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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.
#include "RTdef.h"
#if RT_COMPILE
#ifndef CONVEX_BASE
#define CONVEX_BASE
#include <PxPhysics.h>
#include <PxCooking.h>
#include <foundation/PxVec3.h>
#include <foundation/PxPlane.h>
#include <foundation/PxBounds3.h>
#include <foundation/PxTransform.h>
#include <PsArray.h>
#include <PsUserAllocated.h>
namespace physx
{
namespace fracture
{
namespace base
{
class physx::PxShape;
class physx::PxActor;
class physx::PxScene;
class physx::PxConvexMesh;
class Compound;
class CompoundGeometry;
class SimScene;
// ----------------------------------------------------------------------------
class Convex : public ::physx::shdfnd::UserAllocated
{
friend class SimScene;
protected:
Convex(SimScene* scene);
public:
virtual ~Convex();
void createFromConvex(const Convex *convex, const PxTransform *trans = NULL, int matID = 0, int surfMatID = 0);
void createFromGeometry(const CompoundGeometry &geom, int convexNr, const PxMat44 *trans = NULL, int matID = 0, int surfMatID = 0);
//bool createFromXml(XMLParser *p, float scale, bool ignoreVisualMesh = false);
void transform(const PxMat44 &trans);
PxVec3 centerAtZero();
PxVec3 getCenter() const;
void setTexScale(float texScale) { mTexScale = texScale; }
void increaseRefCounter() { mRefCounter++; }
int decreaseRefCounter() { mRefCounter--; return mRefCounter; }
bool rayCast(const PxVec3 &ray, const PxVec3 &dir, float &dist, PxVec3 &normal) const;
bool collide(const PxVec3 &pos, float r, float &penetration, PxVec3 &surfaceNormal, PxVec3 &surfaceVel) const;
void intersectWithConvex(const PxPlane *planes, int numPlanes, const PxMat44 &trans, bool &empty);
virtual void draw(bool /*debug*/ = false) {}
PxConvexMesh* createPxConvexMesh(Compound *parent, PxPhysics *pxPhysics, PxCooking *pxCooking);
void setPxActor(PxRigidActor *actor);
void setLocalPose(const PxTransform &pose);
// accessors
Compound *getParent() { return mParent; }
const Compound *getParent() const { return mParent; }
const PxConvexMesh *getPxConvexMesh() const { return mPxConvexMesh; }
PxConvexMesh *getPxConvexMesh() { return mPxConvexMesh; }
const shdfnd::Array<PxPlane> &getPlanes() const { return mPlanes; };
const PxBounds3 &getBounds() const { return mBounds; }
void getWorldBounds(PxBounds3 &bounds) const;
void getLocalBounds(PxBounds3 &bounds) const;
float getVolume() const;
void removeInvisibleFacesFlags();
void updateFaceVisibility(const float *faceCoverage);
void clearFraceFlags(unsigned int flag);
struct Face {
void init() {
firstIndex = 0; numIndices = 0; flags = 0; firstNormal = 0;
}
int firstIndex;
int numIndices;
int flags;
int firstNormal;
};
const shdfnd::Array<Face> &getFaces() const { return mFaces; }
const shdfnd::Array<int> &getIndices() const { return mIndices; }
const shdfnd::Array<PxVec3> &getVertices() const { return mVertices; }
const shdfnd::Array<PxVec3> &getVisVertices() const { return mVisVertices; }
const shdfnd::Array<PxVec3> &getVisNormals() const { return mVisNormals; }
const shdfnd::Array<PxVec3> &getVisTangents() const { return mVisTangents; }
const shdfnd::Array<float> &getVisTexCoords() const { return mVisTexCoords; }
const shdfnd::Array<int> &getVisTriIndices() const { return mVisTriIndices; }
const shdfnd::Array<int> &getVisPolyStarts() const { return mVisPolyStarts; }
const shdfnd::Array<int> &getVisPolyIndices() const { return mVisPolyIndices; }
const shdfnd::Array<int> &getVisPolyNeighbors() const { return mVisPolyNeighbors; }
PxVec3 getMaterialOffset() const { return mMaterialOffset; }
void setMaterialOffset(const PxVec3 &offset);
PxTransform getGlobalPose() const;
PxTransform getLocalPose() const;
bool isGhostConvex() const { return mIsGhostConvex; }
// explicit visual mesh
bool hasExplicitVisMesh() const { return mHasExplicitVisMesh; }
bool setExplicitVisMeshFromTriangles(int numVertices, const PxVec3 *vertices, const PxVec3 *normals, const PxVec2 *texcoords,
int numIndices, const PxU32 *indices, PxTransform *trans = NULL, const PxVec3* scale = NULL);
bool setExplicitVisMeshFromPolygons(int numVertices, const PxVec3 *vertices, const PxVec3 *normals,
const PxVec3 *tangents, const float *texCoords,
int numPolygons, const int *polyStarts, // numPolygons+1 entries
int numIndices, const int *indices, PxTransform *trans = NULL, const PxVec3* scale = NULL);
void createVisTrisFromPolys();
void createVisMeshFromConvex();
void transformVisualMesh(const PxTransform &trans);
bool insideVisualMesh(const PxVec3 &pos) const;
void fitToVisualMesh(bool &cutEmpty, int numFitDirections = 3);
bool isOnConvexSurface(const PxVec3 pts) const;
bool check();
PxActor* getActor();
bool insideFattened(const PxVec3 &pos, float r) const;
bool use2dTexture() const { return mUse2dTexture; }
bool isIndestructible() const { return mIndestructible; }
int getMaterialId() const { return mMaterialId; }
int getSurfaceMaterialId() const { return mSurfaceMaterialId; }
void setSurfaceMaterialId(int id) { mSurfaceMaterialId = id; }
void setModelIslandNr(int nr) { mModelIslandNr = nr; }
int getModelIslandNr() const { return mModelIslandNr; }
void setConvexRendererInfo(int groupNr, int groupPos) const { mConvexRendererGroupNr = groupNr; mConvexRendererGroupPos = groupPos; }
int getConvexRendererGroupNr() const { return mConvexRendererGroupNr; }
int getConvexRendererGroupPos() const { return mConvexRendererGroupPos; }
void setIsFarConvex(bool v) { mIsFarConvex = v; }
bool getIsFarConvex() { return mIsFarConvex; }
protected:
void clear();
void finalize();
void updateBounds();
void updatePlanes();
bool computeVisMeshNeighbors();
void computeVisTangentsFromPoly();
bool cutVisMesh(const PxVec3 &localPlaneN, float localPlaneD, bool &cutEmpty);
bool cut(const PxVec3 &localPlaneN, float localPlaneD, bool &cutEmpty, bool setNewFaceFlag = true);
bool rayCastConvex(const PxVec3 &orig, const PxVec3 &dir, float &dist, PxVec3 &normal) const;
bool rayCastVisMesh(const PxVec3 &orig, const PxVec3 &dir, float &dist, PxVec3 &normal) const;
SimScene* mScene;
shdfnd::Array<Face> mFaces;
shdfnd::Array<int> mIndices;
shdfnd::Array<PxVec3> mVertices;
shdfnd::Array<PxVec3> mNormals;
shdfnd::Array<PxPlane> mPlanes;
shdfnd::Array<PxVec3> mVisVertices;
shdfnd::Array<PxVec3> mVisNormals;
shdfnd::Array<PxVec3> mVisTangents;
shdfnd::Array<float> mVisTexCoords;
shdfnd::Array<int> mVisTriIndices;
int mRefCounter;
bool mHasExplicitVisMesh;
bool mIsGhostConvex;
shdfnd::Array<int> mVisPolyStarts; // for explicit mesh only
shdfnd::Array<int> mVisPolyIndices;
shdfnd::Array<int> mVisPolyNeighbors;
Convex *mNewConvex; // temporary buffer for cut operations
Compound *mParent;
PxRigidActor *mPxActor;
PxTransform mLocalPose;
PxConvexMesh *mPxConvexMesh;
PxBounds3 mBounds;
mutable float mVolume;
mutable bool mVolumeDirty;
PxVec3 mMaterialOffset;
float mTexScale;
int mModelIslandNr;
// material
bool mUse2dTexture;
bool mIndestructible;
int mMaterialId;
int mSurfaceMaterialId;
bool mIsFarConvex;
mutable int mConvexRendererGroupNr;
mutable int mConvexRendererGroupPos;
};
}
}
}
#endif
#endif
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