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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_MESHSCALE |
32 | #define PX_PHYSICS_NX_MESHSCALE |
33 | /** \addtogroup geomutils |
34 | @{ |
35 | */ |
36 | |
37 | #include "common/PxPhysXCommonConfig.h" |
38 | #include "foundation/PxMat33.h" |
39 | #include "foundation/PxAssert.h" |
40 | |
41 | /** \brief Minimum allowed absolute magnitude for each of mesh scale's components (x,y,z). |
42 | \note Only positive scale values are allowed for convex meshes. */ |
43 | #define PX_MESH_SCALE_MIN 1e-6f |
44 | |
45 | /** \brief Maximum allowed absolute magnitude for each of mesh scale's components (x,y,z). |
46 | \note Only positive scale values are allowed for convex meshes. */ |
47 | #define PX_MESH_SCALE_MAX 1e6f |
48 | |
49 | #if !PX_DOXYGEN |
50 | namespace physx |
51 | { |
52 | #endif |
53 | |
54 | /** |
55 | \brief A class expressing a nonuniform scaling transformation. |
56 | |
57 | The scaling is along arbitrary axes that are specified by PxMeshScale::rotation. |
58 | |
59 | \note Negative scale values are supported for PxTriangleMeshGeometry |
60 | with absolute values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range. |
61 | Negative scale causes a reflection around the specified axis, in addition PhysX will flip the normals |
62 | for mesh triangles when scale.x*scale.y*scale.z < 0. |
63 | \note Only positive scale values are supported for PxConvexMeshGeometry |
64 | with values for each component within [PX_MIN_ABS_MESH_SCALE, PX_MAX_ABS_MESH_SCALE] range). |
65 | |
66 | @see PxConvexMeshGeometry PxTriangleMeshGeometry |
67 | */ |
68 | class PxMeshScale |
69 | { |
70 | //= ATTENTION! ===================================================================================== |
71 | // Changing the data layout of this class breaks the binary serialization format. See comments for |
72 | // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData |
73 | // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION |
74 | // accordingly. |
75 | //================================================================================================== |
76 | public: |
77 | /** |
78 | \brief Constructor initializes to identity scale. |
79 | */ |
80 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(): scale(1.0f), rotation(PxIdentity) |
81 | { |
82 | } |
83 | |
84 | /** |
85 | \brief Constructor from scalar. |
86 | */ |
87 | explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(PxReal r): scale(r), rotation(PxIdentity) |
88 | { |
89 | } |
90 | |
91 | /** |
92 | \brief Constructor to initialize to arbitrary scale and identity scale rotation. |
93 | */ |
94 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s) |
95 | { |
96 | scale = s; |
97 | rotation = PxQuat(PxIdentity); |
98 | } |
99 | |
100 | /** |
101 | \brief Constructor to initialize to arbitrary scaling. |
102 | */ |
103 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale(const PxVec3& s, const PxQuat& r) |
104 | { |
105 | PX_ASSERT(r.isUnit()); |
106 | scale = s; |
107 | rotation = r; |
108 | } |
109 | |
110 | |
111 | /** |
112 | \brief Returns true if the scaling is an identity transformation. |
113 | */ |
114 | PX_CUDA_CALLABLE PX_FORCE_INLINE bool isIdentity() const |
115 | { |
116 | return (scale.x == 1.0f && scale.y == 1.0f && scale.z == 1.0f); |
117 | } |
118 | |
119 | /** |
120 | \brief Returns the inverse of this scaling transformation. |
121 | */ |
122 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxMeshScale getInverse() const |
123 | { |
124 | return PxMeshScale(PxVec3(1.0f/scale.x, 1.0f/scale.y, 1.0f/scale.z), rotation); |
125 | } |
126 | |
127 | /** |
128 | \brief Converts this transformation to a 3x3 matrix representation. |
129 | */ |
130 | PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 toMat33() const |
131 | { |
132 | PxMat33 rot(rotation); |
133 | PxMat33 trans = rot.getTranspose(); |
134 | trans.column0 *= scale[0]; |
135 | trans.column1 *= scale[1]; |
136 | trans.column2 *= scale[2]; |
137 | return trans * rot; |
138 | } |
139 | |
140 | /** |
141 | \brief Returns true if combination of negative scale components will cause the triangle normal to flip. The SDK will flip the normals internally. |
142 | */ |
143 | PX_CUDA_CALLABLE PX_FORCE_INLINE bool hasNegativeDeterminant() const |
144 | { |
145 | return (scale.x * scale.y * scale.z < 0.0f); |
146 | } |
147 | |
148 | PxVec3 transform(const PxVec3& v) const |
149 | { |
150 | return rotation.rotateInv(v: scale.multiply(a: rotation.rotate(v))); |
151 | } |
152 | |
153 | bool isValidForTriangleMesh() const |
154 | { |
155 | PxVec3 absXYZ = scale.abs(); |
156 | return (absXYZ.maxElement() <= PX_MESH_SCALE_MAX) && (absXYZ.minElement() >= PX_MESH_SCALE_MIN); |
157 | } |
158 | |
159 | bool isValidForConvexMesh() const |
160 | { |
161 | return (scale.maxElement() <= PX_MESH_SCALE_MAX) && (scale.minElement() >= PX_MESH_SCALE_MIN); |
162 | } |
163 | |
164 | PxVec3 scale; //!< A nonuniform scaling |
165 | PxQuat rotation; //!< The orientation of the scaling axes |
166 | |
167 | |
168 | }; |
169 | |
170 | #if !PX_DOXYGEN |
171 | } // namespace physx |
172 | #endif |
173 | |
174 | /** @} */ |
175 | #endif |
176 | |