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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_CONVEX_MESH_DATA_H
#define GU_CONVEX_MESH_DATA_H
#include "foundation/PxPlane.h"
#include "PsIntrinsics.h"
#include "GuSerialize.h"
#include "GuCenterExtents.h"
#include "foundation/PxBitAndData.h"
// Data definition
namespace physx
{
namespace Gu
{
struct BigConvexRawData;
struct HullPolygonData
{
//= 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.
//==================================================================================================
// PT: this structure won't be allocated with PX_NEW because polygons aren't allocated alone (with a dedicated alloc).
// Instead they are part of a unique allocation/buffer containing all data for the ConvexHullData class (polygons, followed by
// hull vertices, edge data, etc). As a result, ctors for embedded classes like PxPlane won't be called.
PxPlane mPlane; //!< Plane equation for this polygon //Could drop 4th elem as it can be computed from any vertex as: d = - p.dot(n);
PxU16 mVRef8; //!< Offset of vertex references in hull vertex data (CS: can we assume indices are tightly packed and offsets are ascending?? DrawObjects makes and uses this assumption)
PxU8 mNbVerts; //!< Number of vertices/edges in the polygon
PxU8 mMinIndex; //!< Index of the polygon vertex that has minimal projection along this plane's normal.
PX_FORCE_INLINE PxReal getMin(const PxVec3* PX_RESTRICT hullVertices) const //minimum of projection of the hull along this plane normal
{
return mPlane.n.dot(hullVertices[mMinIndex]);
}
PX_FORCE_INLINE PxReal getMax() const { return -mPlane.d; } //maximum of projection of the hull along this plane normal
};
PX_FORCE_INLINE void flipData(Gu::HullPolygonData& data)
{
flip(data.mPlane.n.x);
flip(data.mPlane.n.y);
flip(data.mPlane.n.z);
flip(data.mPlane.d);
flip(data.mVRef8);
}
// PT: if this one breaks, please make sure the 'flipData' function is properly updated.
PX_COMPILE_TIME_ASSERT(sizeof(Gu::HullPolygonData) == 20);
// TEST_INTERNAL_OBJECTS
struct InternalObjectsData
{
//= 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.
//==================================================================================================
PxReal mRadius;
PxReal mExtents[3];
PX_FORCE_INLINE void reset()
{
mRadius = 0.0f;
mExtents[0] = 0.0f;
mExtents[1] = 0.0f;
mExtents[2] = 0.0f;
}
};
PX_COMPILE_TIME_ASSERT(sizeof(Gu::InternalObjectsData) == 16);
//~TEST_INTERNAL_OBJECTS
struct ConvexHullData
{
//= 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.
//==================================================================================================
// PT: WARNING: bounds must be followed by at least 32bits of data for safe SIMD loading
CenterExtents mAABB; //!< bounds TODO: compute this on the fly from first 6 vertices in the vertex array. We'll of course need to sort the most extreme ones to the front.
PxVec3 mCenterOfMass; //in local space of mesh!
// PT: WARNING: mNbHullVertices *must* appear before mBigConvexRawData for ConvX to be able to do "big raw data" surgery
PxBitAndWord mNbEdges; //!<the highest bit indicate whether we have grb data, the other 15 bits indicate the number of edges in this convex hull
PxU8 mNbHullVertices; //!< Number of vertices in the convex hull
PxU8 mNbPolygons; //!< Number of planar polygons composing the hull
HullPolygonData* mPolygons; //!< Array of mNbPolygons structures
BigConvexRawData* mBigConvexRawData; //!< Hill climbing data, only for large convexes! else NULL.
// TEST_INTERNAL_OBJECTS
InternalObjectsData mInternal;
//~TEST_INTERNAL_OBJECTS
PX_FORCE_INLINE ConvexHullData(const PxEMPTY) : mNbEdges(PxEmpty)
{
}
PX_FORCE_INLINE ConvexHullData()
{
}
PX_FORCE_INLINE const CenterExtentsPadded& getPaddedBounds() const
{
// PT: see compile-time assert at the end of file
return static_cast<const CenterExtentsPadded&>(mAABB);
}
PX_FORCE_INLINE const PxVec3* getHullVertices() const //!< Convex hull vertices
{
const char* tmp = reinterpret_cast<const char*>(mPolygons);
tmp += sizeof(Gu::HullPolygonData) * mNbPolygons;
return reinterpret_cast<const PxVec3*>(tmp);
}
PX_FORCE_INLINE const PxU8* getFacesByEdges8() const //!< for each edge, gives 2 adjacent polygons; used by convex-convex code to come up with all the convex' edge normals.
{
const char* tmp = reinterpret_cast<const char*>(mPolygons);
tmp += sizeof(Gu::HullPolygonData) * mNbPolygons;
tmp += sizeof(PxVec3) * mNbHullVertices;
return reinterpret_cast<const PxU8*>(tmp);
}
PX_FORCE_INLINE const PxU8* getFacesByVertices8() const //!< for each edge, gives 2 adjacent polygons; used by convex-convex code to come up with all the convex' edge normals.
{
const char* tmp = reinterpret_cast<const char*>(mPolygons);
tmp += sizeof(Gu::HullPolygonData) * mNbPolygons;
tmp += sizeof(PxVec3) * mNbHullVertices;
tmp += sizeof(PxU8) * mNbEdges * 2;
return reinterpret_cast<const PxU8*>(tmp);
}
//If we don't build the convex hull with grb data, we will return NULL pointer
PX_FORCE_INLINE const PxU16* getVerticesByEdges16() const //!< Vertex indices indexed by unique edges
{
if (mNbEdges.isBitSet())
{
const char* tmp = reinterpret_cast<const char*>(mPolygons);
tmp += sizeof(Gu::HullPolygonData) * mNbPolygons;
tmp += sizeof(PxVec3) * mNbHullVertices;
tmp += sizeof(PxU8) * mNbEdges * 2;
tmp += sizeof(PxU8) * mNbHullVertices * 3;
return reinterpret_cast<const PxU16*>(tmp);
}
return NULL;
}
PX_FORCE_INLINE const PxU8* getVertexData8() const //!< Vertex indices indexed by hull polygons
{
const char* tmp = reinterpret_cast<const char*>(mPolygons);
tmp += sizeof(Gu::HullPolygonData) * mNbPolygons;
tmp += sizeof(PxVec3) * mNbHullVertices;
tmp += sizeof(PxU8) * mNbEdges * 2;
tmp += sizeof(PxU8) * mNbHullVertices * 3;
if (mNbEdges.isBitSet())
tmp += sizeof(PxU16) * mNbEdges * 2;
return reinterpret_cast<const PxU8*>(tmp);
}
};
#if PX_P64_FAMILY
PX_COMPILE_TIME_ASSERT(sizeof(Gu::ConvexHullData) == 72);
#else
PX_COMPILE_TIME_ASSERT(sizeof(Gu::ConvexHullData) == 64);
#endif
// PT: 'getPaddedBounds()' is only safe if we make sure the bounds member is followed by at least 32bits of data
PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(Gu::ConvexHullData, mCenterOfMass)>=PX_OFFSET_OF(Gu::ConvexHullData, mAABB)+4);
} // namespace Gu
}
//#pragma PX_POP_PACK
#endif
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