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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.
#include "GuConvexHelper.h"
#include "GuGeometryUnion.h"
#include "GuInternal.h"
#include "PsUtilities.h"
using namespace physx;
using namespace Gu;
// PT: we can't call alloca in a function and we want to avoid defines or duplicating the code. This makes it a bit tricky to write.
void Gu::getScaledConvex( PxVec3*& scaledVertices, PxU8*& scaledIndices, PxVec3* dstVertices, PxU8* dstIndices,
bool idtConvexScale, const PxVec3* srcVerts, const PxU8* srcIndices, PxU32 nbVerts, const Cm::FastVertex2ShapeScaling& convexScaling)
{
//pretransform convex polygon if we have scaling!
if(idtConvexScale) // PT: the scale is always 1 for boxes so no need to test the type
{
scaledVertices = const_cast<PxVec3*>(srcVerts);
scaledIndices = const_cast<PxU8*>(srcIndices);
}
else
{
scaledIndices = dstIndices;
scaledVertices = dstVertices;
for(PxU32 i=0; i<nbVerts; i++)
{
scaledIndices[i] = Ps::to8(i); //generate trivial indexing.
scaledVertices[i] = convexScaling * srcVerts[srcIndices[i]];
}
}
}
bool Gu::getConvexData(const Gu::GeometryUnion& shape, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
{
const PxConvexMeshGeometryLL& shapeConvex = shape.get<const PxConvexMeshGeometryLL>();
const bool idtScale = shapeConvex.scale.isIdentity();
if(!idtScale)
scaling.init(shapeConvex.scale);
// PT: this version removes all the FCMPs and almost all LHS. This is temporary until
// the legacy 3x3 matrix totally vanishes but meanwhile do NOT do useless matrix conversions,
// it's a perfect recipe for LHS.
PX_ASSERT(!shapeConvex.hullData->mAABB.isEmpty());
bounds = shapeConvex.hullData->mAABB.transformFast(scaling.getVertex2ShapeSkew());
getPolygonalData_Convex(&polyData, shapeConvex.hullData, scaling);
// PT: non-uniform scaling invalidates the "internal objects" optimization, since our internal sphere
// might become an ellipsoid or something. Just disable the optimization if scaling is used...
if(!idtScale)
polyData.mInternal.reset();
return idtScale;
}
PxU32 Gu::findUniqueConvexEdges(PxU32 maxNbEdges, ConvexEdge* PX_RESTRICT edges, PxU32 numPolygons, const Gu::HullPolygonData* PX_RESTRICT polygons, const PxU8* PX_RESTRICT vertexData)
{
PxU32 nbEdges = 0;
while(numPolygons--)
{
const HullPolygonData& polygon = *polygons++;
const PxU8* vRefBase = vertexData + polygon.mVRef8;
PxU32 numEdges = polygon.mNbVerts;
PxU32 a = numEdges - 1;
PxU32 b = 0;
while(numEdges--)
{
PxU8 vi0 = vRefBase[a];
PxU8 vi1 = vRefBase[b];
if(vi1 < vi0)
{
PxU8 tmp = vi0;
vi0 = vi1;
vi1 = tmp;
}
bool found=false;
for(PxU32 i=0;i<nbEdges;i++)
{
if(edges[i].vref0==vi0 && edges[i].vref1==vi1)
{
found = true;
edges[i].normal += polygon.mPlane.n;
break;
}
}
if(!found)
{
if(nbEdges==maxNbEdges)
{
PX_ALWAYS_ASSERT_MESSAGE("Internal error: max nb edges reached. This shouldn't be possible...");
return nbEdges;
}
edges[nbEdges].vref0 = vi0;
edges[nbEdges].vref1 = vi1;
edges[nbEdges].normal = polygon.mPlane.n;
nbEdges++;
}
a = b;
b++;
}
}
return nbEdges;
}
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