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physx/samples/samplevehicle/SampleVehicle_VehicleCooking.cpp
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physx/samples/samplevehicle/SampleVehicle_VehicleCooking.cpp
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 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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#include "SampleVehicle_VehicleCooking.h"
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#include "PxTkStream.h"
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#include "extensions/PxDefaultStreams.h"
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PxConvexMesh* createConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
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{
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// Create descriptor for convex mesh
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PxConvexMeshDesc convexDesc;
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convexDesc.points.count = numVerts;
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convexDesc.points.stride = sizeof(PxVec3);
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convexDesc.points.data = verts;
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convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
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PxConvexMesh* convexMesh = NULL;
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PxDefaultMemoryOutputStream buf;
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if(cooking.cookConvexMesh(convexDesc, buf))
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{
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PxDefaultMemoryInputData id(buf.getData(), buf.getSize());
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convexMesh = physics.createConvexMesh(id);
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}
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return convexMesh;
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}
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PxConvexMesh* createCuboidConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
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{
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PxVec3 verts[8]=
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{
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PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
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PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
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PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
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PxVec3(-halfExtents.x, +halfExtents.y, +halfExtents.z),
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PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
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PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
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PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z),
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PxVec3(+halfExtents.x, +halfExtents.y, +halfExtents.z)
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};
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PxU32 numVerts=8;
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createWedgeConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
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{
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PxVec3 verts[6]=
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{
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PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
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PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
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PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
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PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
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PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
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PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z)
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};
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PxU32 numVerts=6;
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createCylinderConvexMesh(const PxF32 width, const PxF32 radius, const PxU32 numCirclePoints, PxPhysics& physics, PxCooking& cooking)
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{
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#define MAX_NUM_VERTS_IN_CIRCLE 16
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PX_ASSERT(numCirclePoints<MAX_NUM_VERTS_IN_CIRCLE);
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PxVec3 verts[2*MAX_NUM_VERTS_IN_CIRCLE];
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PxU32 numVerts=2*numCirclePoints;
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const PxF32 dtheta=2*PxPi/(1.0f*numCirclePoints);
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for(PxU32 i=0;i<MAX_NUM_VERTS_IN_CIRCLE;i++)
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{
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const PxF32 theta=dtheta*i;
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const PxF32 cosTheta=radius*PxCos(theta);
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const PxF32 sinTheta=radius*PxSin(theta);
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verts[2*i+0]=PxVec3(-0.5f*width, cosTheta, sinTheta);
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verts[2*i+1]=PxVec3(+0.5f*width, cosTheta, sinTheta);
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}
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createSquashedCuboidMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height1, const PxF32 height2, PxPhysics& physics, PxCooking& cooking)
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{
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const PxF32 x=baseLength*0.5f;
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const PxF32 z=baseDepth*0.5f;
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PxVec3 verts[8]=
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{
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PxVec3(-x,-0.5f*height1,-z),
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PxVec3(-x,-0.5f*height1,+z),
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PxVec3(+x,-0.5f*height1,-z),
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PxVec3(+x,-0.5f*height1,+z),
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PxVec3(-x,-0.5f*height1+height2,-z),
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PxVec3(-x,+0.5f*height1,+z),
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PxVec3(+x,-0.5f*height1+height2,-z),
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PxVec3(+x,+0.5f*height1,+z)
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};
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PxU32 numVerts=8;
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createPrismConvexMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height, PxPhysics& physics, PxCooking& cooking)
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{
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const PxF32 x=baseLength*0.5f;
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const PxF32 z=baseDepth*0.5f;
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PxVec3 verts[6]=
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{
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PxVec3(-x, 0, -z),
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PxVec3(-x, 0, +z),
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PxVec3(+x, 0, -z),
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PxVec3(+x, 0, +z),
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PxVec3(-x, height, 0),
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PxVec3(+x, height, 0),
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};
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PxU32 numVerts=6;
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createChassisConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
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{
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return createConvexMesh(verts,numVerts,physics,cooking);
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}
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PxConvexMesh* createWheelConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
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{
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//Extract the wheel radius and width from the aabb of the wheel convex mesh.
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PxVec3 wheelMin(PX_MAX_F32,PX_MAX_F32,PX_MAX_F32);
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PxVec3 wheelMax(-PX_MAX_F32,-PX_MAX_F32,-PX_MAX_F32);
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for(PxU32 i=0;i<numVerts;i++)
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{
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wheelMin.x=PxMin(wheelMin.x,verts[i].x);
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wheelMin.y=PxMin(wheelMin.y,verts[i].y);
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wheelMin.z=PxMin(wheelMin.z,verts[i].z);
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wheelMax.x=PxMax(wheelMax.x,verts[i].x);
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wheelMax.y=PxMax(wheelMax.y,verts[i].y);
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wheelMax.z=PxMax(wheelMax.z,verts[i].z);
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}
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const PxF32 wheelWidth=wheelMax.x-wheelMin.x;
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const PxF32 wheelRadius=PxMax(wheelMax.y,wheelMax.z);
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return createCylinderConvexMesh(wheelWidth,wheelRadius,8,physics,cooking);
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}
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