GuCookingVolumeIntegration.h

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#ifndef GU_COOKING_VOLUME_INTEGRATION_H
#define GU_COOKING_VOLUME_INTEGRATION_H
#include "foundation/Px.h"
#include "foundation/PxVec3.h"
#include "foundation/PxMat33.h"
 
namespace physx
{
class PxSimpleTriangleMesh;
class PxConvexMeshDesc;
 
struct PxIntegrals
{
    PxVec3 COM;                     
    PxF64 mass;                     
    PxF64 inertiaTensor[3][3];      
    PxF64 COMInertiaTensor[3][3];   
 
    void getInertia(PxMat33& inertia)
    {
        for(PxU32 j=0;j<3;j++)
        {
            for(PxU32 i=0;i<3;i++)
            {
                inertia(i,j) = PxF32(COMInertiaTensor[i][j]);
            }
        }
    }
 
    void getOriginInertia(PxMat33& inertia)
    {
        for(PxU32 j=0;j<3;j++)
        {
            for(PxU32 i=0;i<3;i++)
            {
                inertia(i,j) = PxF32(inertiaTensor[i][j]);
            }
        }
    }
    };
 
    bool computeVolumeIntegrals(const PxSimpleTriangleMesh& mesh, PxReal density, PxIntegrals& integrals);
 
    // specialized method taking polygons directly, so we don't need to compute and store triangles for each polygon
    bool computeVolumeIntegralsEberly(const PxConvexMeshDesc& mesh, PxReal density, PxIntegrals& integrals, const PxVec3& origin, bool useSimd);   // Eberly simplified method
}
 
#endif