1 | #ifndef NX_COLLISION_NXCONVEXMESHDESC
|
---|
2 | #define NX_COLLISION_NXCONVEXMESHDESC
|
---|
3 | /*----------------------------------------------------------------------------*\
|
---|
4 | |
|
---|
5 | | Public Interface to NovodeX Technology
|
---|
6 | |
|
---|
7 | | www.novodex.com
|
---|
8 | |
|
---|
9 | \*----------------------------------------------------------------------------*/
|
---|
10 | /** \addtogroup physics
|
---|
11 | @{
|
---|
12 | */
|
---|
13 |
|
---|
14 | #include "NxConvexMesh.h"
|
---|
15 |
|
---|
16 | /**
|
---|
17 | \brief Flags which describe the format and behavior of a convex mesh.
|
---|
18 | */
|
---|
19 | enum NxConvexFlags
|
---|
20 | {
|
---|
21 | /**
|
---|
22 | The Nx libraries assume that the face normal of a triangle with vertices [a,b,c] can be computed as:
|
---|
23 | edge1 = b-a
|
---|
24 | edge2 = c-a
|
---|
25 | face_normal = edge1 x edge2.
|
---|
26 |
|
---|
27 | Note: this is the same as counterclockwise winding in a right handed graphics coordinate system.
|
---|
28 |
|
---|
29 | If this does not match the winding order for your triangles, raise the below flag.
|
---|
30 | */
|
---|
31 | NX_CF_FLIPNORMALS = (1<<0), //<! Used to flip the normals if the winding order is reversed.
|
---|
32 | NX_CF_16_BIT_INDICES = (1<<1), //<! Denotes the use of 16-bit vertex indices
|
---|
33 | NX_CF_COMPUTE_CONVEX = (1<<2), //<! Automatically recomputes the hull from the vertices
|
---|
34 |
|
---|
35 | /**
|
---|
36 | \brief Inflates the convex object according to skin width
|
---|
37 |
|
---|
38 | This flag is now assumed by default.
|
---|
39 |
|
---|
40 | If the old behavior is required the NX_CF_USE_LEGACY_COOKER flag can be used.
|
---|
41 |
|
---|
42 | \note This flag is only used in combination with NX_CF_COMPUTE_CONVEX.
|
---|
43 |
|
---|
44 | @see NxCookingParams NX_CF_USE_LEGACY_COOKER
|
---|
45 | */
|
---|
46 | NX_CF_INFLATE_CONVEX = (1<<3),
|
---|
47 |
|
---|
48 | /**
|
---|
49 | \brief Uses legacy hull algorithm, which doesn't inflate convex according to skin width
|
---|
50 |
|
---|
51 | See NxCookingParams
|
---|
52 | */
|
---|
53 | NX_CF_USE_LEGACY_COOKER = (1<<4), //!< Use the legacy convex hull algorithm.
|
---|
54 | //!< Note that this is only used in combination with NX_CF_COMPUTE_CONVEX.
|
---|
55 | };
|
---|
56 |
|
---|
57 | typedef NxVec3 NxPoint;
|
---|
58 |
|
---|
59 | /**
|
---|
60 | \brief Descriptor class for #NxConvexMesh.
|
---|
61 |
|
---|
62 | @see NxConvexMesh NxConvexShape NxPhysicsSDK.createConvexMesh()
|
---|
63 |
|
---|
64 | */
|
---|
65 | class NxConvexMeshDesc
|
---|
66 | {
|
---|
67 | public:
|
---|
68 |
|
---|
69 | /**
|
---|
70 | \brief Number of vertices.
|
---|
71 |
|
---|
72 | <b>Default:</b> 0
|
---|
73 |
|
---|
74 | <b>Platform:</b>
|
---|
75 | \li PC SW: Yes
|
---|
76 | \li PPU : Yes
|
---|
77 | \li PS3 : Yes
|
---|
78 | \li XB360: Yes
|
---|
79 | */
|
---|
80 | NxU32 numVertices;
|
---|
81 |
|
---|
82 | /**
|
---|
83 | \brief Number of triangles.
|
---|
84 |
|
---|
85 | <b>Default:</b> 0
|
---|
86 |
|
---|
87 | <b>Platform:</b>
|
---|
88 | \li PC SW: Yes
|
---|
89 | \li PPU : Yes
|
---|
90 | \li PS3 : Yes
|
---|
91 | \li XB360: Yes
|
---|
92 | */
|
---|
93 | NxU32 numTriangles;
|
---|
94 |
|
---|
95 | /**
|
---|
96 | \brief Offset between vertex points in bytes.
|
---|
97 |
|
---|
98 | <b>Default:</b> 0
|
---|
99 |
|
---|
100 | <b>Platform:</b>
|
---|
101 | \li PC SW: Yes
|
---|
102 | \li PPU : Yes
|
---|
103 | \li PS3 : Yes
|
---|
104 | \li XB360: Yes
|
---|
105 | */
|
---|
106 | NxU32 pointStrideBytes;
|
---|
107 |
|
---|
108 | /**
|
---|
109 | \brief Offset between triangles in bytes.
