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physx/include/geometry/PxHeightFieldGeometry.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_HEIGHTFIELD_GEOMETRY
+#define PX_PHYSICS_NX_HEIGHTFIELD_GEOMETRY
+/** \addtogroup geomutils
+@{
+*/
+#include "geometry/PxTriangleMeshGeometry.h"
+#include "common/PxCoreUtilityTypes.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+#define PX_MIN_HEIGHTFIELD_XZ_SCALE 1e-8f
+#define PX_MIN_HEIGHTFIELD_Y_SCALE (0.0001f / PxReal(0xFFFF))
+
+class PxHeightField;
+
+/**
+\brief Height field geometry class.
+
+This class allows to create a scaled height field geometry instance.
+
+There is a minimum allowed value for Y and XZ scaling - PX_MIN_HEIGHTFIELD_XZ_SCALE, heightfield creation will fail if XZ value is below this value.
+*/
+class PxHeightFieldGeometry : public PxGeometry 
+{
+public:
+	PX_INLINE PxHeightFieldGeometry() :		
+		PxGeometry		(PxGeometryType::eHEIGHTFIELD),
+		heightField		(NULL),
+		heightScale		(1.0f), 
+		rowScale		(1.0f), 
+		columnScale		(1.0f), 
+		heightFieldFlags(0)
+	{}
+
+	PX_INLINE PxHeightFieldGeometry(PxHeightField* hf,
+									PxMeshGeometryFlags flags, 
+									PxReal heightScale_,
+									PxReal rowScale_, 
+									PxReal columnScale_) :
+		PxGeometry			(PxGeometryType::eHEIGHTFIELD), 
+		heightField			(hf) ,
+		heightScale			(heightScale_), 
+		rowScale			(rowScale_), 
+		columnScale			(columnScale_), 
+		heightFieldFlags	(flags)
+		{
+		}
+
+	/**
+	\brief Returns true if the geometry is valid.
+
+	\return True if the current settings are valid
+
+	\note A valid height field has a positive scale value in each direction (heightScale > 0, rowScale > 0, columnScale > 0).
+	It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a height field that has zero extents in any direction.
+
+	@see PxRigidActor::createShape, PxPhysics::createShape
+	*/
+	PX_INLINE bool isValid() const;
+
+public:
+	/**
+	\brief The height field data.
+	*/
+	PxHeightField*			heightField;
+
+	/**
+	\brief The scaling factor for the height field in vertical direction (y direction in local space).
+	*/
+	PxReal					heightScale;
+
+	/**
+	\brief The scaling factor for the height field in the row direction (x direction in local space).
+	*/
+	PxReal					rowScale;
+
+	/**
+	\brief The scaling factor for the height field in the column direction (z direction in local space).
+	*/
+	PxReal					columnScale;
+
+	/**
+	\brief Flags to specify some collision properties for the height field.
+	*/
+	PxMeshGeometryFlags		heightFieldFlags;
+
+	PxPadding<3>			paddingFromFlags;	//!< padding for mesh flags.
+};
+
+
+PX_INLINE bool PxHeightFieldGeometry::isValid() const
+{
+	if (mType != PxGeometryType::eHEIGHTFIELD)
+		return false;
+	if (!PxIsFinite(heightScale) || !PxIsFinite(rowScale) || !PxIsFinite(columnScale))
+		return false;
+	if (rowScale < PX_MIN_HEIGHTFIELD_XZ_SCALE || columnScale < PX_MIN_HEIGHTFIELD_XZ_SCALE || heightScale < PX_MIN_HEIGHTFIELD_Y_SCALE)
+		return false;
+	if (!heightField)
+		return false;
+
+	return true;
+}
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif