text: //
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  // Copyright (c) 2018-2019 NVIDIA Corporation. All rights reserved.
  
  
  #ifndef __SAMPLE_TRI_MESH_ACTOR_H__
  #define __SAMPLE_TRI_MESH_ACTOR_H__
  
  #include "SampleShapeActor.h"
  #include "RendererMeshShape.h"
  #include "PsMemoryBuffer.h"
  #include "PsArray.h"
  #include "PxStreamFromFileBuf.h"
  #include "ApexSDK.h"
  
  #include "cooking/PxCooking.h"
  #include "cooking/PxConvexMeshDesc.h"
  #include "geometry/PxConvexMeshGeometry.h"
  
  #include "geometry/PxTriangleMesh.h"
  #include "cooking/PxTriangleMeshDesc.h"
  #include "geometry/PxTriangleMeshGeometry.h"
  
  #include "PxRigidDynamic.h"
  #include "PxRigidStatic.h"
  #include "extensions/PxExtensionsAPI.h"
  
  
  
  namespace physx
  {
  class PxMaterial;
  }
  
  #include "RenderDebugInterface.h"
  #include <Renderer.h>
  #include <RendererMeshContext.h>
  
  //typedef physx::PxConvexMesh ConvexMesh;
  typedef physx::PxTriangleMesh TriMesh;
  
  class SampleTriMeshActor : public SampleShapeActor
  {
  public:
  
  	SampleTriMeshActor(SampleRenderer::Renderer* renderer,
  	               SampleFramework::SampleMaterialAsset& material,
  	               physx::PxScene& physxScene,
  				   physx::PxCooking& cooking,
  				   const physx::PxVec3* verts, 
  				   const uint32_t nbVerts,
  				   const uint32_t* indices,
  				   const uint32_t nbIndices,
  				   float* uvs,
  	               const physx::PxVec3& pos,
  	               const physx::PxVec3& vel,
  	               float density,
  	               physx::PxMaterial* PxMaterial,
  	               bool useGroupsMask,
  	               nvidia::apex::RenderDebugInterface* rdebug = NULL)
  		: SampleShapeActor(rdebug)
  		, mVerts(NULL)
  		, mNormals(NULL)
  		, mUvs(NULL)
  		, mFaces(NULL)
  		, mNbVerts(0)
  		, mNbFaces(0)
  		, mTriMesh(NULL)
  		, mRendererMeshShape(NULL)
  	{
  		mRenderer = renderer;
  
  		createActor(physxScene, cooking, verts, nbVerts, indices, nbIndices, pos, vel, density, PxMaterial, useGroupsMask);
  
  		const bool has16BitIndices = (mTriMesh->getTriangleMeshFlags() & physx::PxTriangleMeshFlag::e16_BIT_INDICES);
  
  		const uint32_t   nbTris			= mTriMesh->getNbTriangles();
  		const uint32_t*  indexBuffer	= (uint32_t*) (has16BitIndices ? NULL : mTriMesh->getTriangles());
  		const uint16_t*  indexBuffer16	= (uint16_t*) (has16BitIndices ? mTriMesh->getTriangles() : NULL);
  		const physx::PxVec3* vertices		= mTriMesh->getVertices();
  
  		mNbVerts = 3*nbTris;
  		mNbFaces = 3*nbTris;
  
  		mVerts		= new physx::PxVec3[mNbVerts];
  		mNormals	= new physx::PxVec3[mNbVerts];
  		mFaces		= new uint16_t[mNbFaces];
  		if (uvs != NULL)
  		{
  			mUvs		= new float[mNbVerts * 2];
  		}
  
  		if(indexBuffer)
  		{
  			for (uint32_t i = 0; i < nbTris; i++)
  			{
  				const physx::PxVec3& A( vertices[indexBuffer[3*i+0]] );
  				const physx::PxVec3& B( vertices[indexBuffer[3*i+1]] );
  				const physx::PxVec3& C( vertices[indexBuffer[3*i+2]] );
  
  				physx::PxVec3 a(B-A),b(C-A);
  				physx::PxVec3 normal = a.cross(b);
  				normal.normalize();
  
  				mVerts[3*i+0] = A;
  				mVerts[3*i+1] = C;
  				mVerts[3*i+2] = B;
  				mNormals[3*i+0] = normal;
  				mNormals[3*i+1] = normal;
  				mNormals[3*i+2] = normal;
  				mFaces[3*i+0] = uint16_t(3*i+0);
  				mFaces[3*i+1] = uint16_t(3*i+1);
  				mFaces[3*i+2] = uint16_t(3*i+2);
  			}
  		}
  		else if(indexBuffer16)
  		{
  			for (uint32_t i = 0; i < nbTris; i++)
  			{
  				const physx::PxVec3& A( verts[indices[3*i+0]] );
  				const physx::PxVec3& B( verts[indices[3*i+1]] );
  				const physx::PxVec3& C( verts[indices[3*i+2]] );
  
  				physx::PxVec3 a(B-A),b(C-A);
  				physx::PxVec3 normal = a.cross(b);
  				normal.normalize();
  
