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++ // 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_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. 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. 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