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IN NO EVENT SHALL THE COPYRIGHT OWNER OR // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // // Copyright (c) 2008-2018 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 GU_CONVEX_MESH_DATA_H #define GU_CONVEX_MESH_DATA_H #include "foundation/PxPlane.h" #include "PsIntrinsics.h" #include "GuSerialize.h" #include "GuCenterExtents.h" #include "foundation/PxBitAndData.h" // Data definition namespace physx { namespace Gu { struct BigConvexRawData; struct HullPolygonData { //= ATTENTION! ===================================================================================== // Changing the data layout of this class breaks the binary serialization format. See comments for // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION // accordingly. //================================================================================================== // PT: this structure won't be allocated with PX_NEW because polygons aren't allocated alone (with a dedicated alloc). // Instead they are part of a unique allocation/buffer containing all data for the ConvexHullData class (polygons, followed by // hull vertices, edge data, etc). As a result, ctors for embedded classes like PxPlane won't be called. PxPlane mPlane; //!< Plane equation for this polygon //Could drop 4th elem as it can be computed from any vertex as: d = - p.dot(n); 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) PxU8 mNbVerts; //!< Number of vertices/edges in the polygon PxU8 mMinIndex; //!< Index of the polygon vertex that has minimal projection along this plane's normal. PX_FORCE_INLINE PxReal getMin(const PxVec3* PX_RESTRICT hullVertices) const //minimum of projection of the hull along this plane normal { return mPlane.n.dot(hullVertices[mMinIndex]); } PX_FORCE_INLINE PxReal getMax() const { return -mPlane.d; } //maximum of projection of the hull along this plane normal }; PX_FORCE_INLINE void flipData(Gu::HullPolygonData& data) { flip(data.mPlane.n.x); flip(data.mPlane.n.y); flip(data.mPlane.n.z); flip(data.mPlane.d); flip(data.mVRef8); } // PT: if this one breaks, please make sure the 'flipData' function is properly updated. PX_COMPILE_TIME_ASSERT(sizeof(Gu::HullPolygonData) == 20); // TEST_INTERNAL_OBJECTS struct InternalObjectsData { //= ATTENTION! ===================================================================================== // Changing the data layout of this class breaks the binary serialization format. See comments for // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION // accordingly. //================================================================================================== PxReal mRadius; PxReal mExtents[3]; PX_FORCE_INLINE void reset() { mRadius = 0.0f; mExtents[0] = 0.0f; mExtents[1] = 0.0f; mExtents[2] = 0.0f; } }; PX_COMPILE_TIME_ASSERT(sizeof(Gu::InternalObjectsData) == 16); //~TEST_INTERNAL_OBJECTS struct ConvexHullData { //= ATTENTION! ===================================================================================== // Changing the data layout of this class breaks the binary serialization format. See comments for // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION // accordingly. //================================================================================================== // PT: WARNING: bounds must be followed by at least 32bits of data for safe SIMD loading CenterExtents mAABB; //!< bounds TODO: compute this on the fly from first 6 vertices in the vertex array. We'll of course need to sort the most extreme ones to the front. PxVec3 mCenterOfMass; //in local space of mesh! // PT: WARNING: mNbHullVertices *must* appear before mBigConvexRawData for ConvX to be able to do "big raw data" surgery PxBitAndWord mNbEdges; //!(mAABB); } PX_FORCE_INLINE const PxVec3* getHullVertices() const //!< Convex hull vertices { const char* tmp = reinterpret_cast(mPolygons); tmp += sizeof(Gu::HullPolygonData) * mNbPolygons; return reinterpret_cast(tmp); } PX_FORCE_INLINE const PxU8* getFacesByEdges8() const //!< for each edge, gives 2 adjacent polygons; used by convex-convex code to come up with all the convex' edge normals. { const char* tmp = reinterpret_cast(mPolygons); tmp += sizeof(Gu::HullPolygonData) * mNbPolygons; tmp += sizeof(PxVec3) * mNbHullVertices; return reinterpret_cast(tmp); } PX_FORCE_INLINE const PxU8* getFacesByVertices8() const //!< for each edge, gives 2 adjacent polygons; used by convex-convex code to come up with all the convex' edge normals. { const char* tmp = reinterpret_cast(mPolygons); tmp += sizeof(Gu::HullPolygonData) * mNbPolygons; tmp += sizeof(PxVec3) * mNbHullVertices; tmp += sizeof(PxU8) * mNbEdges * 2; return reinterpret_cast(tmp); } //If we don't build the convex hull with grb data, we will return NULL pointer PX_FORCE_INLINE const PxU16* getVerticesByEdges16() const //!< Vertex indices indexed by unique edges { if (mNbEdges.isBitSet()) { const char* tmp = reinterpret_cast(mPolygons); tmp += sizeof(Gu::HullPolygonData) * mNbPolygons; tmp += sizeof(PxVec3) * mNbHullVertices; tmp += sizeof(PxU8) * mNbEdges * 2; tmp += sizeof(PxU8) * mNbHullVertices * 3; return reinterpret_cast(tmp); } return NULL; } PX_FORCE_INLINE const PxU8* getVertexData8() const //!< Vertex indices indexed by hull polygons { const char* tmp = reinterpret_cast(mPolygons); tmp += sizeof(Gu::HullPolygonData) * mNbPolygons; tmp += sizeof(PxVec3) * mNbHullVertices; tmp += sizeof(PxU8) * mNbEdges * 2; tmp += sizeof(PxU8) * mNbHullVertices * 3; if (mNbEdges.isBitSet()) tmp += sizeof(PxU16) * mNbEdges * 2; return reinterpret_cast(tmp); } }; #if PX_P64_FAMILY PX_COMPILE_TIME_ASSERT(sizeof(Gu::ConvexHullData) == 72); #else PX_COMPILE_TIME_ASSERT(sizeof(Gu::ConvexHullData) == 64); #endif // PT: 'getPaddedBounds()' is only safe if we make sure the bounds member is followed by at least 32bits of data PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(Gu::ConvexHullData, mCenterOfMass)>=PX_OFFSET_OF(Gu::ConvexHullData, mAABB)+4); } // namespace Gu } //#pragma PX_POP_PACK #endif