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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 PX_CONVEXHULLUTILS_H
#define PX_CONVEXHULLUTILS_H
#include "foundation/PxMemory.h"
#include "foundation/PxPlane.h"
#include "CmPhysXCommon.h"
#include "PsUserAllocated.h"
#include "PsArray.h"
#include "PsMathUtils.h"
#include "PxConvexMeshDesc.h"
namespace physx
{
//////////////////////////////////////////////////////////////////////////
// helper class for hull construction, holds the vertices and planes together
// while cropping the hull with planes
class ConvexHull : public Ps::UserAllocated
{
public:
// Helper class for halfedge representation
class HalfEdge
{
public:
PxI16 ea; // the other half of the edge (index into edges list)
PxU8 v; // the vertex at the start of this edge (index into vertices list)
PxU8 p; // the facet on which this edge lies (index into facets list)
HalfEdge(){}
HalfEdge(PxI16 _ea, PxU8 _v, PxU8 _p) :ea(_ea), v(_v), p(_p){}
};
ConvexHull& operator = (const ConvexHull&);
// construct the base cube hull from given max/min AABB
ConvexHull(const PxVec3& bmin, const PxVec3& bmax, const Ps::Array<PxPlane>& inPlanes);
// construct the base cube hull from given OBB
ConvexHull(const PxVec3& extent, const PxTransform& transform, const Ps::Array<PxPlane>& inPlanes);
// copy constructor
ConvexHull(const ConvexHull& srcHull)
: mInputPlanes(srcHull.getInputPlanes())
{
copyHull(srcHull);
}
// construct plain hull
ConvexHull(const Ps::Array<PxPlane>& inPlanes)
: mInputPlanes(inPlanes)
{
}
// finds the candidate plane, returns -1 otherwise
PxI32 findCandidatePlane(float planetestepsilon, float epsilon) const;
// internal check of the hull integrity
bool assertIntact(float epsilon) const;
// return vertices
const Ps::Array<PxVec3>& getVertices() const
{
return mVertices;
}
// return edges
const Ps::Array<HalfEdge>& getEdges() const
{
return mEdges;
}
// return faces
const Ps::Array<PxPlane>& getFacets() const
{
return mFacets;
}
// return input planes
const Ps::Array<PxPlane>& getInputPlanes() const
{
return mInputPlanes;
}
// return vertices
Ps::Array<PxVec3>& getVertices()
{
return mVertices;
}
// return edges
Ps::Array<HalfEdge>& getEdges()
{
return mEdges;
}
// return faces
Ps::Array<PxPlane>& getFacets()
{
return mFacets;
}
// returns the maximum number of vertices on a face
PxU32 maxNumVertsPerFace() const;
// copy the hull from source
void copyHull(const ConvexHull& src)
{
mVertices.resize(src.getVertices().size());
mEdges.resize(src.getEdges().size());
mFacets.resize(src.getFacets().size());
PxMemCopy(mVertices.begin(), src.getVertices().begin(), src.getVertices().size()*sizeof(PxVec3));
PxMemCopy(mEdges.begin(), src.getEdges().begin(), src.getEdges().size()*sizeof(HalfEdge));
PxMemCopy(mFacets.begin(), src.getFacets().begin(), src.getFacets().size()*sizeof(PxPlane));
}
private:
Ps::Array<PxVec3> mVertices;
Ps::Array<HalfEdge> mEdges;
Ps::Array<PxPlane> mFacets;
const Ps::Array<PxPlane>& mInputPlanes;
};
//////////////////////////////////////////////////////////////////////////|
// Crops the hull with a provided plane and with given epsilon
// returns new hull if succeeded
ConvexHull* convexHullCrop(const ConvexHull& convex, const PxPlane& slice, float planetestepsilon);
//////////////////////////////////////////////////////////////////////////|
// three planes intersection
PX_FORCE_INLINE PxVec3 threePlaneIntersection(const PxPlane& p0, const PxPlane& p1, const PxPlane& p2)
{
PxMat33 mp = (PxMat33(p0.n, p1.n, p2.n)).getTranspose();
PxMat33 mi = (mp).getInverse();
PxVec3 b(p0.d, p1.d, p2.d);
return -mi.transform(b);
}
//////////////////////////////////////////////////////////////////////////
// Compute OBB around given convex hull
bool computeOBBFromConvex(const PxConvexMeshDesc& desc, PxVec3& sides, PxTransform& matrix);
}
#endif
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