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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) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#include "PxPhysXConfig.h"
#if PX_USE_CLOTH_API
#include "foundation/PxVec4.h"
#include "foundation/PxMemory.h"
#include "foundation/PxStrideIterator.h"
#include "extensions/PxClothTetherCooker.h"
#include "PsArray.h"
// from shared foundation
#include <PsFoundation.h>
using namespace physx;
struct physx::PxClothSimpleTetherCookerImpl
{
PxClothSimpleTetherCookerImpl(const PxClothMeshDesc& desc);
void getTetherData(PxU32* userTetherAnchors, PxReal* userTetherLengths) const;
public:
// output
shdfnd::Array<PxU32> mTetherAnchors;
shdfnd::Array<PxReal> mTetherLengths;
protected:
void createTetherData(const PxClothMeshDesc &desc);
};
PxClothSimpleTetherCooker::PxClothSimpleTetherCooker(const PxClothMeshDesc& desc)
: mImpl(new PxClothSimpleTetherCookerImpl(desc))
{
}
PxClothSimpleTetherCooker::~PxClothSimpleTetherCooker()
{
delete mImpl;
}
void PxClothSimpleTetherCooker::getTetherData(PxU32* userTetherAnchors, PxReal* userTetherLengths) const
{
mImpl->getTetherData(userTetherAnchors, userTetherLengths);
}
///////////////////////////////////////////////////////////////////////////////
PxClothSimpleTetherCookerImpl::PxClothSimpleTetherCookerImpl(const PxClothMeshDesc &desc)
{
createTetherData(desc);
}
///////////////////////////////////////////////////////////////////////////////
void PxClothSimpleTetherCookerImpl::createTetherData(const PxClothMeshDesc &desc)
{
PxU32 numParticles = desc.points.count;
if (!desc.invMasses.data)
return;
// assemble points
shdfnd::Array<PxVec4> particles;
particles.reserve(numParticles);
PxStrideIterator<const PxVec3> pIt(reinterpret_cast<const PxVec3*>(desc.points.data), desc.points.stride);
PxStrideIterator<const PxReal> wIt(reinterpret_cast<const PxReal*>(desc.invMasses.data), desc.invMasses.stride);
for(PxU32 i=0; i<numParticles; ++i)
particles.pushBack(PxVec4(*pIt++, wIt.ptr() ? *wIt++ : 1.0f));
// compute tether data
shdfnd::Array<PxU32> attachedIndices;
for(PxU32 i=0; i < numParticles; ++i)
if(particles[i].w == 0.0f)
attachedIndices.pushBack(i);
PxU32 n = attachedIndices.empty() ? 0 : numParticles;
for(PxU32 i=0; i < n; ++i)
{
mTetherAnchors.reserve(numParticles);
mTetherLengths.reserve(numParticles);
PxVec3 position = reinterpret_cast<const PxVec3&>(particles[i]);
float minSqrDist = FLT_MAX;
PxU32 minIndex = numParticles;
const PxU32 *aIt, *aEnd = attachedIndices.end();
for(aIt = attachedIndices.begin(); aIt != aEnd; ++aIt)
{
float sqrDist = (reinterpret_cast<const PxVec3&>(
particles[*aIt]) - position).magnitudeSquared();
if(minSqrDist > sqrDist)
{
minSqrDist = sqrDist;
minIndex = *aIt;
}
}
mTetherAnchors.pushBack(minIndex);
mTetherLengths.pushBack(PxSqrt(minSqrDist));
}
PX_ASSERT(mTetherAnchors.size() == mTetherLengths.size());
}
///////////////////////////////////////////////////////////////////////////////
void
PxClothSimpleTetherCookerImpl::getTetherData(PxU32* userTetherAnchors, PxReal* userTetherLengths) const
{
PxMemCopy(userTetherAnchors, mTetherAnchors.begin(), mTetherAnchors.size() * sizeof(PxU32));
PxMemCopy(userTetherLengths, mTetherLengths.begin(), mTetherLengths.size() * sizeof(PxReal));
}
#endif //PX_USE_CLOTH_API
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