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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_QUICKHULL_CONVEXHULLLIB_H
#define PX_QUICKHULL_CONVEXHULLLIB_H
#include "ConvexHullLib.h"
#include "Ps.h"
#include "PsArray.h"
#include "PsUserAllocated.h"
namespace local
{
class QuickHull;
struct QuickHullVertex;
}
namespace physx
{
class ConvexHull;
//////////////////////////////////////////////////////////////////////////
// Quickhull lib constructs the hull from given input points. The resulting hull
// will only contain a subset of the input points. The algorithm does incrementally
// adds most furthest vertices to the starting simplex. The produced hulls are build with high precision
// and produce more stable and correct results, than the legacy algorithm.
class QuickHullConvexHullLib: public ConvexHullLib, public Ps::UserAllocated
{
PX_NOCOPY(QuickHullConvexHullLib)
public:
// functions
QuickHullConvexHullLib(const PxConvexMeshDesc& desc, const PxCookingParams& params);
~QuickHullConvexHullLib();
// computes the convex hull from provided points
virtual PxConvexMeshCookingResult::Enum createConvexHull();
// fills the convexmeshdesc with computed hull data
virtual void fillConvexMeshDesc(PxConvexMeshDesc& desc);
// provide the edge list information
virtual bool createEdgeList(const PxU32, const PxU8* , PxU8** , PxU16** , PxU16** );
protected:
// if vertex limit reached we need to expand the hull using the OBB slicing
PxConvexMeshCookingResult::Enum expandHullOBB();
// if vertex limit reached we need to expand the hull using the plane shifting
PxConvexMeshCookingResult::Enum expandHull();
// checks for collinearity and co planarity
// returns true if the simplex was ok, we can reuse the computed tolerances and min/max values
bool cleanupForSimplex(PxVec3* vertices, PxU32 vertexCount, local::QuickHullVertex* minimumVertex,
local::QuickHullVertex* maximumVertex, float& tolerance, float& planeTolerance);
// fill the result desc from quick hull convex
void fillConvexMeshDescFromQuickHull(PxConvexMeshDesc& desc);
// fill the result desc from cropped hull convex
void fillConvexMeshDescFromCroppedHull(PxConvexMeshDesc& desc);
private:
local::QuickHull* mQuickHull; // the internal quick hull representation
ConvexHull* mCropedConvexHull; //the hull cropped from OBB, used for vertex limit path
PxU8* mOutMemoryBuffer; // memory buffer used for output data
PxU16* mFaceTranslateTable; // translation table mapping output faces to internal quick hull table
};
}
#endif
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