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// 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) 2008-2016 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);
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
PxVec3* mVertsOut; // vertices for output
PxU32* mIndicesOut; // inidices for output
PxHullPolygon* mPolygonsOut; // polygons for output
};
}
#endif
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