Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++
++ #ifndef PX_DEFORMABLE_SKINNING_H
++ #define PX_DEFORMABLE_SKINNING_H
++
++ #include "foundation/PxPreprocessor.h"
++ #include "foundation/PxVec2.h"
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxFlags.h"
++ #include "PxNodeIndex.h"
++ #include "cudamanager/PxCudaContextManager.h"
++ #include "common/PxCoreUtilityTypes.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Structure for triangle mesh skinning embedding information.
++ */
++ PX_ALIGN_PREFIX(16)
++ struct PxTriangleMeshEmbeddingInfo
++ {
++ /**
++ \brief UV coordinates for skinning.
++ */
++ PxVec2 uv;
++
++ /**
++ \brief Offset along the interpolated normal.
++ */
++ PxReal offsetAlongInterpolatedNormal;
++
++ /**
++ \brief ID of the guide triangle.
++ */
++ PxU32 guideTriangleId;
++
++ /**
++ \brief Constructor for PxTriangleMeshEmbeddingInfo.
++ \param uv_ UV coordinates.
++ \param offsetAlongInterpolatedNormal_ Offset along the interpolated normal.
++ \param guideTriangleId_ ID of the guide triangle.
++ */
++ PxTriangleMeshEmbeddingInfo(
++ const PxVec2& uv_,
++ PxReal offsetAlongInterpolatedNormal_, PxU32 guideTriangleId_) :
++ uv(uv_), offsetAlongInterpolatedNormal(offsetAlongInterpolatedNormal_), guideTriangleId(guideTriangleId_)
++ {}
++ } PX_ALIGN_SUFFIX(16);
++
++ /**
++ \brief Structure for tetrahedron mesh skinning embedding information.
++ */
++ PX_ALIGN_PREFIX(16)
++ struct PxTetrahedronMeshEmbeddingInfo
++ {
++ /**
++ \brief UVW coordinates for skinning.
++ */
++ PxVec3 uvw;
++
++ /**
++ \brief ID of the guide tetrahedron.
++ */
++ PxU32 guideTetrahedronId;
++
++ /**
++ \brief Constructor for PxTetrahedronMeshEmbeddingInfo.
++ \param uvw_ UVW coordinates.
++ \param guideTetrahedronId_ ID of the guide tetrahedron.
++ */
++ PxTetrahedronMeshEmbeddingInfo(const PxVec3& uvw_, PxU32 guideTetrahedronId_) :
++ uvw(uvw_), guideTetrahedronId(guideTetrahedronId_)
++ {}
++ } PX_ALIGN_SUFFIX(16);
++
++ #if PX_SUPPORT_GPU_PHYSX
++ /**
++ \brief Structure for GPU data related to tetmesh skinning.
++ */
++ struct PxTetmeshSkinningGpuData
++ {
++ /**
++ \brief Pointer to guide vertices data on the GPU.
++ */
++ PxTypedBoundedData<PxVec3> guideVerticesD;
++
++ /**
++ \brief Pointer to guide tetrahedra data on the GPU.
++ */
++ PxU32* guideTetrahedraD;
++
++ /**
++ \brief Pointer to skinning information per vertex on the GPU.
++ */
++ PxTetrahedronMeshEmbeddingInfo* skinningInfoPerVertexD;
++
++ /**
++ \brief Pointer to embedded vertices data on the GPU.
++ */
++ PxTypedBoundedData<PxVec3> skinnedVerticesD;
++ };
++
++ /**
++ \brief Structure for GPU data related to trimesh skinning.
++ */
++ struct PxTrimeshSkinningGpuData
++ {
++ /**
++ \brief Pointer to guide vertices data on the GPU.
++ */
++ PxTypedBoundedData<PxVec3> guideVerticesD;
++
++ /**
++ \brief Pointer to guide normals data on the GPU.
++ */
++ PxTypedBoundedData<PxVec3> guideNormalsD;
++
++ /**
++ \brief Pointer to guide triangles data on the GPU.
++ */
++ PxU32* guideTrianglesD;
++
++ /**
++ \brief Pointer to skinning information per vertex on the GPU.
++ */
++ PxTriangleMeshEmbeddingInfo* skinningInfoPerVertexD;
++
++ /**
++ \brief Pointer to skinned vertices data on the GPU.
++ */
++ PxTypedBoundedData<PxVec3> skinnedVerticesD;
++
++ /**
++ \brief Half of the deformable surface thickness.
++ */
++ PxReal halfSurfaceThickness;
++
++ /**
++ \brief Number of guide triangles.
++ */
++ PxU32 nbGuideTriangles;
++ };
++
++ /**
++ \brief Abstract base class for deformable skinning operations.
++ */
++ class PxDeformableSkinning
++ {
++ public:
++ /**
++ \brief Computes normal vectors for cloth skinning data.
++ \param skinningDataArrayD Array of cloth skinning data structures.
++ \param arrayLength The number of elements in the skinning data array.
++ \param stream CUDA stream to be used for computation.
++ \param nbGpuThreads Number of GPU threads to use per cloth (default is 8192).
++ */
++ virtual void computeNormalVectors(
++ PxTrimeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
++ CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
++
++ /**
++ \brief Evaluates interpolated deformable surface vertices.
++ \param skinningDataArrayD Array of deformable surface skinning data structures.
++ \param arrayLength The number of elements in the skinning data array.
++ \param stream CUDA stream to be used for computation.
++ \param nbGpuThreads Number of GPU threads to use per deformable surface (default is 8192).
++ */
++ virtual void evaluateVerticesEmbeddedIntoSurface(
++ PxTrimeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
++ CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
++
++ /**
++ \brief Evaluates interpolated deformable volume vertices.
++ \param skinningDataArrayD Array of deformable volume skinning data structures.
++ \param arrayLength Length of the skinning data array.
++ \param stream CUDA stream to be used for computation.
++ \param nbGpuThreads Number of GPU threads to use per deformable volume (default is 8192).
++ */
++ virtual void evaluateVerticesEmbeddedIntoVolume(
++ PxTetmeshSkinningGpuData* skinningDataArrayD, PxU32 arrayLength,
++ CUstream stream, PxU32 nbGpuThreads = 8192) = 0;
++
++ /**
++ \brief Virtual destructor for PxDeformableSkinning.
++ */
++ virtual ~PxDeformableSkinning() { }
++ };
++ #endif
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif