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_VOLUME_EXT_H
++ #define PX_DEFORMABLE_VOLUME_EXT_H
++
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxUserAllocated.h"
++ #include "PxDeformableVolume.h"
++ #include "PxDeformableVolumeFlag.h"
++ #include "cudamanager/PxCudaContextManager.h"
++ #include "cudamanager/PxCudaTypes.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ struct PxCookingParams;
++ class PxSimpleTriangleMesh;
++ class PxInsertionCallback;
++ class PxDeformableVolumeMesh;
++
++ /**
++ \brief Utility functions for use with PxDeformableVolume and subclasses
++ */
++ class PxDeformableVolumeExt
++ {
++ public:
++ /**
++ \brief Computes the deformable volume's vertex masses from the provided density and the volume of the tetrahedra
++
++ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
++
++ The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
++
++ \param[in] deformableVolume The deformable volume which will get its mass updated
++ \param[in] density The density to used to calculate the mass from the body's volume
++ \param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
++ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
++
++ \see PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()
++ */
++ static void updateMass(PxDeformableVolume& deformableVolume, const PxReal density, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
++
++ /**
++ \brief Computes the deformable volume's vertex masses such that the sum of all masses is equal to the provided mass
++
++ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD()) and getSimVelocityBufferD()
++
++ The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
++
++ \param[in] deformableVolume The deformable volume which will get its mass updated
++ \param[in] mass The deformable volume's mass
++ \param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
++ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
++
++ \see PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()
++ */
++ static void setMass(PxDeformableVolume& deformableVolume, const PxReal mass, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
++
++ /**
++ \brief Transforms a deformable volume
++
++ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
++
++ Applies a transformation to the simulation mesh's positions an velocities. Velocities only get rotated and scaled (translation is not applicable to direction vectors).
++ It does not modify the body's mass.
++ If the method is called multiple times, the transformation will compound with the ones previously applied.
++
++ \param[in] deformableVolume The deformable volume which is transformed
++ \param[in] transform The transform to apply
++ \param[in] scale A scaling factor
++ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
++ \param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
++ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
++ \param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
++
++ \see PxDeformableVolume
++ */
++ static void transform(PxDeformableVolume& deformableVolume, const PxTransform& transform, const PxReal scale, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned);
++
++ /**
++ \brief Updates the collision mesh's vertex positions to match the simulation mesh's transformation and scale.
++
++ The buffer affected by this operation can be obtained from the deformable volume using the method getPositionInvMassBufferD()
++
++ \param[in] deformableVolume The deformable volume which will get its collision mesh vertices updated
++ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
++ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
++
++ \see PxDeformableVolume
++ */
++ static void updateEmbeddedCollisionMesh(PxDeformableVolume& deformableVolume, PxVec4* simPositionsPinned, PxVec4* collPositionsPinned);
++
++ /**
++ \brief Uploads prepared deformable volume data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.
++
++ \param[in] deformableVolume The deformable volume which will perform the data upload
++ \param[in] flags Specifies which buffers the data transfer should include
++ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
++ \param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
++ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
++ \param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
++ \param[in] stream A cuda stream to perform the copies.
++
++ \see PxDeformableVolume
++ */
++ static void copyToDevice(PxDeformableVolume& deformableVolume, PxDeformableVolumeDataFlags flags, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned, CUstream stream = CUstream(0));
++
++ /**
++ \brief Creates a full deformable volume mesh matching the shape given as input. Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.
++
++ \param[in] params Cooking params instance required for mesh processing
++ \param[in] surfaceMesh Input triangle mesh that represents the surface of the deformable volume
++ \param[in] numVoxelsAlongLongestAABBAxis The number of voxels along the longest bounding box axis
++ \param[in] insertionCallback The insertion interface from PxPhysics
++ \param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
++ \return Deformable volume mesh if cooking was successful, NULL otherwise
++ \see PxDeformableVolumeMesh
++ */
++ static PxDeformableVolumeMesh* createDeformableVolumeMesh(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback& insertionCallback, const bool validate = true);
++
++ /**
++ \brief Creates a full deformable volume mesh matching the shape given as input. Uses the same surface-matching mesh for collision detection and FEM simulation.
++
++ \param[in] params Cooking params instance required for mesh processing
++ \param[in] surfaceMesh Input triangle mesh that represents the surface of the deformable volume
++ \param[in] insertionCallback The insertion interface from PxPhysics
++ \param[in] maxWeightRatioInTet Upper limit for the ratio of node weights that are adjacent to the same tetrahedron. The closer to one (while remaining larger than one), the more stable the simulation.
