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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_INFLATION_CONVEXHULLLIB_H
#define PX_INFLATION_CONVEXHULLLIB_H
#include "ConvexHullLib.h"
#include "Ps.h"
#include "PsArray.h"
#include "PsUserAllocated.h"
namespace local
{
class HullTriangles;
}
namespace physx
{
class ConvexHull;
//////////////////////////////////////////////////////////////////////////
// internal hull lib results
struct ConvexHullLibResult
{
// return code
enum ErrorCode
{
eSUCCESS = 0, // success!
eFAILURE, // failed.
eVERTEX_LIMIT_REACHED, // vertex limit reached fallback.
eZERO_AREA_TEST_FAILED, // area test failed - failed to create simplex
ePOLYGON_LIMIT_REACHED // polygons hard limit 255 reached
};
PxU32 mVcount;
PxU32 mIndexCount;
PxU32 mPolygonCount;
PxVec3* mVertices;
PxU32* mIndices;
PxHullPolygon* mPolygons;
ConvexHullLibResult()
: mVcount(0), mIndexCount(0), mPolygonCount(0),
mVertices(NULL), mIndices(NULL), mPolygons(NULL)
{
}
};
//////////////////////////////////////////////////////////////////////////
// inflation based hull library. Using the legacy Stan hull lib with inflation
// We construct the hull using incremental method and then inflate the resulting planes
// by specified skinWidth. We take the planes and crop AABB with them to construct
// the final hull. This method may reduce the number of polygons significantly
// in case of lot of vertices are used. On the other hand, we produce new vertices
// and enlarge the original hull constructed from the given input points.
// Generally speaking, the increase of vertices is usually too big, so it is not worthy
// to use this algorithm to reduce the number of polygons. This method is also very unprecise
// and may produce invalid hulls. It is recommended to use the new quickhull library.
class InflationConvexHullLib: public ConvexHullLib, public Ps::UserAllocated
{
PX_NOCOPY(InflationConvexHullLib)
public:
// functions
InflationConvexHullLib(const PxConvexMeshDesc& desc, const PxCookingParams& params);
~InflationConvexHullLib();
// computes the convex hull from provided points
virtual PxConvexMeshCookingResult::Enum createConvexHull();
// Inflation convex hull does not store edge information so we cannot provide the edge list
virtual bool createEdgeList(const PxU32 , const PxU8* , PxU8** , PxU16** , PxU16** ) { return false; }
// fills the convexmeshdesc with computed hull data
virtual void fillConvexMeshDesc(PxConvexMeshDesc& desc);
protected:
// internal
// compute the hull
ConvexHullLibResult::ErrorCode computeHull(PxU32 vertsCount, const PxVec3* verts);
// computes the hull
ConvexHullLibResult::ErrorCode calchull(const PxVec3* verts, PxU32 verts_count, ConvexHull*& hullOut);
// computes the actual hull using the incremental algorithm
ConvexHullLibResult::ErrorCode calchullgen(const PxVec3* verts, PxU32 verts_count, local::HullTriangles& triangles);
// calculates the hull planes from the triangles
bool calchullplanes(const PxVec3* verts, local::HullTriangles& triangles, Ps::Array<PxPlane>& planes);
// construct the hull from given planes - create new verts
bool overhull(const PxVec3* verts, PxU32 vertsCount,const Ps::Array<PxPlane>& planes, ConvexHull*& hullOut);
// expand the hull with the limited triangles set
ConvexHullLibResult::ErrorCode expandHull(const PxVec3* verts, PxU32 vertsCount, const local::HullTriangles& triangles, ConvexHull*& hullOut);
// expand the hull with the limited triangles set
ConvexHullLibResult::ErrorCode expandHullOBB(const PxVec3* verts, PxU32 vertsCount, const local::HullTriangles& triangles, ConvexHull*& hullOut);
private:
bool mFinished;
ConvexHullLibResult mHullResult;
float mTolerance;
float mPlaneTolerance;
};
}
#endif
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