;
+
+	// Export midphase ID
+	writeDword(getMidphaseID(), platformMismatch, stream);
+
+	// Export serialization flags
+	PxU32 serialFlags = 0;
+	if(mMeshData.mMaterialIndices)	serialFlags |= Gu::IMSF_MATERIALS;
+	if(mMeshData.mFaceRemap)		serialFlags |= Gu::IMSF_FACE_REMAP;
+	if(mMeshData.mAdjacencies)		serialFlags |= Gu::IMSF_ADJACENCIES;
+	if (params.buildGPUData)		serialFlags |= Gu::IMSF_GRB_DATA;
+	// Compute serialization flags for indices
+	PxU32 maxIndex=0;
+	const Gu::TriangleT<PxU32>* tris = reinterpret_cast<const Gu::TriangleT<PxU32>*>(mMeshData.mTriangles);
+	for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+	{
+		if(tris[i].v[0]>maxIndex)	maxIndex = tris[i].v[0];
+		if(tris[i].v[1]>maxIndex)	maxIndex = tris[i].v[1];
+		if(tris[i].v[2]>maxIndex)	maxIndex = tris[i].v[2];
+	}
+
+	bool force32 = (params.meshPreprocessParams & PxMeshPreprocessingFlag::eFORCE_32BIT_INDICES);
+	if (maxIndex <= 0xFFFF && !force32)
+		serialFlags |= (maxIndex <= 0xFF ? Gu::IMSF_8BIT_INDICES : Gu::IMSF_16BIT_INDICES);
+	writeDword(serialFlags, platformMismatch, stream);
+
+	// Export mesh
+	writeDword(mMeshData.mNbVertices, platformMismatch, stream);
+	writeDword(mMeshData.mNbTriangles, platformMismatch, stream);
+	writeFloatBuffer(&mMeshData.mVertices->x, mMeshData.mNbVertices*3, platformMismatch, stream);
+	if(serialFlags & Gu::IMSF_8BIT_INDICES)
+	{
+		const PxU32* indices = tris->v;
+		for(PxU32 i=0;i<mMeshData.mNbTriangles*3;i++)
+		{
+			PxI8 data = PxI8(indices[i]);		
+			stream.write(&data, sizeof(PxU8));	
+		}
+	}
+	else if(serialFlags & Gu::IMSF_16BIT_INDICES)
+	{
+		const PxU32* indices = tris->v;
+		for(PxU32 i=0;i<mMeshData.mNbTriangles*3;i++)
+			writeWord(Ps::to16(indices[i]), platformMismatch, stream);
+	}
+	else
+		writeIntBuffer(tris->v, mMeshData.mNbTriangles*3, platformMismatch, stream);
+
+	if(mMeshData.mMaterialIndices)
+		writeWordBuffer(mMeshData.mMaterialIndices, mMeshData.mNbTriangles, platformMismatch, stream);
+
+	if(mMeshData.mFaceRemap)
+	{
+		PxU32 maxId = computeMaxIndex(mMeshData.mFaceRemap, mMeshData.mNbTriangles);
+		writeDword(maxId, platformMismatch, stream);
+		storeIndices(maxId, mMeshData.mNbTriangles, mMeshData.mFaceRemap, stream, platformMismatch);
+//		writeIntBuffer(mMeshData.mFaceRemap, mMeshData.mNbTriangles, platformMismatch, stream);
+	}
+
+	if(mMeshData.mAdjacencies)
+		writeIntBuffer(mMeshData.mAdjacencies, mMeshData.mNbTriangles*3, platformMismatch, stream);
+
+	// Export midphase structure
+	saveMidPhaseStructure(stream);
+
+
+	// Export local bounds
+	writeFloat(mMeshData.mGeomEpsilon, platformMismatch, stream);
+
+	writeFloat(mMeshData.mAABB.minimum.x, platformMismatch, stream);
+	writeFloat(mMeshData.mAABB.minimum.y, platformMismatch, stream);
+	writeFloat(mMeshData.mAABB.minimum.z, platformMismatch, stream);
+	writeFloat(mMeshData.mAABB.maximum.x, platformMismatch, stream);
+	writeFloat(mMeshData.mAABB.maximum.y, platformMismatch, stream);
+	writeFloat(mMeshData.mAABB.maximum.z, platformMismatch, stream);
+
+	if(mMeshData.mExtraTrigData)
+	{
+		writeDword(mMeshData.mNbTriangles, platformMismatch, stream);
+		// No need to convert those bytes
+		stream.write(mMeshData.mExtraTrigData, mMeshData.mNbTriangles*sizeof(PxU8));
+	}
+	else
+		writeDword(0, platformMismatch, stream);
+
+	// GRB write -----------------------------------------------------------------
+	if (params.buildGPUData)
+	{
+		writeDword(mMeshData.mGRB_meshAdjVerticiesTotal, platformMismatch, stream);
+
+		const PxU32* indices = reinterpret_cast<PxU32*>(mMeshData.mGRB_triIndices);
+		if (serialFlags & Gu::IMSF_8BIT_INDICES)
+		{
+			for (PxU32 i = 0; i<mMeshData.mNbTriangles * 3; i++)
+			{
+				PxI8 data = PxI8(indices[i]);
+				stream.write(&data, sizeof(PxU8));
+			}
+		}
+		else if (serialFlags & Gu::IMSF_16BIT_INDICES)
+		{
+			for (PxU32 i = 0; i<mMeshData.mNbTriangles * 3; i++)
+				writeWord(Ps::to16(indices[i]), platformMismatch, stream);
+		}
+		else
+			writeIntBuffer(indices, mMeshData.mNbTriangles * 3, platformMismatch, stream);
+
+
+		//writeIntBuffer(reinterpret_cast<PxU32*>(mMeshData.mGRB_triIndices), , mMeshData.mNbTriangles*3, platformMismatch, stream);
+
+		//writeIntBuffer(reinterpret_cast<PxU32 *>(mMeshData.mGRB_triIndices), mMeshData.mNbTriangles*4, platformMismatch, stream);
+
+		writeIntBuffer(reinterpret_cast<PxU32 *>(mMeshData.mGRB_triAdjacencies), mMeshData.mNbTriangles*4, platformMismatch, stream);
+		writeIntBuffer(mMeshData.mGRB_vertValency, mMeshData.mNbVertices, platformMismatch, stream);
+		writeIntBuffer(mMeshData.mGRB_adjVertStart, mMeshData.mNbVertices, platformMismatch, stream);
+		writeIntBuffer(mMeshData.mGRB_adjVertices, mMeshData.mGRB_meshAdjVerticiesTotal, platformMismatch, stream);
+		writeIntBuffer(mMeshData.mGRB_faceRemap, mMeshData.mNbTriangles, platformMismatch, stream);
+
+		//Export GPU midphase structure
+		BV32Tree* bv32Tree = reinterpret_cast<BV32Tree*>(mMeshData.mGRB_BV32Tree);
+		BV32TriangleMeshBuilder::saveMidPhaseStructure(bv32Tree, stream);
+	}
+
+	// End of GRB write ----------------------------------------------------------
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#if PX_VC
+#pragma warning(push)
+#pragma warning(disable:4996)	// permitting use of gatherStrided until we have a replacement.
+#endif
+
+bool TriangleMeshBuilder::importMesh(const PxTriangleMeshDesc& desc,const PxCookingParams& params,PxTriangleMeshCookingResult::Enum* condition, bool validate)
+{
+	//convert and clean the input mesh
+	//this is where the mesh data gets copied from user mem to our mem
+
+	PxVec3* verts = mMeshData.allocateVertices(desc.points.count);
+	Gu::TriangleT<PxU32>* tris = reinterpret_cast<Gu::TriangleT<PxU32>*>(mMeshData.allocateTriangles(desc.triangles.count, true, PxU32(params.buildGPUData)));
+
+	//copy, and compact to get rid of strides:
+	Cooking::gatherStrided(desc.points.data, verts, mMeshData.mNbVertices, sizeof(PxVec3), desc.points.stride);
+
+#if PX_CHECKED
+	// PT: check all input vertices are valid
+	for(PxU32 i=0;i<desc.points.count;i++)
+	{
+		const PxVec3& p = verts[i];
+		if(!PxIsFinite(p.x) || !PxIsFinite(p.y) || !PxIsFinite(p.z))
+		{
+			Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "input mesh contains corrupted vertex data");
+			return false;
+		}
+	}
+#endif
+
+	//for trigs index stride conversion and eventual reordering is also needed, I don't think flexicopy can do that for us.
+
+	Gu::TriangleT<PxU32>* dest = tris;
+	const Gu::TriangleT<PxU32>* pastLastDest = tris + mMeshData.mNbTriangles;
+	const PxU8* source = reinterpret_cast<const PxU8*>(desc.triangles.data);
+
+	//4 combos of 16 vs 32 and flip vs no flip
+	PxU32 c = (desc.flags & PxMeshFlag::eFLIPNORMALS)?PxU32(1):0;
+	if (desc.flags & PxMeshFlag::e16_BIT_INDICES)
+	{
+		//index stride conversion is also needed, I don't think flexicopy can do that for us.
+		while (dest < pastLastDest)
+		{
+			const PxU16 * trig16 = reinterpret_cast<const PxU16*>(source);
+			dest->v[0] = trig16[0];
+			dest->v[1] = trig16[1+c];
+			dest->v[2] = trig16[2-c];
+			dest ++;
+			source += desc.triangles.stride;
+		}
+	}
+	else
+	{
+		while (dest < pastLastDest)
+		{
+			const PxU32 * trig32 = reinterpret_cast<const PxU32*>(source);
+			dest->v[0] = trig32[0];
+			dest->v[1] = trig32[1+c];
+			dest->v[2] = trig32[2-c];
+			dest ++;
+			source += desc.triangles.stride;
+		}
+	}
+
+	//copy the material index list if any:
+	if(desc.materialIndices.data)
+	{
+		PxMaterialTableIndex* materials = mMeshData.allocateMaterials();
+		Cooking::gatherStrided(desc.materialIndices.data, materials, mMeshData.mNbTriangles, sizeof(PxMaterialTableIndex), desc.materialIndices.stride);
+
+		// Check material indices
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)	PX_ASSERT(materials[i]!=0xffff);
+	}
+
+	// Clean the mesh using ICE's MeshBuilder
+	// This fixes the bug in ConvexTest06 where the inertia tensor computation fails for a mesh => it works with a clean mesh
+
+	if (!(params.meshPreprocessParams & PxMeshPreprocessingFlag::eDISABLE_CLEAN_MESH) || validate)
+	{
+		if(!cleanMesh(validate, condition))
+		{
+			if(!validate)
+				Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "cleaning the mesh failed");
+			return false;
+		}
+	}
+	else
+	{
+		// we need to fill the remap table if no cleaning was done
+		if(params.suppressTriangleMeshRemapTable == false)
+		{
+			PX_ASSERT(mMeshData.mFaceRemap == NULL);
+			mMeshData.mFaceRemap = PX_NEW(PxU32)[mMeshData.mNbTriangles];
+			for (PxU32 i = 0; i < mMeshData.mNbTriangles; i++)
+				mMeshData.mFaceRemap[i] = i;
+		}
+	}
+	return true;
+}
+
+#if PX_VC
+#pragma warning(pop)
+#endif
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//#define PROFILE_BOUNDS
+#ifdef PROFILE_BOUNDS
+	#include <windows.h>
+	#pragma comment(lib, "winmm.lib")
+#endif
+
+void TriangleMeshBuilder::computeLocalBounds()
+{
+#ifdef PROFILE_BOUNDS
+	int time = timeGetTime();
+#endif
+
+	PxBounds3& localBounds = mMeshData.mAABB;
+	computeBoundsAroundVertices(localBounds, mMeshData.mNbVertices, mMeshData.mVertices);
+
+	// Derive a good geometric epsilon from local bounds. We must do this before bounds extrusion for heightfields.
+	//
+	// From Charles Bloom:
+	// "Epsilon must be big enough so that the consistency condition abs(D(Hit))
+	// <= Epsilon is satisfied for all queries. You want the smallest epsilon
+	// you can have that meets that constraint. Normal floats have a 24 bit
+	// mantissa. When you do any float addition, you may have round-off error
+	// that makes the result off by roughly 2^-24 * result. Our result is
+	// scaled by the position values. If our world is strictly required to be
+	// in a box of world size W (each coordinate in -W to W), then the maximum
+	// error is 2^-24 * W. Thus Epsilon must be at least >= 2^-24 * W. If
+	// you're doing coordinate transforms, that may scale your error up by some
+	// amount, so you'll need a bigger epsilon. In general something like
+	// 2^-22*W is reasonable. If you allow scaled transforms, it needs to be
+	// something like 2^-22*W*MAX_SCALE."
+	// PT: TODO: runtime checkings for this
+	PxReal geomEpsilon = 0.0f;
+	for (PxU32 i = 0; i < 3; i++)
+		geomEpsilon = PxMax(geomEpsilon, PxMax(PxAbs(localBounds.maximum[i]), PxAbs(localBounds.minimum[i])));
+	geomEpsilon *= powf(2.0f, -22.0f);
+	mMeshData.mGeomEpsilon = geomEpsilon;
+
+#ifdef PROFILE_BOUNDS
+	int deltaTime = timeGetTime() - time;
+	printf("Bounds time: %f\n", float(deltaTime)*0.001f);
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void TriangleMeshBuilder::checkMeshIndicesSize()
+{
+	Gu::TriangleMeshData& m = mMeshData;
+
+	// check if we can change indices from 32bits to 16bits
+	if(m.mNbVertices <= 0xffff && !m.has16BitIndices())
+	{
+		const PxU32 numTriangles = m.mNbTriangles;
+		PxU32* PX_RESTRICT indices32 = reinterpret_cast<PxU32*> (m.mTriangles);
+		
+		m.mTriangles = 0;					// force a realloc
+		m.allocateTriangles(numTriangles, false);
+		PX_ASSERT(m.has16BitIndices());		// realloc'ing without the force32bit flag changed it.
+
+		PxU16* PX_RESTRICT indices16 = reinterpret_cast<PxU16*> (m.mTriangles);
+		for (PxU32 i = 0; i < numTriangles*3; i++)
+			indices16[i] = Ps::to16(indices32[i]);
+
+		PX_FREE(indices32);
+
+		onMeshIndexFormatChange();
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+BV4TriangleMeshBuilder::BV4TriangleMeshBuilder(const PxCookingParams& params) : TriangleMeshBuilder(mData, params)
+{
+}
+
+BV4TriangleMeshBuilder::~BV4TriangleMeshBuilder()
+{
+}
+
+void BV4TriangleMeshBuilder::onMeshIndexFormatChange()
+{
+	IndTri32* triangles32 = NULL;
+	IndTri16* triangles16 = NULL;
+	if(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES)
+		triangles16 = reinterpret_cast<IndTri16*>(mMeshData.mTriangles);
+	else
+		triangles32 = reinterpret_cast<IndTri32*>(mMeshData.mTriangles);
+
+	mData.mMeshInterface.setPointers(triangles32, triangles16, mMeshData.mVertices);
+}
+
+void BV4TriangleMeshBuilder::createMidPhaseStructure()
+{
+	const float gBoxEpsilon = 2e-4f;
+//	const float gBoxEpsilon = 0.1f;
+	mData.mMeshInterface.initRemap();
+	mData.mMeshInterface.setNbVertices(mMeshData.mNbVertices);
+	mData.mMeshInterface.setNbTriangles(mMeshData.mNbTriangles);
+
+	IndTri32* triangles32 = NULL;
+	IndTri16* triangles16 = NULL;
+	if (mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES)
+	{
+		triangles16 = reinterpret_cast<IndTri16*>(mMeshData.mTriangles);
+	}
+	else
+	{
+		triangles32 = reinterpret_cast<IndTri32*>(mMeshData.mTriangles);
+	}
+
+	mData.mMeshInterface.setPointers(triangles32, triangles16, mMeshData.mVertices);
+
+	const PxU32 nbTrisPerLeaf = (mParams.midphaseDesc.getType() == PxMeshMidPhase::eBVH34) ? mParams.midphaseDesc.mBVH34Desc.numTrisPerLeaf : 4;
+
+	if(!BuildBV4Ex(mData.mBV4Tree, mData.mMeshInterface, gBoxEpsilon, nbTrisPerLeaf))
+	{
+		Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "BV4 tree failed to build.");
+		return;
+	}
+
+//	remapTopology(mData.mMeshInterface);
+
+	const PxU32* order = mData.mMeshInterface.getRemap();
+	if(mMeshData.mMaterialIndices)
+	{
+		PxMaterialTableIndex* newMat = PX_NEW(PxMaterialTableIndex)[mMeshData.mNbTriangles];
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+			newMat[i] = mMeshData.mMaterialIndices[order[i]];
+		PX_DELETE_POD(mMeshData.mMaterialIndices);
+		mMeshData.mMaterialIndices = newMat;
+	}
+
+	if (!mParams.suppressTriangleMeshRemapTable || mParams.buildGPUData)
+	{
+		PxU32* newMap = PX_NEW(PxU32)[mMeshData.mNbTriangles];
+		for(PxU32 i=0;i<mMeshData.mNbTriangles;i++)
+			newMap[i] = mMeshData.mFaceRemap ? mMeshData.mFaceRemap[order[i]] : order[i];
+		PX_DELETE_POD(mMeshData.mFaceRemap);
+		mMeshData.mFaceRemap = newMap;
+	}
+	mData.mMeshInterface.releaseRemap();
+}
+
+void BV4TriangleMeshBuilder::saveMidPhaseStructure(PxOutputStream& stream) const
+{
+	const PxU32 version = 1;
+
+	const bool mismatch = (littleEndian() == 1);
+	writeChunk('B', 'V', '4', ' ', stream);
+	writeDword(version, mismatch, stream);
+
+	writeFloat(mData.mBV4Tree.mLocalBounds.mCenter.x, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mLocalBounds.mCenter.y, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mLocalBounds.mCenter.z, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mLocalBounds.mExtentsMagnitude, mismatch, stream);
+
+	writeDword(mData.mBV4Tree.mInitData, mismatch, stream);
+#ifdef GU_BV4_QUANTIZED_TREE
+	writeFloat(mData.mBV4Tree.mCenterOrMinCoeff.x, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mCenterOrMinCoeff.y, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mCenterOrMinCoeff.z, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mExtentsOrMaxCoeff.x, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mExtentsOrMaxCoeff.y, mismatch, stream);
+	writeFloat(mData.mBV4Tree.mExtentsOrMaxCoeff.z, mismatch, stream);
+#endif
+	writeDword(mData.mBV4Tree.mNbNodes, mismatch, stream);
+	for(PxU32 i=0;i<mData.mBV4Tree.mNbNodes;i++)
+	{
+		const BVDataPacked& node = mData.mBV4Tree.mNodes[i];
+#ifdef GU_BV4_QUANTIZED_TREE
+		writeWordBuffer(&node.mAABB.mData[0].mExtents, 6, mismatch, stream);
+#else
+		writeFloatBuffer(&node.mAABB.mCenter.x, 6, mismatch, stream);
+#endif
+		writeDword(node.mData, mismatch, stream);
+	}
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BV32TriangleMeshBuilder::createMidPhaseStructure(const PxCookingParams& params, Gu::TriangleMeshData&	meshData, Gu::BV32Tree& bv32Tree)
+{
+	const float gBoxEpsilon = 2e-4f;
+
+	Gu::SourceMesh	meshInterface;
+	//	const float gBoxEpsilon = 0.1f;
+	meshInterface.initRemap();
+	meshInterface.setNbVertices(meshData.mNbVertices);
+	meshInterface.setNbTriangles(meshData.mNbTriangles);
+
+	PX_ASSERT(!(meshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES));
+
+	IndTri32* triangles32 = reinterpret_cast<IndTri32*>(meshData.mGRB_triIndices);
+
+	meshInterface.setPointers(triangles32, NULL, meshData.mVertices);
+
+	PxU32 nbTrisPerLeaf = 32;
+
+	if (!BuildBV32Ex(bv32Tree, meshInterface, gBoxEpsilon, nbTrisPerLeaf))
+	{
+		Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "BV32 tree failed to build.");
+		return;
+	}
+
+	const PxU32* order = meshInterface.getRemap();
+
+	if (!params.suppressTriangleMeshRemapTable || params.buildGPUData)
+	{
+		PxU32* newMap = PX_NEW(PxU32)[meshData.mNbTriangles];
+		for (PxU32 i = 0; i<meshData.mNbTriangles; i++)
+			newMap[i] = meshData.mGRB_faceRemap ? meshData.mGRB_faceRemap[order[i]] : order[i];
+		PX_DELETE_POD(meshData.mGRB_faceRemap);
+		meshData.mGRB_faceRemap = newMap;
+	}
+	
+	meshInterface.releaseRemap();
+
+}
+
+void BV32TriangleMeshBuilder::saveMidPhaseStructure(Gu::BV32Tree* bv32Tree, PxOutputStream& stream)
+{
+	const PxU32 version = 1;
+
+	const bool mismatch = (littleEndian() == 1);
+	writeChunk('B', 'V', '3', '2', stream);
+	writeDword(version, mismatch, stream);
+
+	writeFloat(bv32Tree->mLocalBounds.mCenter.x, mismatch, stream);
+	writeFloat(bv32Tree->mLocalBounds.mCenter.y, mismatch, stream);
+	writeFloat(bv32Tree->mLocalBounds.mCenter.z, mismatch, stream);
+	writeFloat(bv32Tree->mLocalBounds.mExtentsMagnitude, mismatch, stream);
+
+	writeDword(bv32Tree->mInitData, mismatch, stream);
+
+	writeDword(bv32Tree->mNbPackedNodes, mismatch, stream);
+
+	PX_ASSERT(bv32Tree->mNbPackedNodes > 0);
+	for (PxU32 i = 0; i < bv32Tree->mNbPackedNodes; ++i)
+	{
+		BV32DataPacked& node = bv32Tree->mPackedNodes[i];
+
+		const PxU32 nbElements = node.mNbNodes * 4;
+		writeDword(node.mNbNodes, mismatch, stream);
+		WriteDwordBuffer(node.mData, node.mNbNodes, mismatch, stream);
+		writeFloatBuffer(&node.mCenter[0].x, nbElements, mismatch, stream);
+		writeFloatBuffer(&node.mExtents[0].x, nbElements, mismatch, stream);
+		
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+RTreeTriangleMeshBuilder::RTreeTriangleMeshBuilder(const PxCookingParams& params) : TriangleMeshBuilder(mData, params)
+{
+}
+
+RTreeTriangleMeshBuilder::~RTreeTriangleMeshBuilder()
+{
+}
+
+struct RTreeCookerRemap : RTreeCooker::RemapCallback 
+{
+	PxU32 mNbTris;
+	RTreeCookerRemap(PxU32 numTris) : mNbTris(numTris)
+	{
+	}
+
+	virtual void remap(PxU32* val, PxU32 start, PxU32 leafCount)
+	{
+		PX_ASSERT(leafCount > 0);
+		PX_ASSERT(leafCount <= 16); // sanity check
+		PX_ASSERT(start < mNbTris);
+		PX_ASSERT(start+leafCount <= mNbTris);
+		PX_ASSERT(val);
+		LeafTriangles lt;
+		// here we remap from ordered leaf index in the rtree to index in post-remap in triangles
+		// this post-remap will happen later
+		lt.SetData(leafCount, start);
+		*val = lt.Data;
+	}
+};
+
+void RTreeTriangleMeshBuilder::createMidPhaseStructure()
+{
+	const PxReal meshSizePerformanceTradeOff = (mParams.midphaseDesc.getType() == PxMeshMidPhase::eINVALID) ?
