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_HEIGHTFIELD_DESC_H
++ #define PX_HEIGHTFIELD_DESC_H
++
++ #include "common/PxPhysXCommonConfig.h"
++ #include "geometry/PxHeightFieldFlag.h"
++ #include "common/PxCoreUtilityTypes.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Descriptor class for #PxHeightField.
++
++ \note The heightfield data is *copied* when a PxHeightField object is created from this descriptor. After the call the
++ user may discard the height data.
++
++ \see PxHeightField PxHeightFieldGeometry PxShape PxPhysics.createHeightField() PxCooking.createHeightField()
++ */
++ class PxHeightFieldDesc
++ {
++ public:
++
++ /**
++ \brief Number of sample rows in the height field samples array.
++
++ \note Local space X-axis corresponds to rows.
++
++ <b>Range:</b> >1<br>
++ <b>Default:</b> 0
++ */
++ PxU32 nbRows;
++
++ /**
++ \brief Number of sample columns in the height field samples array.
++
++ \note Local space Z-axis corresponds to columns.
++
++ <b>Range:</b> >1<br>
++ <b>Default:</b> 0
++ */
++ PxU32 nbColumns;
++
++ /**
++ \brief Format of the sample data.
++
++ Currently the only supported format is PxHeightFieldFormat::eS16_TM:
++
++ <b>Default:</b> PxHeightFieldFormat::eS16_TM
++
++ \see PxHeightFormat PxHeightFieldDesc.samples
++ */
++ PxHeightFieldFormat::Enum format;
++
++ /**
++ \brief The samples array.
++
++ It is copied to the SDK's storage at creation time.
++
++ There are nbRows * nbColumn samples in the array,
++ which define nbRows * nbColumn vertices and cells,
++ of which (nbRows - 1) * (nbColumns - 1) cells are actually used.
++
++ The array index of sample(row, column) = row * nbColumns + column.
++ The byte offset of sample(row, column) = sampleStride * (row * nbColumns + column).
++ The sample data follows at the offset and spans the number of bytes defined by the format.
++ Then there are zero or more unused bytes depending on sampleStride before the next sample.
++
++ <b>Default:</b> NULL
++
++ \see PxHeightFormat
++ */
++ PxStridedData samples;
++
++ /**
++ This threshold is used by the collision detection to determine if a height field edge is convex
++ and can generate contact points.
++ Usually the convexity of an edge is determined from the angle (or cosine of the angle) between
++ the normals of the faces sharing that edge.
++ The height field allows a more efficient approach by comparing height values of neighboring vertices.
++ This parameter offsets the comparison. Smaller changes than 0.5 will not alter the set of convex edges.
++ The rule of thumb is that larger values will result in fewer edge contacts.
++
++ This parameter is ignored in contact generation with sphere and capsule primitives.
++
++ <b>Range:</b> [0, PX_MAX_F32)<br>
++ <b>Default:</b> 0
++ */
++ PxReal convexEdgeThreshold;
++
++ /**
++ \brief Flags bits, combined from values of the enum ::PxHeightFieldFlag.
++
++ <b>Default:</b> 0
++
++ \see PxHeightFieldFlag PxHeightFieldFlags
++ */
++ PxHeightFieldFlags flags;
++
++ /**
++ \brief Constructor sets to default.
++ */
++ PX_INLINE PxHeightFieldDesc();
++
++ /**
++ \brief (re)sets the structure to the default.
++ */
++ PX_INLINE void setToDefault();
++
++ /**
++ \brief Returns true if the descriptor is valid.
++ \return True if the current settings are valid.
++ */
++ PX_INLINE bool isValid() const;
++ };
++
++ PX_INLINE PxHeightFieldDesc::PxHeightFieldDesc() //constructor sets to default
++ {
++ nbColumns = 0;
++ nbRows = 0;
++ format = PxHeightFieldFormat::eS16_TM;
++ convexEdgeThreshold = 0.0f;
++ flags = PxHeightFieldFlags();
++ }
++
++ PX_INLINE void PxHeightFieldDesc::setToDefault()
++ {
++ *this = PxHeightFieldDesc();
++ }
++
++ PX_INLINE bool PxHeightFieldDesc::isValid() const
++ {
++ if (nbColumns < 2)
++ return false;
++ if (nbRows < 2)
++ return false;
++ if(format != PxHeightFieldFormat::eS16_TM)
++ return false;
++ if (samples.stride < 4)
++ return false;
++ if (convexEdgeThreshold < 0)
++ return false;
++ if ((flags & PxHeightFieldFlag::eNO_BOUNDARY_EDGES) != flags)
++ return false;
++ return true;
++ }
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif