text: //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions
  // are met:
  //  * Redistributions of source code must retain the above copyright
  //    notice, this list of conditions and the following disclaimer.
  //  * Redistributions in binary form must reproduce the above copyright
  //    notice, this list of conditions and the following disclaimer in the
  //    documentation and/or other materials provided with the distribution.
  //  * Neither the name of NVIDIA CORPORATION nor the names of its
  //    contributors may be used to endorse or promote products derived
  //    from this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
  // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
  // PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
  // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
  // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
  // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
  // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
  // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  //
  // Copyright (c) 2008-2021 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 GU_CONVEXHELPER_H
  #define GU_CONVEXHELPER_H
  
  #include "GuShapeConvex.h"
  
  namespace physx {
  namespace Gu {
  class GeometryUnion;
  
  ///////////////////////////////////////////////////////////////////////////
  
  PX_PHYSX_COMMON_API void getScaledConvex(PxVec3 *&scaledVertices, PxU8 *&scaledIndices, PxVec3 *dstVertices,
                                           PxU8 *dstIndices, bool idtConvexScale, const PxVec3 *srcVerts,
                                           const PxU8 *srcIndices, PxU32 nbVerts,
                                           const Cm::FastVertex2ShapeScaling &convexScaling);
  
  // PT: calling this correctly isn't trivial so let's macroize it. At least we limit the damage since it immediately
  // calls a real function.
  #define GET_SCALEX_CONVEX(scaledVertices, stackIndices, idtScaling, nbVerts, scaling, srcVerts, srcIndices)            \
    getScaledConvex(scaledVertices, stackIndices,                                                                        \
                    idtScaling ? NULL : reinterpret_cast<PxVec3 *>(PxAlloca(nbVerts * sizeof(PxVec3))),                  \
                    idtScaling ? NULL : reinterpret_cast<PxU8 *>(PxAlloca(nbVerts * sizeof(PxU8))), idtScaling,          \
                    srcVerts, srcIndices, nbVerts, scaling);
  
  PX_PHYSX_COMMON_API bool getConvexData(const Gu::GeometryUnion &shape, Cm::FastVertex2ShapeScaling &scaling,
                                         PxBounds3 &bounds, PolygonalData &polyData);
  
  struct ConvexEdge {
    PxU8 vref0;
    PxU8 vref1;
    PxVec3 normal; // warning: non-unit vector!
  };
  
  PX_PHYSX_COMMON_API PxU32 findUniqueConvexEdges(PxU32 maxNbEdges, ConvexEdge *PX_RESTRICT edges, PxU32 numPolygons,
                                                  const Gu::HullPolygonData *PX_RESTRICT polygons,
                                                  const PxU8 *PX_RESTRICT vertexData);
  } // namespace Gu
  } // namespace physx
  
  #endif
  