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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_MESHSCALE
#define PX_PHYSICS_NX_MESHSCALE
/** \addtogroup geomutils
@{
*/
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxMat33.h"
#include "foundation/PxAssert.h"
/** \brief Minimum allowed absolute magnitude for each of mesh scale's components (x,y,z).
\note Only positive scale values are allowed for convex meshes. */
#define PX_MESH_SCALE_MIN 1e-6f
/** \brief Maximum allowed absolute magnitude for each of mesh scale's components (x,y,z).
\note Only positive scale values are allowed for convex meshes. */
#define PX_MESH_SCALE_MAX 1e6f
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief A class expressing a nonuniform scaling transformation.
The scaling is along arbitrary axes that are specified by PxMeshScale::rotation.
\note Negative scale values are supported for PxTriangleMeshGeometry
with absolute values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range.
Negative scale causes a reflection around the specified axis, in addition PhysX will flip the normals
for mesh triangles when scale.x*scale.y*scale.z < 0.
\note Only positive scale values are supported for PxConvexMeshGeometry
with values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range).
@see PxConvexMeshGeometry PxTriangleMeshGeometry
*/
class PxMeshScale
{
//= 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.
//==================================================================================================
public:
/**
\brief Constructor initializes to identity scale.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(1.0f), rotation(PxIdentity)
{
}
/**
\brief Constructor from scalar.
*/
explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(PxReal r): scale(r), rotation(PxIdentity)
{
}
/**
\brief Constructor to initialize to arbitrary scale and identity scale rotation.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s)
{
scale = s;
rotation = PxQuat(PxIdentity);
}
/**
\brief Constructor to initialize to arbitrary scaling.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r)
{
PX_ASSERT(r.isUnit());
scale = s;
rotation = r;
}
/**
\brief Returns true if the scaling is an identity transformation.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const
{
return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f);
}
/**
\brief Returns the inverse of this scaling transformation.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale getInverse() const
{
return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotation);
}
/**
\brief Converts this transformation to a 3x3 matrix representation.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const
{
PxMat33 rot(rotation);
PxMat33 trans = rot.getTranspose();
trans.column0 *= scale[0];
trans.column1 *= scale[1];
trans.column2 *= scale[2];
return trans * rot;
}
/**
\brief Returns true if combination of negative scale components will cause the triangle normal to flip. The SDK will flip the normals internally.
*/
PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNegativeDeterminant() const
{
return (scale.x * scale.y * scale.z < 0.0f);
}
PxVec3 transform(const PxVec3& v) const
{
return rotation.rotateInv(scale.multiply(rotation.rotate(v)));
}
bool isValidForTriangleMesh() const
{
PxVec3 absXYZ = scale.abs();
return (absXYZ.maxElement() <= PX_MESH_SCALE_MAX) && (absXYZ.minElement() >= PX_MESH_SCALE_MIN);
}
bool isValidForConvexMesh() const
{
return (scale.maxElement() <= PX_MESH_SCALE_MAX) && (scale.minElement() >= PX_MESH_SCALE_MIN);
}
PxVec3 scale; //!< A nonuniform scaling
PxQuat rotation; //!< The orientation of the scaling axes
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif
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