  				mVerts[3*i+0] = A;
  				mVerts[3*i+1] = C;
  				mVerts[3*i+2] = B;
  				if (uvs != NULL)
  				{
  					mUvs[6*i+0] = uvs[2*indices[3*i+0]];
  					mUvs[6*i+1] = uvs[2*indices[3*i+0] + 1];
  					mUvs[6*i+2] = uvs[2*indices[3*i+2]];
  					mUvs[6*i+3] = uvs[2*indices[3*i+2] + 1];
  					mUvs[6*i+4] = uvs[2*indices[3*i+1]];
  					mUvs[6*i+5] = uvs[2*indices[3*i+1] + 1];
  				}
  				mNormals[3*i+0] = normal;
  				mNormals[3*i+1] = normal;
  				mNormals[3*i+2] = normal;
  				mFaces[3*i+0] = uint16_t(3*i+0);
  				mFaces[3*i+1] = uint16_t(3*i+1);
  				mFaces[3*i+2] = uint16_t(3*i+2);
  			}
  		}
  		else
  		{
  			PX_ASSERT(0 && "Invalid Index Data");
  		}
  
  		mRendererMeshShape = new SampleRenderer::RendererMeshShape(*mRenderer, mVerts, mNbVerts, mNormals, mUvs, mFaces, mNbFaces / 3);
  
  		mRendererMeshContext.material         = material.getMaterial();
  		mRendererMeshContext.materialInstance = material.getMaterialInstance();
  		mRendererMeshContext.mesh             = mRendererMeshShape->getMesh();
  		mRendererMeshContext.transform        = &mTransform;
  
  		if (RENDER_DEBUG_IFACE(rdebug))
  		{
  			mBlockId = RENDER_DEBUG_IFACE(rdebug)->beginDrawGroup(mTransform);
  			RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::SolidShaded);
  			static uint32_t bcount /* = 0 */;
  			RENDER_DEBUG_IFACE(rdebug)->setCurrentColor(0xFFFFFF);
  			RENDER_DEBUG_IFACE(rdebug)->setCurrentTextScale(0.5f);
  			RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::CenterText);
  			RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::CameraFacing);
  			RENDER_DEBUG_IFACE(rdebug)->debugText(physx::PxVec3(0, 1.0f + 0.01f, 0), "Sample Triangle Mesh:%d", bcount++);
  			RENDER_DEBUG_IFACE(rdebug)->endDrawGroup();
  		}
  	}
  
  	virtual ~SampleTriMeshActor()
  	{
  		if (mRendererMeshShape)
  		{
  			delete[] mVerts;
  			delete[] mNormals;
  
  			delete mRendererMeshShape;
  			mRendererMeshShape = NULL;
  		}
  	}
  
  private:
  
  	void createActor(physx::PxScene& physxScene,
  					 physx::PxCooking& cooking,
  					 const physx::PxVec3* verts,
  					 const uint32_t nbVerts,
  					 const uint32_t* indices,
  					 const uint32_t nbIndices,
  	                 const physx::PxVec3& pos,
  	                 const physx::PxVec3& vel,
  	                 float density,
  	                 physx::PxMaterial* PxMaterial,
  					 bool useGroupsMask) 
  	{
  		if (!PxMaterial)
  		{
  			physxScene.getPhysics().getMaterials(&PxMaterial, 1);
  		}
  
  		mTransform = physx::PxMat44(physx::PxIdentity);
  		mTransform.setPosition(pos);	
  
  		physx::PxRigidActor* actor = NULL;
  		actor = physxScene.getPhysics().createRigidStatic(physx::PxTransform(mTransform));
  
  		physx::PxTriangleMeshDesc triMeshDesc;
  		triMeshDesc.points.count = nbVerts;
  		triMeshDesc.points.data = verts;
  		triMeshDesc.points.stride = sizeof(physx::PxVec3);
  		triMeshDesc.triangles.count = nbIndices/3;
  		triMeshDesc.triangles.data = indices;
  		triMeshDesc.triangles.stride = 3*sizeof(uint32_t);
  
  		physx::PsMemoryBuffer stream;
  		stream.setEndianMode(physx::PxFileBuf::ENDIAN_NONE);
  		nvidia::apex::PxStreamFromFileBuf nvs(stream);
  
  		if (cooking.cookTriangleMesh(triMeshDesc, nvs))
  		{
  			mTriMesh = physxScene.getPhysics().createTriangleMesh(nvs);
  			PX_ASSERT(mTriMesh);
  		}
  
  		physx::PxTriangleMeshGeometry triMeshGeom(mTriMesh);
  		physx::PxShape* shape = actor->createShape(triMeshGeom, *PxMaterial);
  		PX_ASSERT(shape);
  		if (shape && useGroupsMask)
  		{
  			shape->setSimulationFilterData(physx::PxFilterData(1, 0, ~0u, 0));
  			shape->setQueryFilterData(physx::PxFilterData(1, 0, ~0u, 0));
  		}
  		{
  			physxScene.lockWrite(__FILE__, __LINE__);
  			physxScene.addActor(*actor);
  			physxScene.unlockWrite();
  		}		
  		mPhysxActor = actor;
  	}
  
  private:
  	physx::PxVec3*	mVerts;
  	physx::PxVec3*	mNormals;
  	float*	mUvs;
  	uint16_t*	mFaces;
  
  	uint32_t	mNbVerts;
  	uint32_t	mNbFaces;
  
  	TriMesh* mTriMesh;
  
  	SampleRenderer::RendererMeshShape* mRendererMeshShape;
  };
  
  #endif
  