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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_TRIANGLE_MESH_EXT_H
++ #define PX_TRIANGLE_MESH_EXT_H
++
++ #include "PxPhysXConfig.h"
++ #include "common/PxPhysXCommonConfig.h"
++ #include "foundation/PxArray.h"
++ #include "foundation/PxTransform.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxGeometry;
++ class PxTriangleMesh;
++ class PxTriangleMeshGeometry;
++ class PxHeightFieldGeometry;
++
++ /**
++ \brief Utility class to find mesh triangles touched by a specified geometry object.
++
++ This class is a helper calling PxMeshQuery::findOverlapTriangleMesh or PxMeshQuery::findOverlapHeightField under the hood,
++ while taking care of necessary memory management issues.
++
++ PxMeshQuery::findOverlapTriangleMesh and PxMeshQuery::findOverlapHeightField are the "raw" functions operating on user-provided fixed-size
++ buffers. These functions abort with an error code in case of buffer overflow. PxMeshOverlapUtil is a convenient helper function checking
++ this error code, and resizing buffers appropriately, until the desired call succeeds.
++
++ Returned triangle indices are stored within the class, and can be used with PxMeshQuery::getTriangle() to retrieve the triangle properties.
++ */
++ class PxMeshOverlapUtil
++ {
++ public:
++ PxMeshOverlapUtil();
++ ~PxMeshOverlapUtil();
++ /**
++ \brief Find the mesh triangles which touch the specified geometry object.
++
++ \param[in] geom The geometry object to test for mesh triangle overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry
++ \param[in] geomPose Pose of the geometry object
++ \param[in] meshGeom The triangle mesh geometry to check overlap against
++ \param[in] meshPose Pose of the triangle mesh
++ \return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
++
++ \see PxGeometry PxTransform PxTriangleMeshGeometry PxMeshQuery::findOverlapTriangleMesh
++ */
++ PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose);
++
++ /**
++ \brief Find the height field triangles which touch the specified geometry object.
++
++ \param[in] geom The geometry object to test for height field overlaps. Supported geometries are #PxSphereGeometry, #PxCapsuleGeometry and #PxBoxGeometry. The sphere and capsule queries are currently conservative estimates.
++ \param[in] geomPose Pose of the geometry object
++ \param[in] hfGeom The height field geometry to check overlap against
++ \param[in] hfPose Pose of the height field
++ \return Number of overlaps found. Triangle indices can then be accessed through the #getResults() function.
++
++ \see PxGeometry PxTransform PxHeightFieldGeometry PxMeshQuery::findOverlapHeightField
++ */
++ PxU32 findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose);
++
++ /**
++ \brief Retrieves array of triangle indices after a findOverlap call.
++ \return Indices of touched triangles
++ */
++ PX_FORCE_INLINE const PxU32* getResults() const { return mResultsMemory; }
++
++ /**
++ \brief Retrieves number of triangle indices after a findOverlap call.
++ \return Number of touched triangles
++ */
++ PX_FORCE_INLINE PxU32 getNbResults() const { return mNbResults; }
++
++ private:
++ PxU32* mResultsMemory;
++ PxU32 mResults[256];
++ PxU32 mNbResults;
++ PxU32 mMaxNbResults;
++ };
++
++ /**
++ \brief Computes an approximate minimum translational distance (MTD) between a geometry object and a mesh.
++
++ This iterative function computes an approximate vector that can be used to depenetrate a geom object
++ from a triangle mesh. Returned depenetration vector should be applied to 'geom', to get out of the mesh.
++
++ The function works best when the amount of overlap between the geom object and the mesh is small. If the
++ geom object's center goes inside the mesh, backface culling usually kicks in, no overlap is detected,
++ and the function does not compute an MTD vector.
++
++ The function early exits if no overlap is detected after a depenetration attempt. This means that if
++ maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
++ been successful. Usually N = 4 gives good results.
++
++ \param[out] direction Computed MTD unit direction
++ \param[out] depth Penetration depth. Always positive or zero.
++ \param[in] geom The geometry object
++ \param[in] geomPose Pose for the geometry object
++ \param[in] meshGeom The mesh geometry
++ \param[in] meshPose Pose for the mesh
++ \param[in] maxIter Max number of iterations before returning.
++ \param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
++
++ \return True if the MTD has successfully been computed, i.e. if objects do overlap.
++
++ \see PxGeometry PxTransform PxTriangleMeshGeometry
++ */
++ bool PxComputeTriangleMeshPenetration(PxVec3& direction,
++ PxReal& depth,
++ const PxGeometry& geom,
++ const PxTransform& geomPose,
++ const PxTriangleMeshGeometry& meshGeom,
++ const PxTransform& meshPose,
++ PxU32 maxIter,
++ PxU32* usedIter = NULL);
++
++ /**
++ \brief Computes an approximate minimum translational distance (MTD) between a geometry object and a heightfield.
++
++ This iterative function computes an approximate vector that can be used to depenetrate a geom object
++ from a heightfield. Returned depenetration vector should be applied to 'geom', to get out of the heightfield.
++
++ The function works best when the amount of overlap between the geom object and the mesh is small. If the
++ geom object's center goes inside the heightfield, backface culling usually kicks in, no overlap is detected,
++ and the function does not compute an MTD vector.
++
++ The function early exits if no overlap is detected after a depenetration attempt. This means that if
++ maxIter = N, the code will attempt at most N iterations but it might exit earlier if depenetration has
++ been successful. Usually N = 4 gives good results.
++
++ \param[out] direction Computed MTD unit direction
++ \param[out] depth Penetration depth. Always positive or zero.
++ \param[in] geom The geometry object
++ \param[in] geomPose Pose for the geometry object
++ \param[in] heightFieldGeom The heightfield geometry
++ \param[in] heightFieldPose Pose for the heightfield
++ \param[in] maxIter Max number of iterations before returning.
++ \param[out] usedIter Number of depenetrations attempts performed during the call. Will not be returned if the pointer is NULL.
++
++ \return True if the MTD has successfully been computed, i.e. if objects do overlap.
++
++ \see PxGeometry PxTransform PxHeightFieldGeometry
++ */
++ bool PxComputeHeightFieldPenetration(PxVec3& direction,
++ PxReal& depth,
++ const PxGeometry& geom,
++ const PxTransform& geomPose,
++ const PxHeightFieldGeometry& heightFieldGeom,
++ const PxTransform& heightFieldPose,
++ PxU32 maxIter,
++ PxU32* usedIter = NULL);
++
++ /**
++ \brief Extracts an isosurface from the SDF of a mesh if it the SDF is available.
++
++ \param[in] triangleMesh The triangle mesh
++ \param[out] isosurfaceVertices The vertices of the extracted isosurface
++ \param[out] isosurfaceTriangleIndices The triangles of the extracted isosurface
++ */
++ bool PxExtractIsosurfaceFromSDF(const PxTriangleMesh& triangleMesh, PxArray<PxVec3>& isosurfaceVertices, PxArray<PxU32>& isosurfaceTriangleIndices);
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif