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28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_EXTENSIONS_TRIANGLE_MESH_H |
32 | #define PX_PHYSICS_EXTENSIONS_TRIANGLE_MESH_H |
33 | /** \addtogroup extensions |
34 | @{ |
35 | */ |
36 | |
37 | #include "PxPhysXConfig.h" |
38 | #include "common/PxPhysXCommonConfig.h" |
39 | |
40 | #if !PX_DOXYGEN |
41 | namespace physx |
42 | { |
43 | #endif |
44 | |
45 | class PxGeometry; |
46 | class PxTriangleMeshGeometry; |
47 | class PxHeightFieldGeometry; |
48 | |
49 | /** |
50 | \brief Utility class to find mesh triangles touched by a specified geometry object. |
51 | |
52 | This class is a helper calling PxMeshQuery::findOverlapTriangleMesh or PxMeshQuery::findOverlapHeightField under the hood, |
53 | while taking care of necessary memory management issues. |
54 | |
55 | PxMeshQuery::findOverlapTriangleMesh and PxMeshQuery::findOverlapHeightField are the "raw" functions operating on user-provided fixed-size |
56 | buffers. These functions abort with an error code in case of buffer overflow. PxMeshOverlapUtil is a convenient helper function checking |
57 | this error code, and resizing buffers appropriately, until the desired call succeeds. |
58 | |
59 | Returned triangle indices are stored within the class, and can be used with PxMeshQuery::getTriangle() to retrieve the triangle properties. |
60 | */ |
61 | class PxMeshOverlapUtil |
62 | { |
63 | public: |
64 | PxMeshOverlapUtil(); |
65 | ~PxMeshOverlapUtil(); |
66 | /** |
67 | \brief Find the mesh triangles which touch the specified geometry object. |
68 | |
69 | \param[in] geom The geometry object to test for mesh triangle overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry |
70 | \param[in] geomPose Pose of the geometry object |
71 | \param[in] meshGeom The triangle mesh geometry to check overlap against |
72 | \param[in] meshPose Pose of the triangle mesh |
73 | \return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function. |
74 | |
75 | @see PxGeometry PxTransform PxTriangleMeshGeometry PxMeshQuery::findOverlapTriangleMesh |
76 | */ |
77 | PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose); |
78 | |
79 | /** |
80 | \brief Find the height field triangles which touch the specified geometry object. |
81 | |
82 | \param[in] geom The geometry object to test for height field overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry. The sphere and capsule queries are currently conservative estimates. |
83 | \param[in] geomPose Pose of the geometry object |
84 | \param[in] hfGeom The height field geometry to check overlap against |
85 | \param[in] hfPose Pose of the height field |
86 | \return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function. |
87 | |
88 | @see PxGeometry PxTransform PxHeightFieldGeometry PxMeshQuery::findOverlapHeightField |
89 | */ |
90 | PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose); |
91 | |
92 | /** |
93 | \brief Retrieves array of triangle indices after a findOverlap call. |
94 | \return Indices of touched triangles |
95 | */ |
96 | PX_FORCE_INLINE const PxU32* getResults() const { return mResultsMemory; } |
97 | |
98 | /** |
99 | \brief Retrieves number of triangle indices after a findOverlap call. |
100 | \return Number of touched triangles |
101 | */ |
102 | PX_FORCE_INLINE PxU32 getNbResults() const { return mNbResults; } |
103 | |
104 | private: |
105 | PxU32* mResultsMemory; |
106 | PxU32 mResults[256]; |
107 | PxU32 mNbResults; |
108 | PxU32 mMaxNbResults; |
109 | }; |
110 | |
111 | /** |
112 | \brief Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh. |
113 | |
114 | This iterative function computes an approximate vector that can be used to depenetrate a geom object |
115 | from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh. |
116 | |
117 | The function works best when the amount of overlap between the geom object and the mesh is small. If the |
118 | geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected, |
119 | and the function does not compute an MTD vector. |
120 | |
121 | The function early exits if no overlap is detected after a depenetration attempt. This means that if |
122 | maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has |
123 | been successful. Usually N = 4 gives good results. |
124 | |
125 | \param[out] direction Computed MTD unit direction |
126 | \param[out] depth Penetration depth. Always positive or zero. |
127 | \param[in] geom The geometry object |
128 | \param[in] geomPose Pose for the geometry object |
129 | \param[in] meshGeom The mesh geometry |
130 | \param[in] meshPose Pose for the mesh |
131 | \param[in] maxIter Max number of iterations before returning. |
132 | \param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL. |
133 | |
134 | \return True if the MTD has successfully been computed, i.e. if objects do overlap. |
135 | |
136 | @see PxGeometry PxTransform PxTriangleMeshGeometry |
137 | */ |
138 | bool PxComputeTriangleMeshPenetration(PxVec3& direction, |
139 | PxReal& depth, |
140 | const PxGeometry& geom, |
141 | const PxTransform& geomPose, |
142 | const PxTriangleMeshGeometry& meshGeom, |
143 | const PxTransform& meshPose, |
144 | PxU32 maxIter, |
145 | PxU32* usedIter = NULL); |
146 | |
147 | /** |
148 | \brief Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield. |
149 | |
150 | This iterative function computes an approximate vector that can be used to depenetrate a geom object |
151 | from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield. |
152 | |
153 | The function works best when the amount of overlap between the geom object and the mesh is small. If the |
154 | geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected, |
155 | and the function does not compute an MTD vector. |
156 | |
157 | The function early exits if no overlap is detected after a depenetration attempt. This means that if |
158 | maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has |
159 | been successful. Usually N = 4 gives good results. |
160 | |
161 | \param[out] direction Computed MTD unit direction |
162 | \param[out] depth Penetration depth. Always positive or zero. |
163 | \param[in] geom The geometry object |
164 | \param[in] geomPose Pose for the geometry object |
165 | \param[in] heightFieldGeom The heightfield geometry |
166 | \param[in] heightFieldPose Pose for the heightfield |
167 | \param[in] maxIter Max number of iterations before returning. |
168 | \param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL. |
169 | |
170 | \return True if the MTD has successfully been computed, i.e. if objects do overlap. |
171 | |
172 | @see PxGeometry PxTransform PxHeightFieldGeometry |
173 | */ |
174 | bool PxComputeHeightFieldPenetration(PxVec3& direction, |
175 | PxReal& depth, |
176 | const PxGeometry& geom, |
177 | const PxTransform& geomPose, |
178 | const PxHeightFieldGeometry& heightFieldGeom, |
179 | const PxTransform& heightFieldPose, |
180 | PxU32 maxIter, |
181 | PxU32* usedIter = NULL); |
182 | |
183 | #if !PX_DOXYGEN |
184 | } // namespace physx |
185 | #endif |
186 | |
187 | /** @} */ |
188 | #endif |
189 | |