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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) 2008-2017 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_FOUNDATION_NXVOLUMEINTEGRATION
#define PX_FOUNDATION_NXVOLUMEINTEGRATION
/** \addtogroup foundation
@{
*/
#include "foundation/Px.h"
#include "foundation/PxVec3.h"
#include "foundation/PxMat33.h"
#include "CmPhysXCommon.h"
namespace physx
{
class PxSimpleTriangleMesh;
class PxConvexMeshDesc;
/**
\brief Data structure used to store mass properties.
*/
struct PxIntegrals
{
PxVec3 COM; //!< Center of mass
PxF64 mass; //!< Total mass
PxF64 inertiaTensor[3][3]; //!< Inertia tensor (mass matrix) relative to the origin
PxF64 COMInertiaTensor[3][3]; //!< Inertia tensor (mass matrix) relative to the COM
/**
\brief Retrieve the inertia tensor relative to the center of mass.
\param inertia Inertia tensor.
*/
void getInertia(PxMat33& inertia)
{
for(PxU32 j=0;j<3;j++)
{
for(PxU32 i=0;i<3;i++)
{
inertia(i,j) = PxF32(COMInertiaTensor[i][j]);
}
}
}
/**
\brief Retrieve the inertia tensor relative to the origin.
\param inertia Inertia tensor.
*/
void getOriginInertia(PxMat33& inertia)
{
for(PxU32 j=0;j<3;j++)
{
for(PxU32 i=0;i<3;i++)
{
inertia(i,j) = PxF32(inertiaTensor[i][j]);
}
}
}
};
bool computeVolumeIntegrals(const PxSimpleTriangleMesh& mesh, PxReal density, PxIntegrals& integrals);
// specialized method taking polygons directly, so we don't need to compute and store triangles for each polygon
bool computeVolumeIntegralsEberly(const PxConvexMeshDesc& mesh, PxReal density, PxIntegrals& integrals, const PxVec3& origin); // Eberly simplified method
// specialized method taking polygons directly, so we don't need to compute and store triangles for each polygon, SIMD version
bool computeVolumeIntegralsEberlySIMD(const PxConvexMeshDesc& mesh, PxReal density, PxIntegrals& integrals, const PxVec3& origin); // Eberly simplified method
}
/** @} */
#endif
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