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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) 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 PX_PHYSICS_NX_CONVEXMESH_GEOMETRY
#define PX_PHYSICS_NX_CONVEXMESH_GEOMETRY
/** \addtogroup geomutils
@{
*/
#include "geometry/PxGeometry.h"
#include "geometry/PxMeshScale.h"
#include "common/PxCoreUtilityTypes.h"
#include "geometry/PxConvexMesh.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxConvexMesh;
/**
\brief Flags controlling the simulated behavior of the convex mesh geometry.
Used in ::PxConvexMeshGeometryFlags.
*/
struct PxConvexMeshGeometryFlag
{
enum Enum
{
eTIGHT_BOUNDS = (1<<0) //!< Use tighter (but more expensive to compute) bounds around the convex geometry.
};
};
/**
\brief collection of set bits defined in PxConvexMeshGeometryFlag.
@see PxConvexMeshGeometryFlag
*/
typedef PxFlags<PxConvexMeshGeometryFlag::Enum,PxU8> PxConvexMeshGeometryFlags;
PX_FLAGS_OPERATORS(PxConvexMeshGeometryFlag::Enum,PxU8)
/**
\brief Convex mesh geometry class.
This class unifies a convex mesh object with a scaling transform, and
lets the combined object be used anywhere a PxGeometry is needed.
The scaling is a transform along arbitrary axes contained in the scale object.
The vertices of the mesh in geometry (or shape) space is the
PxMeshScale::toMat33() transform, multiplied by the vertex space vertices
in the PxConvexMesh object.
*/
class PxConvexMeshGeometry : public PxGeometry
{
public:
/**
\brief Default constructor.
Creates an empty object with a NULL mesh and identity scale.
*/
PX_INLINE PxConvexMeshGeometry() :
PxGeometry (PxGeometryType::eCONVEXMESH),
scale (PxMeshScale(1.0f)),
convexMesh (NULL),
maxMargin (3.4e38f)
{}
/**
\brief Constructor.
\param[in] mesh Mesh pointer. May be NULL, though this will not make the object valid for shape construction.
\param[in] scaling Scale factor.
\param[in] flags Mesh flags.
\param[in] margin The maximum margin. Used to limit how much PCM shrinks the geometry by in collision detection.
\
*/
PX_INLINE PxConvexMeshGeometry( PxConvexMesh* mesh,
const PxMeshScale& scaling = PxMeshScale(),
PxConvexMeshGeometryFlags flags = PxConvexMeshGeometryFlags(),
float margin = 3.4e38f) :
PxGeometry (PxGeometryType::eCONVEXMESH),
scale (scaling),
convexMesh (mesh),
maxMargin (margin),
meshFlags(flags)
{
}
/**
\brief Returns true if the geometry is valid.
\return True if the current settings are valid for shape creation.
\note A valid convex mesh has a positive scale value in each direction (scale.x > 0, scale.y > 0, scale.z > 0).
It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a convex that has zero extent in any direction.
@see PxRigidActor::createShape, PxPhysics::createShape
*/
PX_INLINE bool isValid() const;
public:
PxMeshScale scale; //!< The scaling transformation (from vertex space to shape space).
PxConvexMesh* convexMesh; //!< A reference to the convex mesh object.
PxReal maxMargin; //!< Max shrunk amount permitted by PCM contact gen
PxConvexMeshGeometryFlags meshFlags; //!< Mesh flags.
PxPadding<3> paddingFromFlags; //!< padding for mesh flags
};
PX_INLINE bool PxConvexMeshGeometry::isValid() const
{
if(mType != PxGeometryType::eCONVEXMESH)
return false;
if(!scale.scale.isFinite() || !scale.rotation.isUnit())
return false;
if(!scale.isValidForConvexMesh())
return false;
if(!convexMesh)
return false;
if (maxMargin < 0.0f)
return false;
return true;
}
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif
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