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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// 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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