184 lines
6.3 KiB
C++
184 lines
6.3 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_GEOMUTILS_NX_CONVEXMESH
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#define PX_PHYSICS_GEOMUTILS_NX_CONVEXMESH
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/** \addtogroup geomutils
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@{
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*/
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#include "foundation/Px.h"
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#include "common/PxSerialFramework.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Polygon data
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*/
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struct PxHullPolygon
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{
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PxReal mPlane[4]; //!< Plane equation for this polygon
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PxU16 mNbVerts; //!< Number of vertices/edges in the polygon
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PxU16 mIndexBase; //!< Offset in index buffer
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};
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/**
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\brief A convex mesh.
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Internally represented as a list of convex polygons. The number
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of polygons is limited to 256.
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To avoid duplicating data when you have several instances of a particular
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mesh positioned differently, you do not use this class to represent a
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convex object directly. Instead, you create an instance of this mesh via
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the PxConvexMeshGeometry and PxShape classes.
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<h3>Creation</h3>
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To create an instance of this class call PxPhysics::createConvexMesh(),
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and PxConvexMesh::release() to delete it. This is only possible
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once you have released all of its #PxShape instances.
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<h3>Visualizations:</h3>
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\li #PxVisualizationParameter::eCOLLISION_AABBS
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\li #PxVisualizationParameter::eCOLLISION_SHAPES
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\li #PxVisualizationParameter::eCOLLISION_AXES
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\li #PxVisualizationParameter::eCOLLISION_FNORMALS
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\li #PxVisualizationParameter::eCOLLISION_EDGES
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@see PxConvexMeshDesc PxPhysics.createConvexMesh()
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*/
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class PxConvexMesh : public PxSerializable
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{
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public:
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/**
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\brief Returns the number of vertices.
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\return Number of vertices.
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@see getVertices()
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbVertices() const = 0;
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/**
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\brief Returns the vertices.
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\return Array of vertices.
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@see getNbVertices()
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*/
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PX_PHYSX_COMMON_API virtual const PxVec3* getVertices() const = 0;
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/**
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\brief Returns the index buffer.
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\return Index buffer.
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@see getNbPolygons() getPolygonData()
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*/
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PX_PHYSX_COMMON_API virtual const PxU8* getIndexBuffer() const = 0;
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/**
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\brief Returns the number of polygons.
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\return Number of polygons.
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@see getIndexBuffer() getPolygonData()
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getNbPolygons() const = 0;
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/**
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\brief Returns the polygon data.
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\param[in] index Polygon index in [0 ; getNbPolygons()[.
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\param[out] data Polygon data.
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\return True if success.
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@see getIndexBuffer() getNbPolygons()
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*/
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PX_PHYSX_COMMON_API virtual bool getPolygonData(PxU32 index, PxHullPolygon& data) const = 0;
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/**
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\brief Releases the convex mesh.
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\note This will decrease the reference count by one.
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Releases the application's reference to the convex mesh.
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The mesh is destroyed when the application's reference is released and all shapes referencing the mesh are destroyed.
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@see PxPhysics.createConvexMesh() PxConvexMeshGeometry PxShape
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*/
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PX_PHYSX_COMMON_API virtual void release() = 0;
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/**
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\brief Returns the reference count for shared meshes.
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At creation, the reference count of the convex mesh is 1. Every shape referencing this convex mesh increments the
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count by 1. When the reference count reaches 0, and only then, the convex mesh gets destroyed automatically.
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\return the current reference count.
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*/
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PX_PHYSX_COMMON_API virtual PxU32 getReferenceCount() const = 0;
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/**
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\brief Returns the mass properties of the mesh assuming unit density.
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The following relationship holds between mass and volume:
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mass = volume * density
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The mass of a unit density mesh is equal to its volume, so this function returns the volume of the mesh.
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Similarly, to obtain the localInertia of an identically shaped object with a uniform density of d, simply multiply the
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localInertia of the unit density mesh by d.
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\param[out] mass The mass of the mesh assuming unit density.
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\param[out] localInertia The inertia tensor in mesh local space assuming unit density.
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\param[out] localCenterOfMass Position of center of mass (or centroid) in mesh local space.
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*/
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PX_PHYSX_COMMON_API virtual void getMassInformation(PxReal& mass, PxMat33& localInertia, PxVec3& localCenterOfMass) const = 0;
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/**
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\brief Returns the local-space (vertex space) AABB from the convex mesh.
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\return local-space bounds
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*/
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PX_PHYSX_COMMON_API virtual PxBounds3 getLocalBounds() const = 0;
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PX_INLINE virtual const char* getConcreteTypeName() const { return "PxConvexMesh"; }
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protected:
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virtual ~PxConvexMesh() {}
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PxConvexMesh() {}
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PxConvexMesh(PxRefResolver& v) : PxSerializable(v) {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxConvexMesh", name) || PxSerializable::isKindOf(name); }
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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