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physx/include/geometry/PxConvexMeshGeometry.h

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef PX_PHYSICS_NX_CONVEXMESH_GEOMETRY
+#define PX_PHYSICS_NX_CONVEXMESH_GEOMETRY
+/** \addtogroup geomutils
+@{
+*/
+#include "geometry/PxGeometry.h"
+#include "geometry/PxMeshScale.h"
+#include "common/PxCoreUtilityTypes.h"
+#include "geometry/PxConvexMesh.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxConvexMesh;
+
+/**
+\brief Flags controlling the simulated behavior of the convex mesh geometry.
+
+Used in ::PxConvexMeshGeometryFlags.
+*/
+struct PxConvexMeshGeometryFlag
+{
+	enum Enum
+	{
+		eTIGHT_BOUNDS = (1<<0)	//!< Use tighter (but more expensive to compute) bounds around the convex geometry.
+	};
+};
+
+/**
+\brief collection of set bits defined in PxConvexMeshGeometryFlag.
+
+@see PxConvexMeshGeometryFlag
+*/
+typedef PxFlags<PxConvexMeshGeometryFlag::Enum,PxU8> PxConvexMeshGeometryFlags;
+PX_FLAGS_OPERATORS(PxConvexMeshGeometryFlag::Enum,PxU8)
+
+/**
+\brief Convex mesh geometry class.
+
+This class unifies a convex mesh object with a scaling transform, and 
+lets the combined object be used anywhere a PxGeometry is needed.
+
+The scaling is a transform along arbitrary axes contained in the scale object.
+The vertices of the mesh in geometry (or shape) space is the 
+PxMeshScale::toMat33() transform, multiplied by the vertex space vertices 
+in the PxConvexMesh object.
+*/
+class PxConvexMeshGeometry : public PxGeometry 
+{
+public:
+	/**
+	\brief Default constructor.
+
+	Creates an empty object with a NULL mesh and identity scale.
+	*/
+	PX_INLINE PxConvexMeshGeometry() :
+		PxGeometry	(PxGeometryType::eCONVEXMESH),
+		scale		(PxMeshScale(1.0f)),
+		convexMesh	(NULL),
+		meshFlags	(PxConvexMeshGeometryFlag::eTIGHT_BOUNDS)
+	{}
+
+	/**
+	\brief Constructor.
+	\param[in] mesh		Mesh pointer. May be NULL, though this will not make the object valid for shape construction.
+	\param[in] scaling	Scale factor.
+	\param[in] flags	Mesh flags.
+	\
+	*/
+	PX_INLINE PxConvexMeshGeometry(	PxConvexMesh* mesh, 
+									const PxMeshScale& scaling = PxMeshScale(),
+									PxConvexMeshGeometryFlags flags = PxConvexMeshGeometryFlag::eTIGHT_BOUNDS) :
+		PxGeometry	(PxGeometryType::eCONVEXMESH),
+		scale		(scaling),
+		convexMesh	(mesh),
+		meshFlags	(flags)
+	{
+	}
+
+	/**
+	\brief Returns true if the geometry is valid.
+
+	\return True if the current settings are valid for shape creation.
+
+	\note A valid convex mesh has a positive scale value in each direction (scale.x > 0, scale.y > 0, scale.z > 0).
+	It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a convex that has zero extent in any direction.
+
+	@see PxRigidActor::createShape, PxPhysics::createShape
+	*/
+	PX_INLINE bool isValid() const;
+
+public:
+	PxMeshScale					scale;				//!< The scaling transformation (from vertex space to shape space).
+	PxConvexMesh*				convexMesh;			//!< A reference to the convex mesh object.
+	PxConvexMeshGeometryFlags	meshFlags;			//!< Mesh flags.
+	PxPadding<3>				paddingFromFlags;	//!< padding for mesh flags
+};
+
+
+PX_INLINE bool PxConvexMeshGeometry::isValid() const
+{
+	if(mType != PxGeometryType::eCONVEXMESH)
+		return false;
+	if(!scale.scale.isFinite() || !scale.rotation.isUnit())
+		return false;
+	if(!scale.isValidForConvexMesh())
+		return false;
+	if(!convexMesh)
+		return false;
+	
+	return true;
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif