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diff --git a/PhysX_3.4/Source/PhysXCooking/src/convex/InflationConvexHullLib.h b/PhysX_3.4/Source/PhysXCooking/src/convex/InflationConvexHullLib.h new file mode 100644 index 00000000..8369691f --- /dev/null +++ b/PhysX_3.4/Source/PhysXCooking/src/convex/InflationConvexHullLib.h @@ -0,0 +1,133 @@ +// 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_INFLATION_CONVEXHULLLIB_H +#define PX_INFLATION_CONVEXHULLLIB_H + +#include "ConvexHullLib.h" +#include "Ps.h" +#include "PsArray.h" +#include "PsUserAllocated.h" + +namespace local +{ + class HullTriangles; +} + +namespace physx +{ + class ConvexHull; + + ////////////////////////////////////////////////////////////////////////// + // internal hull lib results + struct ConvexHullLibResult + { + // return code + enum ErrorCode + { + eSUCCESS = 0, // success! + eFAILURE, // failed. + eVERTEX_LIMIT_REACHED, // vertex limit reached fallback. + eZERO_AREA_TEST_FAILED// area test failed - failed to create simplex + }; + + PxU32 mVcount; + PxU32 mIndexCount; + PxU32 mPolygonCount; + PxVec3* mVertices; + PxU32* mIndices; + PxHullPolygon* mPolygons; + + + ConvexHullLibResult() + : mVcount(0), mIndexCount(0), mPolygonCount(0), + mVertices(NULL), mIndices(NULL), mPolygons(NULL) + { + } + }; + + ////////////////////////////////////////////////////////////////////////// + // inflation based hull library. Using the legacy Stan hull lib with inflation + // We construct the hull using incremental method and then inflate the resulting planes + // by specified skinWidth. We take the planes and crop AABB with them to construct + // the final hull. This method may reduce the number of polygons significantly + // in case of lot of vertices are used. On the other hand, we produce new vertices + // and enlarge the original hull constructed from the given input points. + // Generally speaking, the increase of vertices is usually too big, so it is not worthy + // to use this algorithm to reduce the number of polygons. This method is also very unprecise + // and may produce invalid hulls. It is recommended to use the new quickhull library. + class InflationConvexHullLib: public ConvexHullLib, public Ps::UserAllocated + { + PX_NOCOPY(InflationConvexHullLib) + public: + + // functions + InflationConvexHullLib(const PxConvexMeshDesc& desc, const PxCookingParams& params); + + ~InflationConvexHullLib(); + + // computes the convex hull from provided points + virtual PxConvexMeshCookingResult::Enum createConvexHull(); + + // fills the convexmeshdesc with computed hull data + virtual void fillConvexMeshDesc(PxConvexMeshDesc& desc); + + protected: + // internal + + // compute the hull + ConvexHullLibResult::ErrorCode computeHull(PxU32 vertsCount, const PxVec3* verts); + + // computes the hull + ConvexHullLibResult::ErrorCode calchull(const PxVec3* verts, PxU32 verts_count, ConvexHull*& hullOut); + + // computes the actual hull using the incremental algorithm + ConvexHullLibResult::ErrorCode calchullgen(const PxVec3* verts, PxU32 verts_count, local::HullTriangles& triangles); + + // calculates the hull planes from the triangles + bool calchullplanes(const PxVec3* verts, local::HullTriangles& triangles, Ps::Array<PxPlane>& planes); + + // construct the hull from given planes - create new verts + bool overhull(const PxVec3* verts, PxU32 vertsCount,const Ps::Array<PxPlane>& planes, ConvexHull*& hullOut); + + // expand the hull with the limited triangles set + ConvexHullLibResult::ErrorCode expandHull(const PxVec3* verts, PxU32 vertsCount, const local::HullTriangles& triangles, ConvexHull*& hullOut); + + // expand the hull with the limited triangles set + ConvexHullLibResult::ErrorCode expandHullOBB(const PxVec3* verts, PxU32 vertsCount, const local::HullTriangles& triangles, ConvexHull*& hullOut); + + private: + bool mFinished; + ConvexHullLibResult mHullResult; + float mTolerance; + float mPlaneTolerance; + }; +} + +#endif |