+		mParams.meshSizePerformanceTradeOff : mParams.midphaseDesc.mBVH33Desc.meshSizePerformanceTradeOff;
+	const PxMeshCookingHint::Enum meshCookingHint = (mParams.midphaseDesc.getType() == PxMeshMidPhase::eINVALID) ?
+		mParams.meshCookingHint : mParams.midphaseDesc.mBVH33Desc.meshCookingHint;
+
+	Array<PxU32> resultPermute;
+	RTreeCookerRemap rc(mMeshData.mNbTriangles);
+	RTreeCooker::buildFromTriangles(
+		mData.mRTree,
+		mMeshData.mVertices, mMeshData.mNbVertices,
+		(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES) ? reinterpret_cast<PxU16*>(mMeshData.mTriangles) : NULL,
+		!(mMeshData.mFlags & PxTriangleMeshFlag::e16_BIT_INDICES) ? reinterpret_cast<PxU32*>(mMeshData.mTriangles) : NULL,
+		mMeshData.mNbTriangles, resultPermute, &rc, meshSizePerformanceTradeOff, meshCookingHint);
+
+	PX_ASSERT(resultPermute.size() == mMeshData.mNbTriangles);
+
+	remapTopology(resultPermute.begin());
+}
+
+static void saveRTreeData(PxOutputStream& stream, const RTree& d)
+{
+	// save the RTree root structure followed immediately by RTreePage pages to an output stream
+	const bool mismatch = (littleEndian() == 1);
+	writeChunk('R', 'T', 'R', 'E', stream);
+	writeDword(RTREE_COOK_VERSION, mismatch, stream);
+	writeFloatBuffer(&d.mBoundsMin.x, 4, mismatch, stream);
+	writeFloatBuffer(&d.mBoundsMax.x, 4, mismatch, stream);
+	writeFloatBuffer(&d.mInvDiagonal.x, 4, mismatch, stream);
+	writeFloatBuffer(&d.mDiagonalScaler.x, 4, mismatch, stream);
+	writeDword(d.mPageSize, mismatch, stream);
+	writeDword(d.mNumRootPages, mismatch, stream);
+	writeDword(d.mNumLevels, mismatch, stream);
+	writeDword(d.mTotalNodes, mismatch, stream);
+	writeDword(d.mTotalPages, mismatch, stream);
+	PxU32 unused = 0; writeDword(unused, mismatch, stream); // backwards compatibility
+	for (PxU32 j = 0; j < d.mTotalPages; j++)
+	{
+		writeFloatBuffer(d.mPages[j].minx, RTREE_N, mismatch, stream);
+		writeFloatBuffer(d.mPages[j].miny, RTREE_N, mismatch, stream);
+		writeFloatBuffer(d.mPages[j].minz, RTREE_N, mismatch, stream);
+		writeFloatBuffer(d.mPages[j].maxx, RTREE_N, mismatch, stream);
+		writeFloatBuffer(d.mPages[j].maxy, RTREE_N, mismatch, stream);
+		writeFloatBuffer(d.mPages[j].maxz, RTREE_N, mismatch, stream);
+		WriteDwordBuffer(d.mPages[j].ptrs, RTREE_N, mismatch, stream);
+	}
+}
+
+void RTreeTriangleMeshBuilder::saveMidPhaseStructure(PxOutputStream& stream) const
+{
+	// Export RTree
+	saveRTreeData(stream, mData.mRTree);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}