1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
|
//
// 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_TRIANGLEMESH_H
#define GU_TRIANGLEMESH_H
#include "foundation/PxIO.h"
#include "PxSimpleTriangleMesh.h"
#include "PxTriangleMeshGeometry.h"
#include "CmScaling.h"
#include "GuTriangleMesh.h"
#include "GuTriangle32.h"
#include "CmRefCountable.h"
#include "PxTriangle.h"
#include "PxTriangleMesh.h"
#include "CmRenderOutput.h"
#include "GuMeshData.h"
#include "GuCenterExtents.h"
namespace physx
{
class GuMeshFactory;
class PxMeshScale;
namespace Gu
{
#if PX_VC
#pragma warning(push)
#pragma warning(disable: 4324) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
// Possible optimization: align the whole struct to cache line
class TriangleMesh : public PxTriangleMesh, public Ps::UserAllocated, public Cm::RefCountable
{
//= 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
TriangleMesh(PxBaseFlags baseFlags) : PxTriangleMesh(baseFlags), Cm::RefCountable(PxEmpty) {}
virtual void exportExtraData(PxSerializationContext& ctx);
void importExtraData(PxDeserializationContext&);
PX_PHYSX_COMMON_API static void getBinaryMetaData(PxOutputStream& stream);
virtual void release();
void resolveReferences(PxDeserializationContext& ) {}
virtual void requiresObjects(PxProcessPxBaseCallback&){}
//~PX_SERIALIZATION
// Cm::RefCountable
virtual void onRefCountZero();
//~Cm::RefCountable
TriangleMesh(GuMeshFactory& factory, TriangleMeshData& data);
virtual ~TriangleMesh();
// PxTriangleMesh
virtual PxU32 getNbVertices() const { return mNbVertices; }
virtual const PxVec3* getVertices() const { return mVertices; }
virtual const PxU32* getTrianglesRemap() const { return mFaceRemap; }
virtual PxU32 getNbTriangles() const { return mNbTriangles; }
virtual const void* getTriangles() const { return mTriangles; }
virtual PxTriangleMeshFlags getTriangleMeshFlags() const { return PxTriangleMeshFlags(mFlags); }
virtual PxMaterialTableIndex getTriangleMaterialIndex(PxTriangleID triangleIndex) const {
return hasPerTriangleMaterials() ? getMaterials()[triangleIndex] : PxMaterialTableIndex(0xffff); }
#if PX_ENABLE_DYNAMIC_MESH_RTREE
virtual PxVec3* getVerticesForModification();
virtual PxBounds3 refitBVH();
#endif
virtual PxBounds3 getLocalBounds() const
{
PX_ASSERT(mAABB.isValid());
return PxBounds3::centerExtents(mAABB.mCenter, mAABB.mExtents);
}
virtual void acquireReference() { incRefCount(); }
virtual PxU32 getReferenceCount() const { return getRefCount(); }
//~PxTriangleMesh
// PT: this one is just to prevent instancing Gu::TriangleMesh.
// But you should use PxBase::getConcreteType() instead to avoid the virtual call.
virtual PxMeshMidPhase::Enum getMidphaseID() const = 0;
PX_FORCE_INLINE const PxU32* getFaceRemap() const { return mFaceRemap; }
PX_FORCE_INLINE bool has16BitIndices() const { return (mFlags & PxMeshFlag::e16_BIT_INDICES) ? true : false; }
PX_FORCE_INLINE bool hasPerTriangleMaterials() const { return mMaterialIndices != NULL; }
PX_FORCE_INLINE PxU32 getNbVerticesFast() const { return mNbVertices; }
PX_FORCE_INLINE PxU32 getNbTrianglesFast() const { return mNbTriangles; }
PX_FORCE_INLINE const void* getTrianglesFast() const { return mTriangles; }
PX_FORCE_INLINE const PxVec3* getVerticesFast() const { return mVertices; }
PX_FORCE_INLINE const PxU32* getAdjacencies() const { return mAdjacencies; }
PX_FORCE_INLINE PxReal getGeomEpsilon() const { return mGeomEpsilon; }
PX_FORCE_INLINE const CenterExtents& getLocalBoundsFast() const { return mAABB; }
PX_FORCE_INLINE const PxU16* getMaterials() const { return mMaterialIndices; }
PX_FORCE_INLINE const PxU8* getExtraTrigData() const { return mExtraTrigData; }
PX_FORCE_INLINE const CenterExtentsPadded& getPaddedBounds() const
{
// PT: see compile-time assert in cpp
return static_cast<const CenterExtentsPadded&>(mAABB);
}
PX_FORCE_INLINE void computeWorldTriangle(
PxTriangle& worldTri, PxTriangleID triangleIndex, const Cm::Matrix34& worldMatrix, bool flipNormal = false,
PxU32* PX_RESTRICT vertexIndices=NULL, PxU32* PX_RESTRICT adjacencyIndices=NULL) const;
PX_FORCE_INLINE void getLocalTriangle(PxTriangle& localTri, PxTriangleID triangleIndex, bool flipNormal = false) const;
void setMeshFactory(GuMeshFactory* factory) { mMeshFactory = factory; }
protected:
PxU32 mNbVertices;
PxU32 mNbTriangles;
PxVec3* mVertices;
void* mTriangles; //!< 16 (<= 0xffff #vertices) or 32 bit trig indices (mNbTriangles * 3)
// 16 bytes block
// PT: WARNING: bounds must be followed by at least 32bits of data for safe SIMD loading
CenterExtents mAABB;
PxU8* mExtraTrigData; //one per trig
PxReal mGeomEpsilon; //!< see comments in cooking code referencing this variable
// 16 bytes block
/*
low 3 bits (mask: 7) are the edge flags:
b001 = 1 = ignore edge 0 = edge v0-->v1
b010 = 2 = ignore edge 1 = edge v0-->v2
b100 = 4 = ignore edge 2 = edge v1-->v2
*/
PxU8 mFlags; //!< Flag whether indices are 16 or 32 bits wide
//!< Flag whether triangle adajacencies are build
PxU16* mMaterialIndices; //!< the size of the array is numTriangles.
PxU32* mFaceRemap; //!< new faces to old faces mapping (after cleaning, etc). Usage: old = faceRemap[new]
PxU32* mAdjacencies; //!< Adjacency information for each face - 3 adjacent faces
//!< Set to 0xFFFFffff if no adjacent face
GuMeshFactory* mMeshFactory; // PT: changed to pointer for serialization
public:
// GRB data -------------------------
void * mGRB_triIndices; //!< GRB: GPU-friendly tri indices [uint4]
// TODO avoroshilov: cooking - adjacency info - duplicated, remove it and use 'mAdjacencies' and 'mExtraTrigData' see GuTriangleMesh.cpp:325
void * mGRB_triAdjacencies; //!< GRB: adjacency data, with BOUNDARY and NONCONVEX flags (flags replace adj indices where applicable)
PxU32* mGRB_faceRemap; //!< GRB : gpu to cpu triangle indice remap
void* mGRB_BV32Tree; //!< GRB: BV32 tree
// End of GRB data ------------------
};
#if PX_VC
#pragma warning(pop)
#endif
} // namespace Gu
PX_FORCE_INLINE void Gu::TriangleMesh::computeWorldTriangle(PxTriangle& worldTri, PxTriangleID triangleIndex, const Cm::Matrix34& worldMatrix, bool flipNormal,
PxU32* PX_RESTRICT vertexIndices, PxU32* PX_RESTRICT adjacencyIndices) const
{
PxU32 vref0, vref1, vref2;
if(has16BitIndices())
{
const Gu::TriangleT<PxU16>& T = (reinterpret_cast<const Gu::TriangleT<PxU16>*>(getTrianglesFast()))[triangleIndex];
vref0 = T.v[0];
vref1 = T.v[1];
vref2 = T.v[2];
}
else
{
const Gu::TriangleT<PxU32>& T = (reinterpret_cast<const Gu::TriangleT<PxU32>*>(getTrianglesFast()))[triangleIndex];
vref0 = T.v[0];
vref1 = T.v[1];
vref2 = T.v[2];
}
if (flipNormal)
Ps::swap<PxU32>(vref1, vref2);
const PxVec3* PX_RESTRICT vertices = getVerticesFast();
worldTri.verts[0] = worldMatrix.transform(vertices[vref0]);
worldTri.verts[1] = worldMatrix.transform(vertices[vref1]);
worldTri.verts[2] = worldMatrix.transform(vertices[vref2]);
if(vertexIndices)
{
vertexIndices[0] = vref0;
vertexIndices[1] = vref1;
vertexIndices[2] = vref2;
}
if(adjacencyIndices)
{
if(getAdjacencies())
{
adjacencyIndices[0] = flipNormal ? getAdjacencies()[triangleIndex*3 + 2] : getAdjacencies()[triangleIndex*3 + 0];
adjacencyIndices[1] = getAdjacencies()[triangleIndex*3 + 1];
adjacencyIndices[2] = flipNormal ? getAdjacencies()[triangleIndex*3 + 0] : getAdjacencies()[triangleIndex*3 + 2];
}
else
{
adjacencyIndices[0] = 0xffffffff;
adjacencyIndices[1] = 0xffffffff;
adjacencyIndices[2] = 0xffffffff;
}
}
}
PX_FORCE_INLINE void Gu::TriangleMesh::getLocalTriangle(PxTriangle& localTri, PxTriangleID triangleIndex, bool flipNormal) const
{
PxU32 vref0, vref1, vref2;
if(has16BitIndices())
{
const Gu::TriangleT<PxU16>& T = (reinterpret_cast<const Gu::TriangleT<PxU16>*>(getTrianglesFast()))[triangleIndex];
vref0 = T.v[0];
vref1 = T.v[1];
vref2 = T.v[2];
}
else
{
const Gu::TriangleT<PxU32>& T = (reinterpret_cast<const Gu::TriangleT<PxU32>*>(getTrianglesFast()))[triangleIndex];
vref0 = T.v[0];
vref1 = T.v[1];
vref2 = T.v[2];
}
if (flipNormal)
Ps::swap<PxU32>(vref1, vref2);
const PxVec3* PX_RESTRICT vertices = getVerticesFast();
localTri.verts[0] = vertices[vref0];
localTri.verts[1] = vertices[vref1];
localTri.verts[2] = vertices[vref2];
}
PX_INLINE float computeSweepData(const PxTriangleMeshGeometry& triMeshGeom, /*const Cm::FastVertex2ShapeScaling& scaling,*/ PxVec3& sweepOrigin, PxVec3& sweepExtents, PxVec3& sweepDir, float distance)
{
PX_ASSERT(!Cm::isEmpty(sweepOrigin, sweepExtents));
const PxVec3 endPt = sweepOrigin + sweepDir*distance;
PX_ASSERT(!Cm::isEmpty(endPt, sweepExtents));
const Cm::FastVertex2ShapeScaling meshScaling(triMeshGeom.scale.getInverse()); // shape to vertex transform
const PxMat33& vertex2ShapeSkew = meshScaling.getVertex2ShapeSkew();
const PxVec3 originBoundsCenter = vertex2ShapeSkew * sweepOrigin;
const PxVec3 originBoundsExtents = Cm::basisExtent(vertex2ShapeSkew.column0, vertex2ShapeSkew.column1, vertex2ShapeSkew.column2, sweepExtents);
sweepOrigin = originBoundsCenter;
sweepExtents = originBoundsExtents;
sweepDir = (vertex2ShapeSkew * endPt) - originBoundsCenter;
return sweepDir.normalizeSafe();
}
}
#endif
|