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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.
// ****************************************************************************
// This snippet creates convex meshes with different cooking settings
// and shows how these settings affect the convex mesh creation performance and
// the size of the resulting cooked meshes.
// ****************************************************************************
#include <ctype.h>
#include "PxPhysicsAPI.h"
#include "../SnippetUtils/SnippetUtils.h"
using namespace physx;
PxDefaultAllocator gAllocator;
PxDefaultErrorCallback gErrorCallback;
PxFoundation* gFoundation = NULL;
PxPhysics* gPhysics = NULL;
PxCooking* gCooking = NULL;
float rand(float loVal, float hiVal)
{
return loVal + (float(rand())/RAND_MAX)*(hiVal - loVal);
}
template<PxConvexMeshCookingType::Enum convexMeshCookingType, bool directInsertion, PxU32 gaussMapLimit>
void createRandomConvex(PxU32 numVerts, const PxVec3* verts)
{
PxCookingParams params = gCooking->getParams();
// If inflation is used, the legacy incremental hull creation algorithm is picked.
// Without inflation the new default quickhull algorithm is used.
// Use the new (default) PxConvexMeshCookingType::eQUICKHULL or the legacy PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL.
params.convexMeshCookingType = convexMeshCookingType;
// If the gaussMapLimit is chosen higher than the number of output vertices, no gauss map is added to the convex mesh data (here 256).
// If the gaussMapLimit is chosen lower than the number of output vertices, a gauss map is added to the convex mesh data (here 16).
params.gaussMapLimit = gaussMapLimit;
gCooking->setParams(params);
// Setup the convex mesh descriptor
PxConvexMeshDesc desc;
// We provide points only, therefore the PxConvexFlag::eCOMPUTE_CONVEX flag must be specified
desc.points.data = verts;
desc.points.count = numVerts;
desc.points.stride = sizeof(PxVec3);
desc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
PxU32 meshSize = 0;
PxConvexMesh* convex = NULL;
PxU64 startTime = SnippetUtils::getCurrentTimeCounterValue();
if(directInsertion)
{
// Directly insert mesh into PhysX
convex = gCooking->createConvexMesh(desc, gPhysics->getPhysicsInsertionCallback());
PX_ASSERT(convex);
}
else
{
// Serialize the cooked mesh into a stream.
PxDefaultMemoryOutputStream outStream;
bool res = gCooking->cookConvexMesh(desc, outStream);
PX_UNUSED(res);
PX_ASSERT(res);
meshSize = outStream.getSize();
// Create the mesh from a stream.
PxDefaultMemoryInputData inStream(outStream.getData(), outStream.getSize());
convex = gPhysics->createConvexMesh(inStream);
PX_ASSERT(convex);
}
// Print the elapsed time for comparison
PxU64 stopTime = SnippetUtils::getCurrentTimeCounterValue();
float elapsedTime = SnippetUtils::getElapsedTimeInMilliseconds(stopTime - startTime);
printf("\t -----------------------------------------------\n");
printf("\t Create convex mesh with %d triangles: \n", numVerts);
directInsertion ? printf("\t\t Direct mesh insertion enabled\n") : printf("\t\t Direct mesh insertion disabled\n");
printf("\t\t Gauss map limit: %d \n", gaussMapLimit);
printf("\t\t Created hull number of vertices: %d \n", convex->getNbVertices());
printf("\t\t Created hull number of polygons: %d \n", convex->getNbPolygons());
printf("\t Elapsed time in ms: %f \n", double(elapsedTime));
if (!directInsertion)
{
printf("\t Mesh size: %d \n", meshSize);
}
convex->release();
}
void createConvexMeshes()
{
const PxU32 numVerts = 64;
PxVec3* vertices = new PxVec3[numVerts];
// Prepare random verts
for(PxU32 i = 0; i < numVerts; i++)
{
vertices[i] = PxVec3(rand(-20.0f, 20.0f), rand(-20.0f, 20.0f), rand(-20.0f, 20.0f));
}
//// Create convex mesh using the inflation incremental hull algorithm with different settings
printf("-----------------------------------------------\n");
printf("Create convex mesh using the inflation incremental hull algorithm: \n\n");
// The default convex mesh creation serializing to a stream, useful for offline cooking.
createRandomConvex<PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL, false, 16>(numVerts, vertices);
// The default convex mesh creation without the additional gauss map data.
createRandomConvex<PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL, false, 256>(numVerts, vertices);
// Convex mesh creation inserting the mesh directly into PhysX.
// Useful for runtime cooking.
createRandomConvex<PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL, true, 16>(numVerts, vertices);
// Convex mesh creation inserting the mesh directly into PhysX, without gauss map data.
// Useful for runtime cooking.
createRandomConvex<PxConvexMeshCookingType::eINFLATION_INCREMENTAL_HULL, true, 256>(numVerts, vertices);
// Create convex mesh using the quickhull algorithm with different settings
printf("-----------------------------------------------\n");
printf("Create convex mesh using the quickhull algorithm: \n\n");
// The default convex mesh creation serializing to a stream, useful for offline cooking.
createRandomConvex<PxConvexMeshCookingType::eQUICKHULL, false, 16>(numVerts, vertices);
// The default convex mesh creation without the additional gauss map data.
createRandomConvex<PxConvexMeshCookingType::eQUICKHULL, false, 256>(numVerts, vertices);
// Convex mesh creation inserting the mesh directly into PhysX.
// Useful for runtime cooking.
createRandomConvex<PxConvexMeshCookingType::eQUICKHULL, true, 16>(numVerts, vertices);
// Convex mesh creation inserting the mesh directly into PhysX, without gauss map data.
// Useful for runtime cooking.
createRandomConvex<PxConvexMeshCookingType::eQUICKHULL, true, 256>(numVerts, vertices);
delete [] vertices;
}
void initPhysics()
{
gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true);
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
}
void cleanupPhysics()
{
gPhysics->release();
gCooking->release();
gFoundation->release();
printf("SnippetConvexMeshCreate done.\n");
}
int snippetMain(int, const char*const*)
{
initPhysics();
createConvexMeshes();
cleanupPhysics();
return 0;
}
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