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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_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