++ \param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
++ \return Deformable volume mesh if cooking was successful, NULL otherwise
++ \see PxDeformableVolumeMesh
++ */
++ static PxDeformableVolumeMesh* createDeformableVolumeMeshNoVoxels(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh,
++ PxInsertionCallback& insertionCallback, PxReal maxWeightRatioInTet = 1.5f, const bool validate = true);
++
++ /**
++ \brief Creates a deformable volume instance from a deformable volume mesh
++
++ \param[in] deformableVolumeMesh The deformable volume mesh
++ \param[in] transform The transform that defines initial position and orientation of the deformable volume
++ \param[in] material The material
++ \param[in] cudaContextManager A cuda context manager
++ \param[in] density The density used to compute the mass properties
++ \param[in] scale The scaling of the deformable volume
++ \return Deformable volume instance
++ \see PxDeformableVolumeMesh, PxDeformableVolume
++ */
++ static PxDeformableVolume* createDeformableVolumeFromMesh(PxDeformableVolumeMesh* deformableVolumeMesh, const PxTransform& transform,
++ const PxDeformableVolumeMaterial& material, PxCudaContextManager& cudaContextManager, PxReal density = 100.0f, PxReal scale = 1.0f);
++
++ /**
++ \brief Creates a deformable volume instance with a box shape
++
++ \param[in] transform The transform that defines initial position and orientation of the deformable volume
++ \param[in] boxDimensions The dimensions (side lengths) of the box shape
++ \param[in] material The material
++ \param[in] cudaContextManager A cuda context manager
++ \param[in] maxEdgeLength The maximal length of a triangle edge. Subdivision will get applied until the edge length criteria is matched. -1 means no subdivision is applied.
++ \param[in] density The density used to compute the mass properties
++ \param[in] numVoxelsAlongLongestAABBAxis The number of voxels to use for the simulation mesh along the longest bounding box dimension
++ \param[in] scale The scaling of the deformable volume
++ \return Deformable volume instance
++ \see PxDeformableVolumeMesh, PxDeformableVolume
++ */
++ static PxDeformableVolume* createDeformableVolumeBox(const PxTransform& transform, const PxVec3& boxDimensions, const PxDeformableVolumeMaterial& material,
++ PxCudaContextManager& cudaContextManager, PxReal maxEdgeLength = -1.0f, PxReal density = 100.0f, PxU32 numVoxelsAlongLongestAABBAxis = 10, PxReal scale = 1.0f);
++
++ /**
++ \brief allocates and initializes pinned host memory buffers from an actor with shape.
++
++ \param[in] deformableVolume A PxDeformableVolume that has a valid shape attached to it.
++ \param[in] cudaContextManager The PxCudaContextManager of the scene this deformable volume will be simulated in
++ \param[in] simPositionInvMassPinned A reference to a pointer for the return value of the simPositionInvMassPinned buffer, will be set by this function.
++ \param[in] simVelocityPinned A reference to a pointer for the return value of the simVelocityPinned buffer, will be set by this function.
++ \param[in] collPositionInvMassPinned A reference to a pointer for the return value of the collPositionInvMassPinned buffer, will be set by this function.
++ \param[in] restPositionPinned A reference to a pointer for the return value of the restPositionPinned buffer, will be set by this function.
++
++ \see PxDeformableVolume
++ */
++ static void allocateAndInitializeHostMirror(PxDeformableVolume& deformableVolume, PxCudaContextManager* cudaContextManager, PxVec4*& simPositionInvMassPinned, PxVec4*& simVelocityPinned, PxVec4*& collPositionInvMassPinned, PxVec4*& restPositionPinned);
++
++ /**
++ \brief Given a set of points and a set of tetrahedra, it finds the equilibrium state of the deformable volume. Every input point is either fixed or can move freely.
++
++ \param[in] verticesOriginal Mesh vertex positions in undeformed original state.
++ \param[in] verticesDeformed Mesh vertex positions in new deformed state. Only fixed vertices must have their final location, all other locations will get updated by the method.
++ \param[in] nbVertices The number of vertices.
++ \param[in] tetrahedra The tetrahedra.
++ \param[in] nbTetraheda The number of tetrahedra.
++ \param[in] vertexIsFixed Optional input that specifies which vertex is fixed and which one can move to relax the tension. If not provided, vertices from verticesOriginal which have a .w value of 0 will be considered fixed.
++ \param[in] numIterations The number of stress relaxation iterations to run.
++ */
++ static void relaxDeformableVolumeMesh(const PxVec4* verticesOriginal, PxVec4* verticesDeformed, PxU32 nbVertices,
++ const PxU32* tetrahedra, PxU32 nbTetraheda, const bool* vertexIsFixed = NULL, PxU32 numIterations = 200);
++
++ /**
++ \brief Converts the tet id and barycentric from the collision mesh to the tet id and barycentric of the simulation mesh.
++
++ \param[in] deformableVolume The deformable volume to perform the operation on.
++ \param[in] tetId The tet id of the deformable volume's collision mesh.
++ \param[in] tetBarycentric The barycentric coordinates of the tetrahedron specified with tetId.
++ \param[out] outTetId The tet id of the deformable volume's simulation mesh.
++ \param[out] outTetBarycentric The barycentric coordinates of the tetrahedron specified with outTetId.
++ */
++ static void convertCollisionToSimulationTet(PxDeformableVolume& deformableVolume, PxU32 tetId, const PxVec4& tetBarycentric, PxU32& outTetId, PxVec4& outTetBarycentric);
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif // PX_DEFORMABLE_VOLUME_EXT_H