static PxU32 createInvisibleWalls(const CCTParams& params, const PxTriangle& currentTriangle, TriArray& worldTriangles, IntArray& triIndicesArray)
{
const PxF32 wallHeight = params.mInvisibleWallHeight;
if(wallHeight==0.0f)
return 0;
PxU32 nbNewTris = 0; // Number of newly created tris
const PxVec3& upDirection = params.mUpDirection;
PxVec3 normal;
currentTriangle.normal(normal);
if(testSlope(normal, upDirection, params.mSlopeLimit))
{
const PxVec3 upWall = upDirection*wallHeight;
PxVec3 v0p = currentTriangle.verts[0] + upWall;
PxVec3 v1p = currentTriangle.verts[1] + upWall;
PxVec3 v2p = currentTriangle.verts[2] + upWall;
// Extrude edge 0-1
PxVec3 faceNormal01;
{
// 0-1-0p
const PxTriangle tri0_1_0p(currentTriangle.verts[0], currentTriangle.verts[1], v0p);
worldTriangles.pushBack(tri0_1_0p);
// 0p-1-1p
const PxTriangle tri0p_1_1p(v0p, currentTriangle.verts[1], v1p);
worldTriangles.pushBack(tri0p_1_1p);
tri0p_1_1p.normal(faceNormal01);
}
// Extrude edge 1-2
PxVec3 faceNormal12;
{
// 1p-1-2p
const PxTriangle tri1p_1_2p(v1p, currentTriangle.verts[1], v2p);
worldTriangles.pushBack(tri1p_1_2p);
// 2p-1-2
const PxTriangle tri2p_1_2(v2p, currentTriangle.verts[1], currentTriangle.verts[2]);
worldTriangles.pushBack(tri2p_1_2);
tri2p_1_2.normal(faceNormal12);
}
// Extrude edge 2-0
PxVec3 faceNormal20;
{
// 0p-2-0
const PxTriangle tri0p_2_0(v0p, currentTriangle.verts[2], currentTriangle.verts[0]);
worldTriangles.pushBack(tri0p_2_0);
// 0p-2p-2
const PxTriangle tri0p_2p_2(v0p, v2p, currentTriangle.verts[2]);
worldTriangles.pushBack(tri0p_2p_2);
tri0p_2p_2.normal(faceNormal20);
}
const PxU32 triIndex = PX_INVALID_U32;
for(PxU32 i=0;i<6;i++)
triIndicesArray.pushBack(triIndex);
nbNewTris += 6;
}
return nbNewTris;
}
static void outputHeightFieldToStream( PxShape* hfShape, const PxTransform& heightfieldPose, IntArray& geomStream, TriArray& worldTriangles, IntArray& triIndicesArray,
const PxExtendedVec3& origin, const PxBounds3& tmpBounds, const CCTParams& params, Cm::RenderBuffer* renderBuffer)
{
PX_ASSERT(hfShape->getGeometryType() == PxGeometryType::eHEIGHTFIELD);
// Do AABB-mesh query
PxHeightFieldGeometry hfGeom;
hfShape->getHeightFieldGeometry(hfGeom);
PxBoxGeometry boxGeom(tmpBounds.getExtents());
PxTransform boxPose;
boxPose.p = tmpBounds.getCenter();
boxPose.q = PxQuat::createIdentity();
// Collide AABB against current heightfield
PxFindOverlapTriangleMeshUtil overlapUtil;
const PxU32 nbTouchedTris = overlapUtil.findOverlap(boxGeom, boxPose, hfGeom, heightfieldPose);
const PxVec3 offset(float(-origin.x), float(-origin.y), float(-origin.z));
TouchedMesh* touchedMesh = (TouchedMesh*)reserve(geomStream, sizeof(TouchedMesh)/sizeof(PxU32));
touchedMesh->mType = TouchedGeomType::eMESH; // ptchernev: seems to work
touchedMesh->mUserData = hfShape;
touchedMesh->mOffset = origin;
touchedMesh->mNbTris = nbTouchedTris;
touchedMesh->mIndexWorldTriangles = worldTriangles.size();
const PxU32* PX_RESTRICT indices = overlapUtil.getResults();
if(params.mSlopeLimit!=0.0f)
{
// Reserve memory for incoming triangles
// PxTriangle* TouchedTriangles = reserve(worldTriangles, nbTouchedTris);
// Loop through touched triangles
PxU32 nbCreatedTris = 0;
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle currentTriangle;
PxMeshQuery::getTriangle(hfGeom, heightfieldPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
const PxU32 nbNewTris = createInvisibleWalls(params, currentTriangle, worldTriangles, triIndicesArray);
nbCreatedTris += nbNewTris;
if(!nbNewTris)
{
worldTriangles.pushBack(currentTriangle);
triIndicesArray.pushBack(triangleIndex);
nbCreatedTris++;
}
}
touchedMesh->mNbTris = nbCreatedTris;
}
else
{
// Reserve memory for incoming triangles
PxTriangle* TouchedTriangles = reserve(worldTriangles, nbTouchedTris);
// Loop through touched triangles
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle& currentTriangle = *TouchedTriangles++;
PxMeshQuery::getTriangle(hfGeom, heightfieldPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
triIndicesArray.pushBack(triangleIndex);
}
}
if(gVisualizeTouchedTris)
visualizeTouchedTriangles(touchedMesh->mNbTris, touchedMesh->mIndexWorldTriangles, &worldTriangles[0], renderBuffer, offset, params.mUpDirection);
}
static void outputMeshToStream( PxShape* meshShape, const PxRigidActor* actor, const PxTransform& meshPose, IntArray& geomStream, TriArray& worldTriangles, IntArray& triIndicesArray,
const PxExtendedVec3& origin, const PxBounds3& tmpBounds, const CCTParams& params, Cm::RenderBuffer* renderBuffer, PxU16& nbTessellation)
{
PX_ASSERT(meshShape->getGeometryType() == PxGeometryType::eTRIANGLEMESH);
// Do AABB-mesh query
PxTriangleMeshGeometry triGeom;
meshShape->getTriangleMeshGeometry(triGeom);
const PxBoxGeometry boxGeom(tmpBounds.getExtents());
const PxTransform boxPose(tmpBounds.getCenter(), PxQuat(PxIdentity));
// Collide AABB against current mesh
PxMeshOverlapUtil overlapUtil;
const PxU32 nbTouchedTris = overlapUtil.findOverlap(boxGeom, boxPose, triGeom, meshPose);
const PxVec3 offset(float(-origin.x), float(-origin.y), float(-origin.z));
TouchedMesh* touchedMesh = (TouchedMesh*)reserve(geomStream, sizeof(TouchedMesh)/sizeof(PxU32));
touchedMesh->mType = TouchedGeomType::eMESH;
touchedMesh->mTGUserData = meshShape;
touchedMesh->mActor = actor;
touchedMesh->mOffset = origin;
touchedMesh->mNbTris = nbTouchedTris;
touchedMesh->mIndexWorldTriangles = worldTriangles.size();
const PxU32* PX_RESTRICT indices = overlapUtil.getResults();
if(params.mSlopeLimit!=0.0f)
{
if(!params.mTessellation)
{
// Loop through touched triangles
PxU32 nbCreatedTris = 0;
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle currentTriangle;
PxMeshQuery::getTriangle(triGeom, meshPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
const PxU32 nbNewTris = createInvisibleWalls(params, currentTriangle, worldTriangles, triIndicesArray);
nbCreatedTris += nbNewTris;
if(!nbNewTris)
{
worldTriangles.pushBack(currentTriangle);
triIndicesArray.pushBack(triangleIndex);
nbCreatedTris++;
}
}
touchedMesh->mNbTris = nbCreatedTris;
}
else
{
const PxBounds3 cullingBox = PxBounds3::centerExtents(boxPose.p + offset, boxGeom.halfExtents);
// Loop through touched triangles
PxU32 nbCreatedTris = 0;
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle currentTriangle;
PxMeshQuery::getTriangle(triGeom, meshPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
PxU32 nbNewTris = createInvisibleWalls(params, currentTriangle, worldTriangles, triIndicesArray);
nbCreatedTris += nbNewTris;
if(!nbNewTris)
{
/* worldTriangles.pushBack(currentTriangle);
triIndicesArray.pushBack(triangleIndex);
nbCreatedTris++;*/
tessellateTriangle(nbNewTris, currentTriangle, triangleIndex, worldTriangles, triIndicesArray, cullingBox, params, nbTessellation);
nbCreatedTris += nbNewTris;
// printf("Tesselate: %d new tris\n", nbNewTris);
}
}
touchedMesh->mNbTris = nbCreatedTris;
}
}
else
{
if(!params.mTessellation)
{
// Reserve memory for incoming triangles
PxTriangle* TouchedTriangles = reserve(worldTriangles, nbTouchedTris);
// Loop through touched triangles
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle& currentTriangle = *TouchedTriangles++;
PxMeshQuery::getTriangle(triGeom, meshPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
triIndicesArray.pushBack(triangleIndex);
}
}
else
{
const PxBounds3 cullingBox = PxBounds3::centerExtents(boxPose.p + offset, boxGeom.halfExtents);
PxU32 nbCreatedTris = 0;
for(PxU32 i=0; i < nbTouchedTris; i++)
{
const PxU32 triangleIndex = indices[i];
// Compute triangle in world space, add to array
PxTriangle currentTriangle;
PxMeshQuery::getTriangle(triGeom, meshPose, triangleIndex, currentTriangle);
currentTriangle.verts[0] += offset;
currentTriangle.verts[1] += offset;
currentTriangle.verts[2] += offset;
PxU32 nbNewTris = 0;
tessellateTriangle(nbNewTris, currentTriangle, triangleIndex, worldTriangles, triIndicesArray, cullingBox, params, nbTessellation);
// printf("Tesselate: %d new tris\n", nbNewTris);
nbCreatedTris += nbNewTris;
}
touchedMesh->mNbTris = nbCreatedTris;
}
}
if(gVisualizeTouchedTris)
visualizeTouchedTriangles(touchedMesh->mNbTris, touchedMesh->mIndexWorldTriangles, &worldTriangles[0], renderBuffer, offset, params.mUpDirection);
}
