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- // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef PX_SDF_BUILDER_H
#define PX_SDF_BUILDER_H
#include "cudamanager/PxCudaContext.h"
#include "cudamanager/PxCudaContextManager.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec4.h"
#include "foundation/PxArray.h"
#include "cooking/PxSDFDesc.h"
#include "cudamanager/PxCudaTypes.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Utility class to compute an SDF on the GPU
+
+ \note The sign of the SDF (inside vs. outside) is derived from the triangle winding of the input mesh.
+ Triangles must be wound consistently such that their normals, (v1 - v0).cross(v2 - v0) for a triangle
+ (v0, v1, v2), point away from the enclosed volume, i.e. counter-clockwise vertex order when seen from
+ outside. The builder does not analyze or repair the winding; inverted winding produces an inverted SDF.
+ Cooking through #PxCreateTriangleMesh() or #PxCookTriangleMesh() with a #PxSDFDesc normalizes the winding
+ of watertight, single-component meshes automatically; clients calling the builder directly must provide
+ correctly wound triangles.
*/
class PxSDFBuilder
{
public:
/**
\brief Constructs a dense grid SDF for a triangle mesh using the GPU
\param[in] vertices The vertices of the triangle mesh
\param[in] numVertices The number of vertices
- \param[in] indices The triangle indices
+ \param[in] indices The triangle indices. Triangles must be wound outward (see class note)
\param[in] numTriangleIndices The number of triangle indices
\param[in] width The number of samples along the x direction of the resulting SDF volume
\param[in] height The number of samples along the y direction of the resulting SDF volume
\param[in] depth The number of samples along the z direction of the resulting SDF volume
\param[in] minExtents The minimum corner location of the axis aligned box containing the SDF samples
\param[in] maxExtents The maximum corner location of the axis aligned box containing the SDF samples
\param[in] cellCenteredSamples Determines if the sample points are located at the center of a SDF cell or at the lower left (=min) corner of a cell
\param[out] sdf The distance values. Must provide space for width*height*depth distance samples. Negative distance means the sample point is located inside of the triangle mesh
\param[in] stream The cuda stream on which the conversion is processed. If the default stream (0) is used, a temporary stream will be created internally
\return A boolean that indicates whether the SDF creation succeeded
*/
virtual bool buildSDF(const PxVec3* vertices, PxU32 numVertices, const PxU32* indices, PxU32 numTriangleIndices, PxU32 width, PxU32 height, PxU32 depth,
const PxVec3& minExtents, const PxVec3& maxExtents, bool cellCenteredSamples, PxReal* sdf, CUstream stream = 0) = 0;
/**
\brief Constructs a sparse grid SDF for a triangle mesh using the GPU
\param[in] vertices The vertices of the triangle mesh
\param[in] numVertices The number of vertices
- \param[in] indices The triangle indices
+ \param[in] indices The triangle indices. Triangles must be wound outward (see class note)
\param[in] numTriangleIndices The number of triangle indices
\param[in] width The number of samples along the x direction of the resulting SDF volume
\param[in] height The number of samples along the y direction of the resulting SDF volume
\param[in] depth The number of samples along the z direction of the resulting SDF volume
\param[in] minExtents The minimum corner location of the axis aligned box containing the SDF samples
\param[in] maxExtents The maximum corner location of the axis aligned box containing the SDF samples
\param[in] narrowBandThickness The thickness of the narrow band
\param[in] cellsPerSubgrid The number of cells in a sparse subgrid block (full block has mSubgridSize^3 cells and (mSubgridSize+1)^3 samples)
\param[in] bitsPerSubgridPixel Subgrid pixel compression
\param[out] sdfCoarse Used to store the lower resolution, dense backround SDF to provide distance information further away from the mesh's surface
\param[out] sdfSubgridsStartSlots Used to store the subgrids start indices
\param[out] sdfDataSubgrids Used to store the subgrids
\param[out] subgridsMinSdfValue Used to store the minimum sdf value over all subgrids
\param[out] subgridsMaxSdfValue Used to store the maximum sdf value over all subgrids
\param[out] sdfSubgrids3DTexBlockDimX Used to store x dimension of the texture block that stores the subgrids
\param[out] sdfSubgrids3DTexBlockDimY Used to store y dimension of the texture block that stores the subgrids
\param[out] sdfSubgrids3DTexBlockDimZ Used to store z dimension of the texture block that stores the subgrids
\param[in] stream The cuda stream on which the conversion is processed. If the default stream (0) is used, a temporary stream will be created internally
\return A boolean that indicates whether the SDF creation succeeded
*/
virtual bool buildSparseSDF(const PxVec3* vertices, PxU32 numVertices, const PxU32* indices, PxU32 numTriangleIndices, PxU32 width, PxU32 height, PxU32 depth,
const PxVec3& minExtents, const PxVec3& maxExtents, PxReal narrowBandThickness, PxU32 cellsPerSubgrid, PxSdfBitsPerSubgridPixel::Enum bitsPerSubgridPixel,
PxArray<PxReal>& sdfCoarse, PxArray<PxU32>& sdfSubgridsStartSlots, PxArray<PxU8>& sdfDataSubgrids,
PxReal& subgridsMinSdfValue, PxReal& subgridsMaxSdfValue,
PxU32& sdfSubgrids3DTexBlockDimX, PxU32& sdfSubgrids3DTexBlockDimY, PxU32& sdfSubgrids3DTexBlockDimZ, CUstream stream = 0) = 0;
/**
\brief Releases the memory including the this pointer
*/
virtual void release() = 0;
/**
\brief Destructor
*/
virtual ~PxSDFBuilder() { }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif