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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 GU_GEOMETRY_UNION_H
#define GU_GEOMETRY_UNION_H
#include "foundation/PxBounds3.h"
#include "GuSIMDHelpers.h"
#include <stddef.h>
#include "PxBoxGeometry.h"
#include "PxSphereGeometry.h"
#include "PxCapsuleGeometry.h"
#include "PxPlaneGeometry.h"
#include "PxConvexMeshGeometry.h"
#include "PxTriangleMeshGeometry.h"
#include "PxHeightFieldGeometry.h"
#include "PsAllocator.h"
#include "GuBox.h"
#include "GuCenterExtents.h"
#include "GuSphere.h"
#include "GuCapsule.h"
namespace physx
{
namespace Gu
{
struct ConvexHullData;
class TriangleMesh;
struct HeightFieldData;
class GeometryUnion;
}
//
// Summary of our material approach:
//
// On the API level, materials are accessed via pointer. Internally we store indices into the material table.
// The material table is stored in the SDK and the materials are shared among scenes. To make this threadsafe,
// we have the following approach:
//
// - Every scene has a copy of the SDK master material table
// - At the beginning of a simulation step, the scene material table gets synced to the master material table.
// - While the simulation is running, the scene table does not get touched.
// - Each shape stores the indices of its material(s). When the simulation is not running and a user requests the
// materials of the shape, the indices are used to fetch the material from the master material table. When the
// the simulation is running then the same indices are used internally to fetch the materials from the scene
// material table. If a user changes the materials of a shape while the simulation is running, the index list
// will not get touched, instead the new materials get buffered and synced at the end of the simulation.
// - This whole scheme only works as long as the position of a material in the material table does not change
// when other materials get deleted/inserted. The data structure of the material table makes sure that is the case.
//
struct PX_PHYSX_COMMON_API MaterialIndicesStruct
{
//= 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.
//==================================================================================================
// PX_SERIALIZATION
MaterialIndicesStruct(const PxEMPTY) {}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
MaterialIndicesStruct() : indices(NULL), numIndices(0)
{
}
~MaterialIndicesStruct()
{
}
void allocate(PxU16 size)
{
indices = reinterpret_cast<PxU16*>(PX_ALLOC(sizeof(PxU16) * size, "MaterialIndicesStruct::allocate"));
numIndices = size;
}
void deallocate()
{
PX_FREE(indices);
numIndices = 0;
}
PxU16* indices; // the remap table for material index
PxU16 numIndices; // the size of the remap table
PxU16 pad; // pad for serialization
#if PX_P64_FAMILY
PxU32 pad64; // pad for serialization
#endif
};
struct PxConvexMeshGeometryLL: public PxConvexMeshGeometry
{
const Gu::ConvexHullData* hullData;
bool gpuCompatible;
};
struct PxTriangleMeshGeometryLL: public PxTriangleMeshGeometry
{
const Gu::TriangleMesh* meshData;
const PxU16* materialIndices;
MaterialIndicesStruct materials;
};
struct PxHeightFieldGeometryLL : public PxHeightFieldGeometry
{
const Gu::HeightFieldData* heightFieldData;
MaterialIndicesStruct materials;
};
// We sometimes overload capsule code for spheres, so every sphere should have
// valid capsule data (height = 0). This is preferable to a typedef so that we
// can maintain traits separately for a sphere, but some care is required to deal
// with the fact that when a reference to a capsule is extracted, it may have its
// type field set to eSPHERE
template <typename T>
struct PxcGeometryTraits
{
enum {TypeID = PxGeometryType::eINVALID };
};
template <typename T> struct PxcGeometryTraits<const T> { enum { TypeID = PxcGeometryTraits<T>::TypeID }; };
template <> struct PxcGeometryTraits<PxBoxGeometry> { enum { TypeID = PxGeometryType::eBOX }; };
template <> struct PxcGeometryTraits<PxSphereGeometry> { enum { TypeID = PxGeometryType::eSPHERE }; };
template <> struct PxcGeometryTraits<PxCapsuleGeometry> { enum { TypeID = PxGeometryType::eCAPSULE }; };
template <> struct PxcGeometryTraits<PxPlaneGeometry> { enum { TypeID = PxGeometryType::ePLANE }; };
template <> struct PxcGeometryTraits<PxConvexMeshGeometryLL> { enum { TypeID = PxGeometryType::eCONVEXMESH }; };
template <> struct PxcGeometryTraits<PxTriangleMeshGeometryLL> { enum { TypeID = PxGeometryType::eTRIANGLEMESH }; };
template <> struct PxcGeometryTraits<PxHeightFieldGeometryLL> { enum { TypeID = PxGeometryType::eHEIGHTFIELD }; };
template<class T> PX_CUDA_CALLABLE PX_FORCE_INLINE void checkType(const Gu::GeometryUnion& geometry);
template<> PX_CUDA_CALLABLE PX_INLINE void checkType<PxCapsuleGeometry>(const Gu::GeometryUnion& geometry);
template<> PX_CUDA_CALLABLE PX_INLINE void checkType<const PxCapsuleGeometry>(const Gu::GeometryUnion& geometry);
namespace Gu
{
class InvalidGeometry : public PxGeometry
{
public:
PX_CUDA_CALLABLE PX_FORCE_INLINE InvalidGeometry() : PxGeometry(PxGeometryType::eINVALID) {}
};
class PX_PHYSX_COMMON_API GeometryUnion
{
//= 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:
// PX_SERIALIZATION
GeometryUnion(const PxEMPTY) {}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
PX_CUDA_CALLABLE PX_FORCE_INLINE GeometryUnion() { reinterpret_cast<InvalidGeometry&>(mGeometry) = InvalidGeometry(); }
PX_CUDA_CALLABLE PX_FORCE_INLINE GeometryUnion(const PxGeometry& g) { set(g); }
PX_CUDA_CALLABLE PX_FORCE_INLINE const PxGeometry& getGeometry() const { return reinterpret_cast<const PxGeometry&>(mGeometry); }
PX_CUDA_CALLABLE PX_FORCE_INLINE PxGeometryType::Enum getType() const { return reinterpret_cast<const PxGeometry&>(mGeometry).getType(); }
PX_CUDA_CALLABLE void set(const PxGeometry& g);
template<class Geom> PX_CUDA_CALLABLE PX_FORCE_INLINE Geom& get()
{
checkType<Geom>(*this);
return reinterpret_cast<Geom&>(mGeometry);
}
template<class Geom> PX_CUDA_CALLABLE PX_FORCE_INLINE const Geom& get() const
{
checkType<Geom>(*this);
return reinterpret_cast<const Geom&>(mGeometry);
}
private:
union {
void* alignment; // PT: Makes sure the class is at least aligned to pointer size. See DE6803.
PxU8 box[sizeof(PxBoxGeometry)];
PxU8 sphere[sizeof(PxSphereGeometry)];
PxU8 capsule[sizeof(PxCapsuleGeometry)];
PxU8 plane[sizeof(PxPlaneGeometry)];
PxU8 convex[sizeof(PxConvexMeshGeometryLL)];
PxU8 mesh[sizeof(PxTriangleMeshGeometryLL)];
PxU8 heightfield[sizeof(PxHeightFieldGeometryLL)];
PxU8 invalid[sizeof(InvalidGeometry)];
} mGeometry;
};
}
template<class T> PX_CUDA_CALLABLE PX_FORCE_INLINE void checkType(const Gu::GeometryUnion& geometry)
{
PX_ASSERT(PxU32(geometry.getType()) == PxU32(PxcGeometryTraits<T>::TypeID));
PX_UNUSED(geometry);
}
template<> PX_CUDA_CALLABLE PX_FORCE_INLINE void checkType<PxCapsuleGeometry>(const Gu::GeometryUnion& geometry)
{
PX_ASSERT(geometry.getType() == PxGeometryType::eCAPSULE || geometry.getType() == PxGeometryType::eSPHERE);
PX_UNUSED(geometry);
}
template<> PX_CUDA_CALLABLE PX_FORCE_INLINE void checkType<const PxCapsuleGeometry>(const Gu::GeometryUnion& geometry)
{
PX_ASSERT(geometry.getType()== PxGeometryType::eCAPSULE || geometry.getType() == PxGeometryType::eSPHERE);
PX_UNUSED(geometry);
}
// the shape structure relies on punning capsules and spheres
PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(PxCapsuleGeometry, radius) == PX_OFFSET_OF(PxSphereGeometry, radius));
}
#endif
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