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_CONVEX_MESH_H
++ #define PX_CONVEX_MESH_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxMat33.h"
++ #include "common/PxBase.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ class PxBounds3;
++ #endif
++
++ /**
++ \brief Polygon data
++
++ Plane format: (mPlane[0],mPlane[1],mPlane[2]).dot(x) + mPlane[3] = 0
++ With the normal outward-facing from the hull.
++ */
++ struct PxHullPolygon
++ {
++ PxReal mPlane[4]; //!< Plane equation for this polygon
++ PxU16 mNbVerts; //!< Number of vertices/edges in the polygon
++ PxU16 mIndexBase; //!< Offset in index buffer
++ };
++
++ /**
++ \brief A convex mesh.
++
++ Internally represented as a list of convex polygons. The number
++ of polygons is limited to 256.
++
++ To avoid duplicating data when you have several instances of a particular
++ mesh positioned differently, you do not use this class to represent a
++ convex object directly. Instead, you create an instance of this mesh via
++ the PxConvexMeshGeometry and PxShape classes.
++
++ <h3>Creation</h3>
++
++ To create an instance of this class call PxPhysics::createConvexMesh(),
++ and PxConvexMesh::release() to delete it. This is only possible
++ once you have released all of its #PxShape instances.
++
++ <h3>Visualizations:</h3>
++ \li #PxVisualizationParameter::eCOLLISION_AABBS
++ \li #PxVisualizationParameter::eCOLLISION_SHAPES
++ \li #PxVisualizationParameter::eCOLLISION_AXES
++ \li #PxVisualizationParameter::eCOLLISION_FNORMALS
++ \li #PxVisualizationParameter::eCOLLISION_EDGES
++
++ \see PxConvexMeshDesc PxPhysics.createConvexMesh()
++ */
++ class PxConvexMesh : public PxRefCounted
++ {
++ public:
++
++ /**
++ \brief Returns the number of vertices.
++ \return Number of vertices.
++ \see getVertices()
++ */
++ virtual PxU32 getNbVertices() const = 0;
++
++ /**
++ \brief Returns the vertices.
++ \return Array of vertices.
++ \see getNbVertices()
++ */
++ virtual const PxVec3* getVertices() const = 0;
++
++ /**
++ \brief Returns the index buffer.
++ \return Index buffer.
++ \see getNbPolygons() getPolygonData()
++ */
++ virtual const PxU8* getIndexBuffer() const = 0;
++
++ /**
++ \brief Returns the number of polygons.
++ \return Number of polygons.
++ \see getIndexBuffer() getPolygonData()
++ */
++ virtual PxU32 getNbPolygons() const = 0;
++
++ /**
++ \brief Returns the polygon data.
++ \param[in] index Polygon index in [0 ; getNbPolygons()[.
++ \param[out] data Polygon data.
++ \return True if success.
++ \see getIndexBuffer() getNbPolygons()
++ */
++ virtual bool getPolygonData(PxU32 index, PxHullPolygon& data) const = 0;
++
++ /**
++ \brief Decrements the reference count of a convex mesh and releases it if the new reference count is zero.
++
++ \see PxPhysics.createConvexMesh() PxConvexMeshGeometry PxShape
++ */
++ virtual void release() PX_OVERRIDE = 0;
++
++ /**
++ \brief Returns the mass properties of the mesh assuming unit density.
++
++ The following relationship holds between mass and volume:
++
++ mass = volume * density
++
++ The mass of a unit density mesh is equal to its volume, so this function returns the volume of the mesh.
++
++ Similarly, to obtain the localInertia of an identically shaped object with a uniform density of d, simply multiply the
++ localInertia of the unit density mesh by d.
++
++ \param[out] mass The mass of the mesh assuming unit density.
++ \param[out] localInertia The inertia tensor in mesh local space assuming unit density.
++ \param[out] localCenterOfMass Position of center of mass (or centroid) in mesh local space.
++ */
++ virtual void getMassInformation(PxReal& mass, PxMat33& localInertia, PxVec3& localCenterOfMass) const = 0;
++
++ /**
++ \brief Returns the local-space (vertex space) AABB from the convex mesh.
++
++ \return local-space bounds
++ */
++ virtual PxBounds3 getLocalBounds() const = 0;
++
++ /**
++ \brief Returns the local-space Signed Distance Field for this mesh if it has one.
++ \return local-space SDF.
++ */
++ virtual const PxReal* getSDF() const = 0;
++
++
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE PX_FINAL { return "PxConvexMesh"; }
++
++ /**
++ \brief This method decides whether a convex mesh is gpu compatible. If the total number of vertices are more than 64 or any number of vertices in a polygon is more than 32, or
++ convex hull data was not cooked with GPU data enabled during cooking or was loaded from a serialized collection, the convex hull is incompatible with GPU collision detection. Otherwise
++ it is compatible.
++
++ \return True if the convex hull is gpu compatible
++ */
++ virtual bool isGpuCompatible() const = 0;
++
++
++ protected:
++ PX_INLINE PxConvexMesh(PxType concreteType, PxBaseFlags baseFlags) : PxRefCounted(concreteType, baseFlags) {}
++ PX_INLINE PxConvexMesh(PxBaseFlags baseFlags) : PxRefCounted(baseFlags) {}
++ virtual ~PxConvexMesh() {}
++ virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxConvexMesh", PxRefCounted); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif