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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_PCM_CONTACT_MESH_CALLBACK_H
#define GU_PCM_CONTACT_MESH_CALLBACK_H
#include "GuMidphaseInterface.h"
#include "GuEntityReport.h"
#include "GuHeightFieldUtil.h"
#include "GuTriangleCache.h"
#include "GuConvexEdgeFlags.h"
namespace physx
{
namespace Gu
{
template <typename Derived>
struct PCMMeshContactGenerationCallback : MeshHitCallback<PxRaycastHit>
{
public:
const Cm::FastVertex2ShapeScaling& mMeshScaling;
const PxU8* PX_RESTRICT mExtraTrigData;
bool mIdtMeshScale;
static const PxU32 CacheSize = 16;
Gu::TriangleCache<CacheSize> mCache;
PCMMeshContactGenerationCallback(const Cm::FastVertex2ShapeScaling& meshScaling, const PxU8* extraTrigData, bool idtMeshScale)
: MeshHitCallback<PxRaycastHit>(CallbackMode::eMULTIPLE),
mMeshScaling(meshScaling), mExtraTrigData(extraTrigData), mIdtMeshScale(idtMeshScale)
{
}
void flushCache()
{
if (!mCache.isEmpty())
{
(static_cast<Derived*>(this))->template processTriangleCache< CacheSize >(mCache);
mCache.reset();
}
}
virtual PxAgain processHit(
const PxRaycastHit& hit, const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, PxReal&, const PxU32* vinds)
{
if (!(static_cast<Derived*>(this))->doTest(v0, v1, v2))
return true;
PxVec3 v[3];
if(mIdtMeshScale)
{
v[0] = v0;
v[1] = v1;
v[2] = v2;
}
else
{
const PxI32 winding = mMeshScaling.flipsNormal() ? 1 : 0;
v[0] = mMeshScaling * v0;
v[1 + winding] = mMeshScaling * v1;
v[2 - winding] = mMeshScaling * v2;
}
const PxU32 triangleIndex = hit.faceIndex;
const PxU8 extraData = getConvexEdgeFlags(mExtraTrigData, triangleIndex);
if (mCache.isFull())
{
(static_cast<Derived*>(this))->template processTriangleCache< CacheSize >(mCache);
mCache.reset();
}
mCache.addTriangle(v, vinds, triangleIndex, extraData);
return true;
}
protected:
PCMMeshContactGenerationCallback& operator=(const PCMMeshContactGenerationCallback&);
};
template <typename Derived>
struct PCMHeightfieldContactGenerationCallback : Gu::EntityReport<PxU32>
{
public:
const Gu::HeightFieldUtil& mHfUtil;
const PxTransform& mHeightfieldTransform;
bool mBoundaryCollisions;
PCMHeightfieldContactGenerationCallback(const Gu::HeightFieldUtil& hfUtil, const PxTransform& heightfieldTransform) :
mHfUtil(hfUtil), mHeightfieldTransform(heightfieldTransform)
{
mBoundaryCollisions = !(hfUtil.getHeightField().getFlags() & PxHeightFieldFlag::eNO_BOUNDARY_EDGES);
}
// PT: TODO: refactor/unify with similar code in other places
virtual PxAgain onEvent(PxU32 nb, PxU32* indices)
{
const PxU32 CacheSize = 16;
Gu::TriangleCache<CacheSize> cache;
const PxU32 nbPasses = (nb+(CacheSize-1))/CacheSize;
PxU32 nbTrigs = nb;
PxU32* inds0 = indices;
const PxU8 nextInd[] = {2,0,1};
for(PxU32 i = 0; i < nbPasses; ++i)
{
cache.mNumTriangles = 0;
PxU32 trigCount = PxMin(nbTrigs, CacheSize);
nbTrigs -= trigCount;
while(trigCount--)
{
PxU32 triangleIndex = *(inds0++);
PxU32 vertIndices[3];
PxTriangle currentTriangle; // in world space
PxU32 adjInds[3];
mHfUtil.getTriangle(mHeightfieldTransform, currentTriangle, vertIndices, adjInds, triangleIndex, false, false);
PxVec3 normal;
currentTriangle.normal(normal);
PxU8 triFlags = 0; //KS - temporary until we can calculate triFlags for HF
for(PxU32 a = 0; a < 3; ++a)
{
if (adjInds[a] != 0xFFFFFFFF)
{
PxTriangle adjTri;
PxU32 inds[3];
mHfUtil.getTriangle(mHeightfieldTransform, adjTri, inds, NULL, adjInds[a], false, false);
//We now compare the triangles to see if this edge is active
PX_ASSERT(inds[0] == vertIndices[a] || inds[1] == vertIndices[a] || inds[2] == vertIndices[a]);
PX_ASSERT(inds[0] == vertIndices[(a + 1) % 3] || inds[1] == vertIndices[(a + 1) % 3] || inds[2] == vertIndices[(a + 1) % 3]);
PxVec3 adjNormal;
adjTri.denormalizedNormal(adjNormal);
PxU32 otherIndex = nextInd[a];
PxF32 projD = adjNormal.dot(currentTriangle.verts[otherIndex] - adjTri.verts[0]);
if (projD < 0.f)
{
adjNormal.normalize();
PxF32 proj = adjNormal.dot(normal);
if (proj < 0.997f)
{
triFlags |= (1 << (a + 3));
}
}
}
else if (mBoundaryCollisions)
triFlags |= (1 << (a + 3)); //Mark as boudary active edge
else
triFlags |= (1 << a); //Mark as silhouette edge
}
cache.addTriangle(currentTriangle.verts, vertIndices, triangleIndex, triFlags);
}
PX_ASSERT(cache.mNumTriangles <= 16);
(static_cast<Derived*>(this))->template processTriangleCache< CacheSize >(cache);
}
return true;
}
protected:
PCMHeightfieldContactGenerationCallback& operator=(const PCMHeightfieldContactGenerationCallback&);
};
}//Gu
}//physx
#endif
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