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
|
// 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.
#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
|