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_TETRAHEDRON_MESH_EXT_H
++ #define PX_TETRAHEDRON_MESH_EXT_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxVec4.h"
++ #include "foundation/PxArray.h"
++
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++ class PxTetrahedronMesh;
++
++ /**
++ \brief utility functions for use with PxTetrahedronMesh and subclasses
++ */
++ class PxTetrahedronMeshExt
++ {
++ public:
++ /** Returns the index of the tetrahedron that contains a point
++
++ \param[in] mesh The tetmesh
++ \param[in] point The point to find the enclosing tetrahedron for
++ \param[in] bary The barycentric coordinates of the point inside the enclosing tetrahedron
++ \param[in] tolerance Tolerance value used classify points as inside if they lie exactly a tetrahedron's surface
++ \return The index of the tetrahedron containing the point, -1 if not tetrahedron contains the opoint
++ */
++ static PxI32 findTetrahedronContainingPoint(const PxTetrahedronMesh* mesh, const PxVec3& point, PxVec4& bary, PxReal tolerance = 1e-6f);
++
++ /** Returns the index of the tetrahedron closest to a point
++
++ \param[in] mesh The tetmesh
++ \param[in] point The point to find the closest tetrahedron for
++ \param[out] bary The barycentric coordinates of the point in the tetrahedron
++ \return The index of the tetrahedron closest to the point
++ */
++ static PxI32 findTetrahedronClosestToPoint(const PxTetrahedronMesh* mesh, const PxVec3& point, PxVec4& bary);
++
++ /** Associates points with closest tetrahedra from input tetrahedral mesh. If the tetmesh does not have any tetrahedra
++ or points, a warning will be generated and the result arrays will be empty, even if there are query points passed into the method.
++
++ \param[in] tetMeshVertices The tetrahedral mesh vertices
++ \param[in] tetMeshIndices The tetraheral mesh indices
++ \param[in] pointsToEmbed The points for which the embedding should be created
++ \param[in] barycentricCoordinates The output barycentric coordinates for each input point relative to its closest tetrahedron
++ \param[in] tetLinks The output indices of the closest tetrahedron for each input point
++ */
++ static void createPointsToTetrahedronMap(const PxArray<PxVec3>& tetMeshVertices, const PxArray<PxU32>& tetMeshIndices, const PxArray<PxVec3>& pointsToEmbed, PxArray<PxVec4>& barycentricCoordinates, PxArray<PxU32>& tetLinks);
++
++ /** Extracts the surface triangles of a tetmesh
++
++ The extracted triangle's vertex indices point to the vertex buffer of the tetmesh.
++
++ \param[in] tetrahedra The tetrahedra indices
++ \param[in] numTetrahedra The number of tetrahedra
++ \param[in] sixteenBitIndices If set to true, the tetrahedra indices are read as 16bit integers, otherwise 32bit integers are used
++ \param[in] surfaceTriangles The resulting surface triangles
++ \param[in] surfaceTriangleToTet Optional array to get the index of a tetrahedron that is adjacent to the surface triangle with the corresponding index
++ \param[in] flipTriangleOrientation Reverses the orientation of the ouput triangles
++ */
++ static void extractTetMeshSurface(const void* tetrahedra, PxU32 numTetrahedra, bool sixteenBitIndices, PxArray<PxU32>& surfaceTriangles, PxArray<PxU32>* surfaceTriangleToTet = NULL, bool flipTriangleOrientation = false);
++
++ /** Extracts the surface triangles of a tetmesh
++
++ The extracted triangle's vertex indices point to the vertex buffer of the tetmesh.
++
++ \param[in] mesh The mesh from which the surface shall be computed
++ \param[in] surfaceTriangles The resulting surface triangles
++ \param[in] surfaceTriangleToTet Optional array to get the index of a tetrahedron that is adjacent to the surface triangle with the corresponding index
++ \param[in] flipTriangleOrientation Reverses the orientation of the ouput triangles
++ */
++ static void extractTetMeshSurface(const PxTetrahedronMesh* mesh, PxArray<PxU32>& surfaceTriangles, PxArray<PxU32>* surfaceTriangleToTet = NULL, bool flipTriangleOrientation = false);
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif