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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. 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) 2018 NVIDIA Corporation. All rights reserved.
#ifndef APEX_CSG_HULL_H
#define APEX_CSG_HULL_H
#include "ApexUsingNamespace.h"
#include "authoring/ApexCSGMath.h"
#include "PsArray.h"
#include "PxFileBuf.h"
#ifndef WITHOUT_APEX_AUTHORING
namespace ApexCSG
{
/* Convex hull that handles unbounded sets. */
class Hull
{
public:
struct Edge
{
uint32_t m_indexV0;
uint32_t m_indexV1;
uint32_t m_indexF1;
uint32_t m_indexF2;
};
struct EdgeType
{
enum Enum
{
LineSegment,
Ray,
Line
};
};
PX_INLINE Hull()
{
setToAllSpace();
}
PX_INLINE Hull(const Hull& geom)
{
*this = geom;
}
PX_INLINE void setToAllSpace()
{
clear();
allSpace = true;
}
PX_INLINE void setToEmptySet()
{
clear();
emptySet = true;
}
void intersect(const Plane& plane, Real distanceTol);
PX_INLINE void transform(const Mat4Real& tm, const Mat4Real& cofTM);
PX_INLINE uint32_t getFaceCount() const
{
return faces.size();
}
PX_INLINE const Plane& getFace(uint32_t faceIndex) const
{
return faces[faceIndex];
}
PX_INLINE uint32_t getEdgeCount() const
{
return edges.size();
}
PX_INLINE const Edge& getEdge(uint32_t edgeIndex) const
{
return edges[edgeIndex];
}
PX_INLINE uint32_t getVertexCount() const
{
return vertexCount;
}
PX_INLINE const Pos& getVertex(uint32_t vertexIndex) const
{
return *(const Pos*)(vectors.begin() + vertexIndex);
}
PX_INLINE bool isEmptySet() const
{
return emptySet;
}
PX_INLINE bool isAllSpace() const
{
return allSpace;
}
Real calculateVolume() const;
// Edge accessors
PX_INLINE EdgeType::Enum getType(const Edge& edge) const
{
return (EdgeType::Enum)((uint32_t)(edge.m_indexV0 >= vertexCount) + (uint32_t)(edge.m_indexV1 >= vertexCount));
}
PX_INLINE const Pos& getV0(const Edge& edge) const
{
return *(Pos*)(vectors.begin() + edge.m_indexV0);
}
PX_INLINE const Pos& getV1(const Edge& edge) const
{
return *(Pos*)(vectors.begin() + edge.m_indexV1);
}
PX_INLINE const Dir& getDir(const Edge& edge) const
{
PX_ASSERT(edge.m_indexV1 >= vertexCount);
return *(Dir*)(vectors.begin() + edge.m_indexV1);
}
PX_INLINE uint32_t getF1(const Edge& edge) const
{
return edge.m_indexF1;
}
PX_INLINE uint32_t getF2(const Edge& edge) const
{
return edge.m_indexF2;
}
// Serialization
void serialize(physx::PxFileBuf& stream) const;
void deserialize(physx::PxFileBuf& stream, uint32_t version);
protected:
PX_INLINE void clear();
bool testConsistency(Real distanceTol, Real angleTol) const;
// Faces
physx::Array<Plane> faces;
physx::Array<Edge> edges;
physx::Array<Vec4Real> vectors;
uint32_t vertexCount; // vectors[i], i >= vertexCount, are used to store vectors for ray and line edges
bool allSpace;
bool emptySet;
};
PX_INLINE void
Hull::transform(const Mat4Real& tm, const Mat4Real& cofTM)
{
for (uint32_t i = 0; i < faces.size(); ++i)
{
Plane& face = faces[i];
face = cofTM * face;
face.normalize();
}
for (uint32_t i = 0; i < vectors.size(); ++i)
{
Vec4Real& vector = vectors[i];
vector = tm * vector;
}
}
PX_INLINE void
Hull::clear()
{
vectors.reset();
edges.reset();
faces.reset();
vertexCount = 0;
allSpace = false;
emptySet = false;
}
}; // namespace ApexCSG
#endif
#endif // #define APEX_CSG_HULL_H
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