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14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_NX_CONVEXMESH_GEOMETRY |
32 | #define PX_PHYSICS_NX_CONVEXMESH_GEOMETRY |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | #include "geometry/PxGeometry.h" |
37 | #include "geometry/PxMeshScale.h" |
38 | #include "common/PxCoreUtilityTypes.h" |
39 | #include "geometry/PxConvexMesh.h" |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | class PxConvexMesh; |
47 | |
48 | /** |
49 | \brief Flags controlling the simulated behavior of the convex mesh geometry. |
50 | |
51 | Used in ::PxConvexMeshGeometryFlags. |
52 | */ |
53 | struct PxConvexMeshGeometryFlag |
54 | { |
55 | enum Enum |
56 | { |
57 | eTIGHT_BOUNDS = (1<<0) //!< Use tighter (but more expensive to compute) bounds around the convex geometry. |
58 | }; |
59 | }; |
60 | |
61 | /** |
62 | \brief collection of set bits defined in PxConvexMeshGeometryFlag. |
63 | |
64 | @see PxConvexMeshGeometryFlag |
65 | */ |
66 | typedef PxFlags<PxConvexMeshGeometryFlag::Enum,PxU8> PxConvexMeshGeometryFlags; |
67 | PX_FLAGS_OPERATORS(PxConvexMeshGeometryFlag::Enum,PxU8) |
68 | |
69 | /** |
70 | \brief Convex mesh geometry class. |
71 | |
72 | This class unifies a convex mesh object with a scaling transform, and |
73 | lets the combined object be used anywhere a PxGeometry is needed. |
74 | |
75 | The scaling is a transform along arbitrary axes contained in the scale object. |
76 | The vertices of the mesh in geometry (or shape) space is the |
77 | PxMeshScale::toMat33() transform, multiplied by the vertex space vertices |
78 | in the PxConvexMesh object. |
79 | */ |
80 | class PxConvexMeshGeometry : public PxGeometry |
81 | { |
82 | public: |
83 | /** |
84 | \brief Default constructor. |
85 | |
86 | Creates an empty object with a NULL mesh and identity scale. |
87 | */ |
88 | PX_INLINE PxConvexMeshGeometry() : |
89 | PxGeometry (PxGeometryType::eCONVEXMESH), |
90 | scale (PxMeshScale(1.0f)), |
91 | convexMesh (NULL), |
92 | meshFlags (PxConvexMeshGeometryFlag::eTIGHT_BOUNDS) |
93 | {} |
94 | |
95 | /** |
96 | \brief Constructor. |
97 | \param[in] mesh Mesh pointer. May be NULL, though this will not make the object valid for shape construction. |
98 | \param[in] scaling Scale factor. |
99 | \param[in] flags Mesh flags. |
100 | \ |
101 | */ |
102 | PX_INLINE PxConvexMeshGeometry( PxConvexMesh* mesh, |
103 | const PxMeshScale& scaling = PxMeshScale(), |
104 | PxConvexMeshGeometryFlags flags = PxConvexMeshGeometryFlag::eTIGHT_BOUNDS) : |
105 | PxGeometry (PxGeometryType::eCONVEXMESH), |
106 | scale (scaling), |
107 | convexMesh (mesh), |
108 | meshFlags (flags) |
109 | { |
110 | } |
111 | |
112 | /** |
113 | \brief Returns true if the geometry is valid. |
114 | |
115 | \return True if the current settings are valid for shape creation. |
116 | |
117 | \note A valid convex mesh has a positive scale value in each direction (scale.x > 0, scale.y > 0, scale.z > 0). |
118 | It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a convex that has zero extent in any direction. |
119 | |
120 | @see PxRigidActor::createShape, PxPhysics::createShape |
121 | */ |
122 | PX_INLINE bool isValid() const; |
123 | |
124 | public: |
125 | PxMeshScale scale; //!< The scaling transformation (from vertex space to shape space). |
126 | PxConvexMesh* convexMesh; //!< A reference to the convex mesh object. |
127 | PxConvexMeshGeometryFlags meshFlags; //!< Mesh flags. |
128 | PxPadding<3> paddingFromFlags; //!< padding for mesh flags |
129 | }; |
130 | |
131 | |
132 | PX_INLINE bool PxConvexMeshGeometry::isValid() const |
133 | { |
134 | if(mType != PxGeometryType::eCONVEXMESH) |
135 | return false; |
136 | if(!scale.scale.isFinite() || !scale.rotation.isUnit()) |
137 | return false; |
138 | if(!scale.isValidForConvexMesh()) |
139 | return false; |
140 | if(!convexMesh) |
141 | return false; |
142 | |
143 | return true; |
144 | } |
145 | |
146 | #if !PX_DOXYGEN |
147 | } // namespace physx |
148 | #endif |
149 | |
150 | /** @} */ |
151 | #endif |
152 | |