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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_GEOMUTILS_NX_HEIGHTFIELD |
32 | #define PX_PHYSICS_GEOMUTILS_NX_HEIGHTFIELD |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | |
37 | #include "geometry/PxHeightFieldFlag.h" |
38 | #include "geometry/PxHeightFieldSample.h" |
39 | #include "common/PxBase.h" |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | class PxHeightFieldDesc; |
47 | |
48 | /** |
49 | \brief A height field class. |
50 | |
51 | Height fields work in a similar way as triangle meshes specified to act as |
52 | height fields, with some important differences: |
53 | |
54 | Triangle meshes can be made of nonuniform geometry, while height fields are |
55 | regular, rectangular grids. This means that with PxHeightField, you sacrifice |
56 | flexibility in return for improved performance and decreased memory consumption. |
57 | |
58 | In local space rows extend in X direction, columns in Z direction and height in Y direction. |
59 | |
60 | Like Convexes and TriangleMeshes, HeightFields are referenced by shape instances |
61 | (see #PxHeightFieldGeometry, #PxShape). |
62 | |
63 | To avoid duplicating data when you have several instances of a particular |
64 | height field differently, you do not use this class to represent a |
65 | height field object directly. Instead, you create an instance of this height field |
66 | via the PxHeightFieldGeometry and PxShape classes. |
67 | |
68 | <h3>Creation</h3> |
69 | |
70 | To create an instance of this class call PxPhysics::createHeightField() or |
71 | PxCooking::createHeightField(const PxHeightFieldDesc&, PxPhysicsInsertionCallback&). |
72 | To delete it call release(). This is only possible |
73 | once you have released all of its PxHeightFiedShape instances. |
74 | |
75 | <h3>Visualizations:</h3> |
76 | \li #PxVisualizationParameter::eCOLLISION_AABBS |
77 | \li #PxVisualizationParameter::eCOLLISION_SHAPES |
78 | \li #PxVisualizationParameter::eCOLLISION_AXES |
79 | \li #PxVisualizationParameter::eCOLLISION_FNORMALS |
80 | \li #PxVisualizationParameter::eCOLLISION_EDGES |
81 | |
82 | @see PxHeightFieldDesc PxHeightFieldGeometry PxShape PxPhysics.createHeightField() PxCooking.createHeightField() |
83 | */ |
84 | |
85 | class PxHeightField : public PxBase |
86 | { |
87 | public: |
88 | /** |
89 | \brief Decrements the reference count of a height field and releases it if the new reference count is zero. |
90 | |
91 | @see PxPhysics.createHeightField() PxHeightFieldDesc PxHeightFieldGeometry PxShape |
92 | */ |
93 | PX_PHYSX_COMMON_API virtual void release() = 0; |
94 | |
95 | /** |
96 | \brief Writes out the sample data array. |
97 | |
98 | The user provides destBufferSize bytes storage at destBuffer. |
99 | The data is formatted and arranged as PxHeightFieldDesc.samples. |
100 | |
101 | \param[out] destBuffer The destination buffer for the sample data. |
102 | \param[in] destBufferSize The size of the destination buffer. |
103 | \return The number of bytes written. |
104 | |
105 | @see PxHeightFieldDesc.samples |
106 | */ |
107 | PX_PHYSX_COMMON_API virtual PxU32 saveCells(void* destBuffer, PxU32 destBufferSize) const = 0; |
108 | |
109 | /** |
110 | \brief Replaces a rectangular subfield in the sample data array. |
111 | |
112 | The user provides the description of a rectangular subfield in subfieldDesc. |
113 | The data is formatted and arranged as PxHeightFieldDesc.samples. |
114 | |
115 | \param[in] startCol First cell in the destination heightfield to be modified. Can be negative. |
116 | \param[in] startRow First row in the destination heightfield to be modified. Can be negative. |
117 | \param[in] subfieldDesc Description of the source subfield to read the samples from. |
118 | \param[in] shrinkBounds If left as false, the bounds will never shrink but only grow. If set to true the bounds will be recomputed from all HF samples at O(nbColums*nbRows) perf cost. |
119 | \return True on success, false on failure. Failure can occur due to format mismatch. |
120 | |
121 | \note Modified samples are constrained to the same height quantization range as the original heightfield. |
122 | Source samples that are out of range of target heightfield will be clipped with no error. |
123 | PhysX does not keep a mapping from the heightfield to heightfield shapes that reference it. |
124 | Call PxShape::setGeometry on each shape which references the height field, to ensure that internal data structures are updated to reflect the new geometry. |
125 | Please note that PxShape::setGeometry does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry. |
126 | |
127 | @see PxHeightFieldDesc.samples PxShape.setGeometry |
128 | */ |
129 | PX_PHYSX_COMMON_API virtual bool modifySamples(PxI32 startCol, PxI32 startRow, const PxHeightFieldDesc& subfieldDesc, bool shrinkBounds = false) = 0; |
130 | |
131 | /** |
132 | \brief Retrieves the number of sample rows in the samples array. |
133 | |
134 | \return The number of sample rows in the samples array. |
135 | |
136 | @see PxHeightFieldDesc.nbRows |
137 | */ |
138 | PX_PHYSX_COMMON_API virtual PxU32 getNbRows() const = 0; |
139 | |
140 | /** |
141 | \brief Retrieves the number of sample columns in the samples array. |
142 | |
143 | \return The number of sample columns in the samples array. |
144 | |
145 | @see PxHeightFieldDesc.nbColumns |
146 | */ |
147 | PX_PHYSX_COMMON_API virtual PxU32 getNbColumns() const = 0; |
148 | |
149 | /** |
150 | \brief Retrieves the format of the sample data. |
151 | |
152 | \return The format of the sample data. |
153 | |
154 | @see PxHeightFieldDesc.format PxHeightFieldFormat |
155 | */ |
156 | PX_PHYSX_COMMON_API virtual PxHeightFieldFormat::Enum getFormat() const = 0; |
157 | |
158 | /** |
159 | \brief Retrieves the offset in bytes between consecutive samples in the array. |
160 | |
161 | \return The offset in bytes between consecutive samples in the array. |
162 | |
163 | @see PxHeightFieldDesc.sampleStride |
164 | */ |
165 | PX_PHYSX_COMMON_API virtual PxU32 getSampleStride() const = 0; |
166 | |
167 | /** |
168 | \brief Retrieves the convex edge threshold. |
169 | |
170 | \return The convex edge threshold. |
171 | |
172 | @see PxHeightFieldDesc.convexEdgeThreshold |
173 | */ |
174 | PX_PHYSX_COMMON_API virtual PxReal getConvexEdgeThreshold() const = 0; |
175 | |
176 | /** |
177 | \brief Retrieves the flags bits, combined from values of the enum ::PxHeightFieldFlag. |
178 | |
179 | \return The flags bits, combined from values of the enum ::PxHeightFieldFlag. |
180 | |
181 | @see PxHeightFieldDesc.flags PxHeightFieldFlag |
182 | */ |
183 | PX_PHYSX_COMMON_API virtual PxHeightFieldFlags getFlags() const = 0; |
184 | |
185 | /** |
186 | \brief Retrieves the height at the given coordinates in grid space. |
187 | |
188 | \return The height at the given coordinates or 0 if the coordinates are out of range. |
189 | */ |
190 | PX_PHYSX_COMMON_API virtual PxReal getHeight(PxReal x, PxReal z) const = 0; |
191 | |
192 | /** |
193 | \brief Returns the reference count for shared heightfields. |
194 | |
195 | At creation, the reference count of the heightfield is 1. Every shape referencing this heightfield increments the |
196 | count by 1. When the reference count reaches 0, and only then, the heightfield gets destroyed automatically. |
197 | |
198 | \return the current reference count. |
199 | */ |
200 | PX_PHYSX_COMMON_API virtual PxU32 getReferenceCount() const = 0; |
201 | |
202 | /** |
203 | \brief Acquires a counted reference to a heightfield. |
204 | |
205 | This method increases the reference count of the heightfield by 1. Decrement the reference count by calling release() |
206 | */ |
207 | PX_PHYSX_COMMON_API virtual void acquireReference() = 0; |
208 | |
209 | /** |
210 | \brief Returns material table index of given triangle |
211 | |
212 | \note This function takes a post cooking triangle index. |
213 | |
214 | \param[in] triangleIndex (internal) index of desired triangle |
215 | \return Material table index, or 0xffff if no per-triangle materials are used |
216 | */ |
217 | PX_PHYSX_COMMON_API virtual PxMaterialTableIndex getTriangleMaterialIndex(PxTriangleID triangleIndex) const = 0; |
218 | |
219 | /** |
220 | \brief Returns a triangle face normal for a given triangle index |
221 | |
222 | \note This function takes a post cooking triangle index. |
223 | |
224 | \param[in] triangleIndex (internal) index of desired triangle |
225 | \return Triangle normal for a given triangle index |
226 | */ |
227 | PX_PHYSX_COMMON_API virtual PxVec3 getTriangleNormal(PxTriangleID triangleIndex) const = 0; |
228 | |
229 | /** |
230 | \brief Returns heightfield sample of given row and column |
231 | |
232 | \param[in] row Given heightfield row |
233 | \param[in] column Given heightfield column |
234 | \return Heightfield sample |
235 | */ |
236 | PX_PHYSX_COMMON_API virtual const PxHeightFieldSample& getSample(PxU32 row, PxU32 column) const = 0; |
237 | |
238 | /** |
239 | \brief Returns the number of times the heightfield data has been modified |
240 | |
241 | This method returns the number of times modifySamples has been called on this heightfield, so that code that has |
242 | retained state that depends on the heightfield can efficiently determine whether it has been modified. |
243 | |
244 | \return the number of times the heightfield sample data has been modified. |
245 | */ |
246 | PX_PHYSX_COMMON_API virtual PxU32 getTimestamp() const = 0; |
247 | |
248 | PX_PHYSX_COMMON_API virtual const char* getConcreteTypeName() const { return "PxHeightField" ; } |
249 | |
250 | protected: |
251 | PX_INLINE PxHeightField(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {} |
252 | PX_INLINE PxHeightField(PxBaseFlags baseFlags) : PxBase(baseFlags) {} |
253 | PX_PHYSX_COMMON_API virtual ~PxHeightField() {} |
254 | PX_PHYSX_COMMON_API virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxHeightField" , s2: name) || PxBase::isKindOf(superClass: name); } |
255 | }; |
256 | |
257 | #if !PX_DOXYGEN |
258 | } // namespace physx |
259 | #endif |
260 | |
261 | /** @} */ |
262 | #endif |
263 | |