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+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #ifndef PX_DEFORMABLE_VOLUME_EXT_H
+ #define PX_DEFORMABLE_VOLUME_EXT_H
+
+ #include "foundation/PxTransform.h"
+ #include "foundation/PxUserAllocated.h"
+ #include "PxDeformableVolume.h"
+ #include "PxDeformableVolumeFlag.h"
+ #include "cudamanager/PxCudaContextManager.h"
+ #include "cudamanager/PxCudaTypes.h"
+
+ #if !PX_DOXYGEN
+ namespace physx
+ {
+ #endif
+
+ struct PxCookingParams;
+ class PxSimpleTriangleMesh;
+ class PxInsertionCallback;
+ class PxDeformableVolumeMesh;
+
+ /**
+ \brief Utility functions for use with PxDeformableVolume and subclasses
+ */
+ class PxDeformableVolumeExt
+ {
+ public:
+ /**
+ \brief Computes the deformable volume's vertex masses from the provided density and the volume of the tetrahedra
+
+ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
+
+ The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
+
+ \param[in] deformableVolume The deformable volume which will get its mass updated
+ \param[in] density The density to used to calculate the mass from the body's volume
+ \param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
+ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
+
+ \see PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()
+ */
+ static void updateMass(PxDeformableVolume& deformableVolume, const PxReal density, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
+
+ /**
+ \brief Computes the deformable volume's vertex masses such that the sum of all masses is equal to the provided mass
+
+ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD()) and getSimVelocityBufferD()
+
+ The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
+
+ \param[in] deformableVolume The deformable volume which will get its mass updated
+ \param[in] mass The deformable volume's mass
+ \param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
+ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
+
+ \see PxDeformableVolume PxDeformableVolume::getSimPositionInvMassBufferD()
+ */
+ static void setMass(PxDeformableVolume& deformableVolume, const PxReal mass, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
+
+ /**
+ \brief Transforms a deformable volume
+
+ The buffers affected by this operation can be obtained from the deformable volume using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
+
+ Applies a transformation to the simulation mesh's positions an velocities. Velocities only get rotated and scaled (translation is not applicable to direction vectors).
+ It does not modify the body's mass.
+ If the method is called multiple times, the transformation will compound with the ones previously applied.
+
+ \param[in] deformableVolume The deformable volume which is transformed
+ \param[in] transform The transform to apply
+ \param[in] scale A scaling factor
+ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
+ \param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
+ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
+ \param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
+
+ \see PxDeformableVolume
+ */
+ static void transform(PxDeformableVolume& deformableVolume, const PxTransform& transform, const PxReal scale, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned);
+
+ /**
+ \brief Updates the collision mesh's vertex positions to match the simulation mesh's transformation and scale.
+
+ The buffer affected by this operation can be obtained from the deformable volume using the method getPositionInvMassBufferD()
+
+ \param[in] deformableVolume The deformable volume which will get its collision mesh vertices updated
+ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
+ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
+
+ \see PxDeformableVolume
+ */
+ static void updateEmbeddedCollisionMesh(PxDeformableVolume& deformableVolume, PxVec4* simPositionsPinned, PxVec4* collPositionsPinned);
+
+ /**
+ \brief Uploads prepared deformable volume data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.
+
+ \param[in] deformableVolume The deformable volume which will perform the data upload
+ \param[in] flags Specifies which buffers the data transfer should include
+ \param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
+ \param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
+ \param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
+ \param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
+ \param[in] stream A cuda stream to perform the copies.
+
+ \see PxDeformableVolume
+ */
+ static void copyToDevice(PxDeformableVolume& deformableVolume, PxDeformableVolumeDataFlags flags, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned, CUstream stream = CUstream(0));
+
+ /**
+ \brief Creates a full deformable volume mesh matching the shape given as input. Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.
+
+ \param[in] params Cooking params instance required for mesh processing
+ \param[in] surfaceMesh Input triangle mesh that represents the surface of the deformable volume
+ \param[in] numVoxelsAlongLongestAABBAxis The number of voxels along the longest bounding box axis
+ \param[in] insertionCallback The insertion interface from PxPhysics
+ \param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
+ \return Deformable volume mesh if cooking was successful, NULL otherwise
+ \see PxDeformableVolumeMesh
+ */
+ static PxDeformableVolumeMesh* createDeformableVolumeMesh(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback& insertionCallback, const bool validate = true);
+
+ /**
+ \brief Creates a full deformable volume mesh matching the shape given as input. Uses the same surface-matching mesh for collision detection and FEM simulation.
+
+ \param[in] params Cooking params instance required for mesh processing
+ \param[in] surfaceMesh Input triangle mesh that represents the surface of the deformable volume
+ \param[in] insertionCallback The insertion interface from PxPhysics
+ \param[in] maxWeightRatioInTet Upper limit for the ratio of node weights that are adjacent to the same tetrahedron. The closer to one (while remaining larger than one), the more stable the simulation.
+ \param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
+ \return Deformable volume mesh if cooking was successful, NULL otherwise
+ \see PxDeformableVolumeMesh
+ */
+ static PxDeformableVolumeMesh* createDeformableVolumeMeshNoVoxels(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh,
+ PxInsertionCallback& insertionCallback, PxReal maxWeightRatioInTet = 1.5f, const bool validate = true);
+
+ /**
+ \brief Creates a deformable volume instance from a deformable volume mesh
+
+ \param[in] deformableVolumeMesh The deformable volume mesh
+ \param[in] transform The transform that defines initial position and orientation of the deformable volume
+ \param[in] material The material
+ \param[in] cudaContextManager A cuda context manager
+ \param[in] density The density used to compute the mass properties
+ \param[in] scale The scaling of the deformable volume
+ \return Deformable volume instance
+ \see PxDeformableVolumeMesh, PxDeformableVolume
+ */
+ static PxDeformableVolume* createDeformableVolumeFromMesh(PxDeformableVolumeMesh* deformableVolumeMesh, const PxTransform& transform,
+ const PxDeformableVolumeMaterial& material, PxCudaContextManager& cudaContextManager, PxReal density = 100.0f, PxReal scale = 1.0f);
+
+ /**
+ \brief Creates a deformable volume instance with a box shape
+
+ \param[in] transform The transform that defines initial position and orientation of the deformable volume
+ \param[in] boxDimensions The dimensions (side lengths) of the box shape
+ \param[in] material The material
+ \param[in] cudaContextManager A cuda context manager
+ \param[in] maxEdgeLength The maximal length of a triangle edge. Subdivision will get applied until the edge length criteria is matched. -1 means no subdivision is applied.
+ \param[in] density The density used to compute the mass properties
+ \param[in] numVoxelsAlongLongestAABBAxis The number of voxels to use for the simulation mesh along the longest bounding box dimension
+ \param[in] scale The scaling of the deformable volume
+ \return Deformable volume instance
+ \see PxDeformableVolumeMesh, PxDeformableVolume
+ */
+ static PxDeformableVolume* createDeformableVolumeBox(const PxTransform& transform, const PxVec3& boxDimensions, const PxDeformableVolumeMaterial& material,
+ PxCudaContextManager& cudaContextManager, PxReal maxEdgeLength = -1.0f, PxReal density = 100.0f, PxU32 numVoxelsAlongLongestAABBAxis = 10, PxReal scale = 1.0f);
+
+ /**
+ \brief allocates and initializes pinned host memory buffers from an actor with shape.
+
+ \param[in] deformableVolume A PxDeformableVolume that has a valid shape attached to it.
+ \param[in] cudaContextManager The PxCudaContextManager of the scene this deformable volume will be simulated in
+ \param[in] simPositionInvMassPinned A reference to a pointer for the return value of the simPositionInvMassPinned buffer, will be set by this function.
+ \param[in] simVelocityPinned A reference to a pointer for the return value of the simVelocityPinned buffer, will be set by this function.
+ \param[in] collPositionInvMassPinned A reference to a pointer for the return value of the collPositionInvMassPinned buffer, will be set by this function.
+ \param[in] restPositionPinned A reference to a pointer for the return value of the restPositionPinned buffer, will be set by this function.
+
+ \see PxDeformableVolume
+ */
+ static void allocateAndInitializeHostMirror(PxDeformableVolume& deformableVolume, PxCudaContextManager* cudaContextManager, PxVec4*& simPositionInvMassPinned, PxVec4*& simVelocityPinned, PxVec4*& collPositionInvMassPinned, PxVec4*& restPositionPinned);
+
+ /**
+ \brief Given a set of points and a set of tetrahedra, it finds the equilibrium state of the deformable volume. Every input point is either fixed or can move freely.
+
+ \param[in] verticesOriginal Mesh vertex positions in undeformed original state.
+ \param[in] verticesDeformed Mesh vertex positions in new deformed state. Only fixed vertices must have their final location, all other locations will get updated by the method.
+ \param[in] nbVertices The number of vertices.
+ \param[in] tetrahedra The tetrahedra.
+ \param[in] nbTetraheda The number of tetrahedra.
+ \param[in] vertexIsFixed Optional input that specifies which vertex is fixed and which one can move to relax the tension. If not provided, vertices from verticesOriginal which have a .w value of 0 will be considered fixed.
+ \param[in] numIterations The number of stress relaxation iterations to run.
+ */
+ static void relaxDeformableVolumeMesh(const PxVec4* verticesOriginal, PxVec4* verticesDeformed, PxU32 nbVertices,
+ const PxU32* tetrahedra, PxU32 nbTetraheda, const bool* vertexIsFixed = NULL, PxU32 numIterations = 200);
+
+ /**
+ \brief Converts the tet id and barycentric from the collision mesh to the tet id and barycentric of the simulation mesh.
+
+ \param[in] deformableVolume The deformable volume to perform the operation on.
+ \param[in] tetId The tet id of the deformable volume's collision mesh.
+ \param[in] tetBarycentric The barycentric coordinates of the tetrahedron specified with tetId.
+ \param[out] outTetId The tet id of the deformable volume's simulation mesh.
+ \param[out] outTetBarycentric The barycentric coordinates of the tetrahedron specified with outTetId.
+ */
+ static void convertCollisionToSimulationTet(PxDeformableVolume& deformableVolume, PxU32 tetId, const PxVec4& tetBarycentric, PxU32& outTetId, PxVec4& outTetBarycentric);
+ };
+
+ #if !PX_DOXYGEN
+ } // namespace physx
+ #endif
+
+ #endif // PX_DEFORMABLE_VOLUME_EXT_H