|
---|
110 |
|
---|
111 | <b>Default:</b> 0
|
---|
112 |
|
---|
113 | <b>Platform:</b>
|
---|
114 | \li PC SW: Yes
|
---|
115 | \li PPU : Yes
|
---|
116 | \li PS3 : Yes
|
---|
117 | \li XB360: Yes
|
---|
118 | */
|
---|
119 | NxU32 triangleStrideBytes;
|
---|
120 |
|
---|
121 | /**
|
---|
122 | \brief Pointer to array of vertex positions.
|
---|
123 | Pointer to first vertex point. Caller may add pointStrideBytes bytes to the pointer to access the next point.
|
---|
124 |
|
---|
125 | <b>Default:</b> NULL
|
---|
126 |
|
---|
127 | <b>Platform:</b>
|
---|
128 | \li PC SW: Yes
|
---|
129 | \li PPU : Yes
|
---|
130 | \li PS3 : Yes
|
---|
131 | \li XB360: Yes
|
---|
132 | */
|
---|
133 | const void* points;
|
---|
134 |
|
---|
135 | /**
|
---|
136 | \brief Pointer to array of triangle inices.
|
---|
137 | <p>Pointer to first triangle. Caller may add triangleStrideBytes bytes to the pointer to access the next triangle.</p>
|
---|
138 | <p><pre>These are triplets of 0 based indices:
|
---|
139 | vert0 vert1 vert2
|
---|
140 | vert0 vert1 vert2
|
---|
141 | vert0 vert1 vert2
|
---|
142 | ...</pre></p>
|
---|
143 |
|
---|
144 | <p>Where vertex is either a 32 or 16 bit unsigned integer. There are numTriangles*3 indices.</p>
|
---|
145 |
|
---|
146 | <p>This is declared as a void pointer because it is actually either an NxU16 or a NxU32 pointer.</p>
|
---|
147 |
|
---|
148 | <b>Default:</b> NULL
|
---|
149 |
|
---|
150 | <b>Platform:</b>
|
---|
151 | \li PC SW: Yes
|
---|
152 | \li PPU : Yes
|
---|
153 | \li PS3 : Yes
|
---|
154 | \li XB360: Yes
|
---|
155 | */
|
---|
156 | const void* triangles;
|
---|
157 |
|
---|
158 | /**
|
---|
159 | \brief Flags bits, combined from values of the enum ::NxConvexFlags
|
---|
160 |
|
---|
161 | <b>Default:</b> 0
|
---|
162 |
|
---|
163 | <b>Platform:</b>
|
---|
164 | \li PC SW: Yes
|
---|
165 | \li PPU : Partial
|
---|
166 | \li PS3 : Yes
|
---|
167 | \li XB360: Yes
|
---|
168 | */
|
---|
169 | NxU32 flags;
|
---|
170 |
|
---|
171 | /**
|
---|
172 | \brief constructor sets to default.
|
---|
173 | */
|
---|
174 | NX_INLINE NxConvexMeshDesc();
|
---|
175 | /**
|
---|
176 | \brief (re)sets the structure to the default.
|
---|
177 | */
|
---|
178 | NX_INLINE void setToDefault();
|
---|
179 | /**
|
---|
180 | \brief Returns true if the descriptor is valid.
|
---|
181 |
|
---|
182 | \return True if the current settings are valid
|
---|
183 | */
|
---|
184 | NX_INLINE bool isValid() const;
|
---|
185 | };
|
---|
186 |
|
---|
187 | NX_INLINE NxConvexMeshDesc::NxConvexMeshDesc() //constructor sets to default
|
---|
188 | {
|
---|
189 | setToDefault();
|
---|
190 | }
|
---|
191 |
|
---|
192 | NX_INLINE void NxConvexMeshDesc::setToDefault()
|
---|
193 | {
|
---|
194 | numVertices = 0;
|
---|
195 | numTriangles = 0;
|
---|
196 | pointStrideBytes = 0;
|
---|
197 | triangleStrideBytes = 0;
|
---|
198 | points = NULL;
|
---|
199 | triangles = NULL;
|
---|
200 | flags = 0;
|
---|
201 | }
|
---|
202 |
|
---|
203 | NX_INLINE bool NxConvexMeshDesc::isValid() const
|
---|
204 | {
|
---|
205 | // Check geometry
|
---|
206 | if(numVertices < 3 || //at least 1 trig's worth of points
|
---|
207 | (numVertices > 0xffff && flags & NX_CF_16_BIT_INDICES))
|
---|
208 | return false;
|
---|
209 | if(!points)
|
---|
210 | return false;
|
---|
211 | if(pointStrideBytes < sizeof(NxPoint)) //should be at least one point's worth of data
|
---|
212 | return false;
|
---|
213 |
|
---|
214 | // Check topology
|
---|
215 | // The triangles pointer is not mandatory: the vertex cloud is enough to define the convex hull.
