Revision control
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #include "ExtInsideTester.h"
++ #include "foundation/PxBounds3.h"
++
++ using namespace physx;
++ using namespace Ext;
++
++ // ------------------------------------------------------------------------
++ void InsideTester::init(const PxVec3 *vertices, PxI32 numVertices, const PxI32 *triIndices, PxI32 numTris)
++ {
++ PxArray<PxI32> newIds(numVertices, -1);
++
++ mVertices.clear();
++ mIndices.clear();
++
++ for (PxI32 i = 0; i < 3 * numTris; i++)
++ {
++ PxI32 id = triIndices[i];
++ if (newIds[id] < 0)
++ {
++ newIds[id] = PxI32(mVertices.size());
++ mVertices.pushBack(vertices[id]);
++ }
++ mIndices.pushBack(newIds[id]);
++ }
++
++ mGrids[0].init(0, mVertices, mIndices);
++ mGrids[1].init(1, mVertices, mIndices);
++ mGrids[2].init(2, mVertices, mIndices);
++ }
++
++ // ------------------------------------------------------------------------
++ bool InsideTester::isInside(const PxVec3 &pos)
++ {
++ PxI32 vote = 0;
++ vote += mGrids[0].numInside(pos, mVertices, mIndices);
++ vote += mGrids[1].numInside(pos, mVertices, mIndices);
++ vote += mGrids[2].numInside(pos, mVertices, mIndices);
++ return (vote > 3);
++ }
++
++ // ------------------------------------------------------------------------
++ void InsideTester::Grid2d::init(PxI32 _dim0, const PxArray<PxVec3> &vertices, const PxArray<PxI32> &indices)
++ {
++ first.clear();
++ tris.clear();
++ next.clear();
++ num1 = num2 = 0;
++
++ this->dim0 = _dim0;
++ PxI32 dim1 = (_dim0 + 1) % 3;
++ PxI32 dim2 = (_dim0 + 2) % 3;
++
++ PxI32 numTris = PxI32(indices.size()) / 3;
++ if (numTris == 0)
++ return;
++
++ PxBounds3 bounds, triBounds;
++ bounds.setEmpty();
++ PxReal avgSize = 0.0f;
++
++ for (PxI32 i = 0; i < numTris; i++)
++ {
++ triBounds.setEmpty();
++ triBounds.include(vertices[indices[3 * i]]);
++ triBounds.include(vertices[indices[3 * i + 1]]);
++ triBounds.include(vertices[indices[3 * i + 2]]);
++ triBounds.minimum[dim0] = 0.0f;
++ triBounds.maximum[dim0] = 0.0f;
++ avgSize += triBounds.getDimensions().magnitude();
++ bounds.include(triBounds);
++ }
++ if (bounds.isEmpty())
++ return;
++
++ avgSize /= PxReal(numTris);
++
++ orig = bounds.minimum;
++ spacing = avgSize;
++
++ num1 = PxI32((bounds.maximum[dim1] - orig[dim1]) / spacing) + 2;
++ num2 = PxI32((bounds.maximum[dim2] - orig[dim2]) / spacing) + 2;
++ first.clear();
++ first.resize(num1 * num2, -1);
++
++ for (PxI32 i = 0; i < numTris; i++)
++ {
++ triBounds.setEmpty();
++ triBounds.include(vertices[indices[3 * i]] - orig);
++ triBounds.include(vertices[indices[3 * i + 1]] - orig);
++ triBounds.include(vertices[indices[3 * i + 2]] - orig);
++
++ PxI32 min1 = PxI32(triBounds.minimum[dim1] / spacing);
++ PxI32 min2 = PxI32(triBounds.minimum[dim2] / spacing);
++ PxI32 max1 = PxI32(triBounds.maximum[dim1] / spacing);
++ PxI32 max2 = PxI32(triBounds.maximum[dim2] / spacing);
++ for (PxI32 i1 = min1; i1 <= max1; i1++)
++ {
++ for (PxI32 i2 = min2; i2 <= max2; i2++)
++ {
++ PxI32 nr = i1 * num2 + i2;
++ next.pushBack(first[nr]);
++ first[nr] = PxI32(tris.size());
++ tris.pushBack(i);
++ }
++ }
++ }
++ }
++
++ // ------------------------------------------------------------------------
++ PxI32 InsideTester::Grid2d::numInside(const PxVec3 &pos, const PxArray<PxVec3> &vertices, const PxArray<PxI32> &indices)
++ {
++ if (first.empty())
++ return 0;
++
++ PxI32 dim1 = (dim0 + 1) % 3;
++ PxI32 dim2 = (dim0 + 2) % 3;
++
++ PxReal r = 1e-5f;
++ PxVec3 p = pos;
++
++ p[dim1] = pos[dim1] + rnd.rand(0.0f, r);
++ p[dim2] = pos[dim2] + rnd.rand(0.0f, r);
++
++ PxI32 i1 = PxI32((p[dim1] - orig[dim1]) / spacing);
++ PxI32 i2 = PxI32((p[dim2] - orig[dim2]) / spacing);
++ if (i1 < 0 || i1 >= num1 || i2 < 0 || i2 >= num2)
++ return false;
++
++ PxI32 count1 = 0;
++ PxI32 count2 = 0;
++
++ PxI32 nr = first[i1 * num2 + i2];
++ while (nr >= 0)
++ {
++ PxI32 triNr = tris[nr];
++ nr = next[nr];
++
++ const PxVec3 &p0 = vertices[indices[3 * triNr]];
++ const PxVec3 &p1 = vertices[indices[3 * triNr + 1]];
++ const PxVec3 &p2 = vertices[indices[3 * triNr + 2]];
++
++ bool side0 = (p1 - p0).cross(p - p0)[dim0] > 0.0f;
++ bool side1 = (p2 - p1).cross(p - p1)[dim0] > 0.0f;
++ bool side2 = (p0 - p2).cross(p - p2)[dim0] > 0.0f;
++ if (side0 != side1 || side1 != side2)
++ continue;
++
++ // ray triangle intersection
++
++ PxVec3 n = (p1 - p0).cross(p2 - p0);
++ if (n[dim0] == 0.0f)
++ continue;
++ PxReal t = (p0 - p).dot(n) / n[dim0];
++ if (t > 0.0f)
++ count1++;
++ else if (t < 0.0f)
++ count2++;
++ }
++
++ PxI32 num = 0;
++ if ((count1 % 2) == 1)
++ num++;
++ if ((count2 % 2) == 1)
++ num++;
++ return num;
++ }