1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
//
// 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_COLLISION_NXHEIGHTFIELDDESC
#define PX_COLLISION_NXHEIGHTFIELDDESC
/** \addtogroup geomutils
@{
*/
#include "foundation/PxBounds3.h"
#include "common/PxPhysXCommonConfig.h"
#include "geometry/PxHeightFieldFlag.h"
#include "common/PxCoreUtilityTypes.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Descriptor class for #PxHeightField.
\note The heightfield data is *copied* when a PxHeightField object is created from this descriptor. After the call the
user may discard the height data.
@see PxHeightField PxHeightFieldGeometry PxShape PxPhysics.createHeightField() PxCooking.createHeightField()
*/
class PxHeightFieldDesc
{
public:
/**
\brief Number of sample rows in the height field samples array.
\note Local space X-axis corresponds to rows.
<b>Range:</b> >1<br>
<b>Default:</b> 0
*/
PxU32 nbRows;
/**
\brief Number of sample columns in the height field samples array.
\note Local space Z-axis corresponds to columns.
<b>Range:</b> >1<br>
<b>Default:</b> 0
*/
PxU32 nbColumns;
/**
\brief Format of the sample data.
Currently the only supported format is PxHeightFieldFormat::eS16_TM:
<b>Default:</b> PxHeightFieldFormat::eS16_TM
@see PxHeightFormat PxHeightFieldDesc.samples
*/
PxHeightFieldFormat::Enum format;
/**
\brief The samples array.
It is copied to the SDK's storage at creation time.
There are nbRows * nbColumn samples in the array,
which define nbRows * nbColumn vertices and cells,
of which (nbRows - 1) * (nbColumns - 1) cells are actually used.
The array index of sample(row, column) = row * nbColumns + column.
The byte offset of sample(row, column) = sampleStride * (row * nbColumns + column).
The sample data follows at the offset and spans the number of bytes defined by the format.
Then there are zero or more unused bytes depending on sampleStride before the next sample.
<b>Default:</b> NULL
@see PxHeightFormat
*/
PxStridedData samples;
/**
\brief Sets how thick the heightfield surface is.
In this way even objects which are under the surface of the height field but above
this cutoff are treated as colliding with the height field.
The thickness is measured relative to the surface at the given point.
You may set this to a positive value, in which case the extent will be cast along the opposite side of the height field.
You may use a smaller finite value for the extent if you want to put some space under the height field, such as a cave.
\note Please refer to the Raycasts Against Heightfields section of the user guide for details of how this value affects raycasts.
<b>Range:</b> (-PX_MAX_BOUNDS_EXTENTS, PX_MAX_BOUNDS_EXTENTS)<br>
<b>Default:</b> -1
*/
PX_DEPRECATED PxReal thickness;
/**
This threshold is used by the collision detection to determine if a height field edge is convex
and can generate contact points.
Usually the convexity of an edge is determined from the angle (or cosine of the angle) between
the normals of the faces sharing that edge.
The height field allows a more efficient approach by comparing height values of neighboring vertices.
This parameter offsets the comparison. Smaller changes than 0.5 will not alter the set of convex edges.
The rule of thumb is that larger values will result in fewer edge contacts.
This parameter is ignored in contact generation with sphere and capsule primitives.
<b>Range:</b> [0, PX_MAX_F32)<br>
<b>Default:</b> 0
*/
PxReal convexEdgeThreshold;
/**
\brief Flags bits, combined from values of the enum ::PxHeightFieldFlag.
<b>Default:</b> 0
@see PxHeightFieldFlag PxHeightFieldFlags
*/
PxHeightFieldFlags flags;
/**
\brief Constructor sets to default.
*/
PX_INLINE PxHeightFieldDesc();
/**
\brief (re)sets the structure to the default.
*/
PX_INLINE void setToDefault();
/**
\brief Returns true if the descriptor is valid.
\return True if the current settings are valid.
*/
PX_INLINE bool isValid() const;
};
PX_INLINE PxHeightFieldDesc::PxHeightFieldDesc() //constructor sets to default
{
nbColumns = 0;
nbRows = 0;
format = PxHeightFieldFormat::eS16_TM;
thickness = -1.0f;
convexEdgeThreshold = 0.0f;
flags = PxHeightFieldFlags();
}
PX_INLINE void PxHeightFieldDesc::setToDefault()
{
*this = PxHeightFieldDesc();
}
PX_INLINE bool PxHeightFieldDesc::isValid() const
{
if (nbColumns < 2)
return false;
if (nbRows < 2)
return false;
if(format != PxHeightFieldFormat::eS16_TM)
return false;
if (samples.stride < 4)
return false;
if (convexEdgeThreshold < 0)
return false;
if ((flags & PxHeightFieldFlag::eNO_BOUNDARY_EDGES) != flags)
return false;
if (thickness < -PX_MAX_BOUNDS_EXTENTS || thickness > PX_MAX_BOUNDS_EXTENTS)
return false;
return true;
}
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif
|