|
---|
216 | if(triangles)
|
---|
217 | {
|
---|
218 | // Indexed mesh
|
---|
219 | if(numTriangles < 2) //some algos require at least 2 trigs
|
---|
220 | return false;
|
---|
221 | if(flags & NX_CF_16_BIT_INDICES)
|
---|
222 | {
|
---|
223 | if((triangleStrideBytes < sizeof(NxU16)*3))
|
---|
224 | return false;
|
---|
225 | }
|
---|
226 | else
|
---|
227 | {
|
---|
228 | if((triangleStrideBytes < sizeof(NxU32)*3))
|
---|
229 | return false;
|
---|
230 | }
|
---|
231 | }
|
---|
232 | else
|
---|
233 | {
|
---|
234 | // We can compute the hull from the vertices
|
---|
235 | if(!(flags & NX_CF_COMPUTE_CONVEX))
|
---|
236 | return false; // If the mesh is convex and we're not allowed to compute the hull,
|
---|
237 | // you have to provide it completely (geometry & topology).
|
---|
238 | }
|
---|
239 | return true;
|
---|
240 | }
|
---|
241 |
|
---|
242 |
|
---|
243 | /** \cond */
|
---|
244 | //#ifdef NX_SUPPORT_INTERNAL_FACES
|
---|
245 | /**
|
---|
246 | <p>Descriptor class for NxConvexMesh.</p>
|
---|
247 |
|
---|
248 | <p>This version is used when the user can provide his own set of already-computed hull polygons. This also makes it
|
---|
249 | possible to mark each polygon as internal or not (which would have been painful to do with the original desc since
|
---|
250 | polygons are not explicitly defined there)</p>
|
---|
251 | */
|
---|
252 | class NxConvexMeshDesc2
|
---|
253 | {
|
---|
254 | public:
|
---|
255 | NxU32 numVertices; //!< Number of vertices.
|
---|
256 | NxU32 numPolygons; //!< Number of convex polygons.
|
---|
257 |
|
---|
258 | /**
|
---|
259 | \brief Pointer to array of vertex positions.
|
---|
260 | Pointer to first vertex point. Caller may add pointStrideBytes bytes to the pointer to access the next point.
|
---|
261 | */
|
---|
262 | const void* points;
|
---|
263 |
|
---|
264 | /**
|
---|
265 | <p>Polygon counts and indices(there are numPolygons polygons).</p>
|
---|
266 |
|
---|
267 | <p>
|
---|
268 | <pre>Format:-
|
---|
269 | Polygon 1 Index Count (NxU32)
|
---|
270 | Index 0 (NxU32)
|
---|
271 | Index 1
|
---|
272 | ...
|
---|
273 | Polygon 2 Index Count
|
---|
274 | Index 0
|
---|
275 | Index 1
|
---|
276 | ...</pre>
|
---|
277 | </p>
|
---|
278 |
|
---|
279 | */
|
---|
280 | const NxU32* polygons;
|
---|
281 |
|
---|
282 | /**
|
---|
283 | Internal flags relating to the this convex mesh.
|
---|
284 | */
|
---|
285 | const bool* internalFlags;
|
---|
286 |
|
---|
287 | /**
|
---|
288 | constructor sets to default.
|
---|
289 | */
|
---|
290 | NX_INLINE NxConvexMeshDesc2();
|
---|
291 | /**
|
---|
292 | (re)sets the structure to the default.
|
---|
293 | */
|
---|
294 | NX_INLINE void setToDefault();
|
---|
295 | /**
|
---|
296 | returns true if the current settings are valid
|
---|
297 | */
|
---|
298 | NX_INLINE bool isValid() const;
|
---|
299 | };
|
---|
300 |
|
---|
301 | NX_INLINE NxConvexMeshDesc2::NxConvexMeshDesc2() //constructor sets to default
|
---|
302 | {
|
---|
303 | setToDefault();
|
---|
304 | }
|
---|
305 |
|
---|
306 | NX_INLINE void NxConvexMeshDesc2::setToDefault()
|
---|
307 | {
|
---|
308 | numVertices = 0;
|
---|
309 | numPolygons = 0;
|
---|
310 | points = NULL;
|
---|
311 | polygons = NULL;
|
---|
312 | internalFlags = NULL;
|
---|
313 | }
|
---|
314 |
|
---|
315 | NX_INLINE bool NxConvexMeshDesc2::isValid() const
|
---|
316 | {
|
---|
317 | return true;
|
---|
318 | }
|
---|
319 | //#endif
|
---|
320 | /** \endcond */
|
---|
321 |
|
---|
322 | /** @} */
|
---|
323 | #endif
|
---|
324 |
|
---|
325 |
|
---|
326 | //AGCOPYRIGHTBEGIN
|
---|
327 | ///////////////////////////////////////////////////////////////////////////
|
---|
328 | // Copyright © 2005 AGEIA Technologies.
|
---|
329 | // All rights reserved. www.ageia.com
|
---|
330 | ///////////////////////////////////////////////////////////////////////////
|
---|
331 | //AGCOPYRIGHTEND
|
---|
332 |
|
---|