302 lines
10 KiB
C++
302 lines
10 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxMat44.h"
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#include "CmRenderOutput.h"
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#include "PsMathUtils.h"
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#include "PsString.h"
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#include <stdarg.h>
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#if PX_VC
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#pragma warning(disable: 4342 ) // behavior change: 'function' called, but a member operator was called in previous versions
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#pragma warning(disable: 4996 ) // intentionally suppressing this warning message
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#endif
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using namespace physx;
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using namespace Cm;
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namespace physx
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{
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namespace Cm
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{
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RenderOutput& RenderOutput::operator<<(Primitive prim)
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{
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mPrim = prim; mVertexCount = 0; return *this;
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}
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RenderOutput& RenderOutput::operator<<(PxU32 color)
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{
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mColor = color; return *this;
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}
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RenderOutput& RenderOutput::operator<<(const PxMat44& transform)
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{
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mTransform = transform; return *this;
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}
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RenderOutput& RenderOutput::operator<<(const PxTransform&t)
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{
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mTransform = PxMat44(t);
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return *this;
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}
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RenderOutput& RenderOutput::operator<<(PxVec3 vertex)
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{
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// apply transformation
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vertex = mTransform.transform(vertex);
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++mVertexCount;
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// add primitive to render buffer
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switch(mPrim)
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{
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case POINTS:
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mBuffer.mPoints.pushBack(PxDebugPoint(vertex, mColor)); break;
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case LINES:
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if(mVertexCount == 2)
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{
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mBuffer.mLines.pushBack(PxDebugLine(mVertex0, vertex, mColor));
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mVertexCount = 0;
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}
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break;
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case LINESTRIP:
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if(mVertexCount >= 2)
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mBuffer.mLines.pushBack(PxDebugLine(mVertex0, vertex, mColor));
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break;
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case TRIANGLES:
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if(mVertexCount == 3)
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{
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mBuffer.mTriangles.pushBack(PxDebugTriangle(mVertex1, mVertex0, vertex, mColor));
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mVertexCount = 0;
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}
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break;
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case TRIANGLESTRIP:
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if(mVertexCount >= 3)
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mBuffer.mTriangles.pushBack(PxDebugTriangle(
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(mVertexCount & 0x1) ? mVertex0 : mVertex1,
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(mVertexCount & 0x1) ? mVertex1 : mVertex0, vertex, mColor));
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break;
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case TEXT:
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break;
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}
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// cache the last 2 vertices (for strips)
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if(1 < mVertexCount)
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{
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mVertex1 = mVertex0;
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mVertex0 = vertex;
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} else {
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mVertex0 = vertex;
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}
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return *this;
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}
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DebugText::DebugText(const PxVec3& position_, PxReal size_, const char* string, ...)
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: position(position_), size(size_)
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{
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va_list argList;
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va_start(argList, string);
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if(0 >= Ps::vsnprintf(buffer, sBufferSize-1, string, argList))
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buffer[sBufferSize-1] = 0; // terminate string
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va_end(argList);
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}
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RenderOutput& RenderOutput::operator<<(const DebugText& text)
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{
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const PxU32 n = PxU32(strlen(text.buffer));
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const PxU32 newCharBufSize = mBuffer.mCharBuf.size()+n+1;
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if(mBuffer.mCharBuf.capacity() < newCharBufSize)
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{
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char* oldBuf = mBuffer.mCharBuf.begin();
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mBuffer.mCharBuf.reserve(newCharBufSize);
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intptr_t diff = mBuffer.mCharBuf.begin() - oldBuf;
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for (PxU32 i = 0; i < mBuffer.mTexts.size(); ++i)
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mBuffer.mTexts[i].string += diff;
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}
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mBuffer.mTexts.pushBack(PxDebugText(mTransform.transform(text.position), text.size, mColor, mBuffer.mCharBuf.end()));
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for(size_t i=0; i<=n; ++i)
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mBuffer.mCharBuf.pushBack(text.buffer[i]);
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return *this;
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}
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RenderOutput& operator<<(RenderOutput& out, const DebugBox& box)
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{
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if(box.wireframe)
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{
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out << RenderOutput::LINESTRIP;
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
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out << RenderOutput::LINES;
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
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}
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else
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{
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out << RenderOutput::TRIANGLESTRIP;
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z); // 3
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z); // 5
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
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}
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return out;
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}
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RenderOutput& operator<<(RenderOutput& out, const DebugArrow& arrow)
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{
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PxVec3 t0 = arrow.tip - arrow.base, t1, t2;
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t0.normalize();
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Ps::normalToTangents(t0, t1, t2);
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const PxReal tipAngle = 0.25f;
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t1 *= arrow.headLength * tipAngle;
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t2 *= arrow.headLength * tipAngle * PxSqrt(3.0f);
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PxVec3 headBase = arrow.tip - t0 * arrow.headLength;
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out << RenderOutput::LINES;
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out << arrow.base << arrow.tip;
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out << RenderOutput::TRIANGLESTRIP;
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out << arrow.tip;
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out << headBase + t1 + t1;
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out << headBase - t1 - t2;
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out << headBase - t1 + t2;
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out << arrow.tip;
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out << headBase + t1 + t1;
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return out;
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}
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RenderOutput& operator<<(RenderOutput& out, const DebugBasis& basis)
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{
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const PxReal headLength = basis.extends.magnitude() * 0.15f;
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out << basis.colorX << DebugArrow(PxVec3(0.0f), PxVec3(basis.extends.x, 0, 0), headLength);
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out << basis.colorY << DebugArrow(PxVec3(0.0f), PxVec3(0, basis.extends.y, 0), headLength);
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out << basis.colorZ << DebugArrow(PxVec3(0.0f), PxVec3(0, 0, basis.extends.z), headLength);
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return out;
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}
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RenderOutput& operator<<(RenderOutput& out, const DebugCircle& circle)
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{
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const PxF32 step = PxTwoPi/circle.nSegments;
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PxF32 angle = 0;
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out << RenderOutput::LINESTRIP;
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for(PxU32 i=0; i<circle.nSegments; i++, angle += step)
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out << PxVec3(circle.radius * PxSin(angle), circle.radius * PxCos(angle), 0);
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out << PxVec3(0, circle.radius, 0);
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return out;
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}
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RenderOutput& operator<<(RenderOutput& out, const DebugArc& arc)
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{
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const PxF32 step = (arc.maxAngle - arc.minAngle) / arc.nSegments;
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PxF32 angle = arc.minAngle;
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out << RenderOutput::LINESTRIP;
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for(PxU32 i=0; i<arc.nSegments; i++, angle += step)
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out << PxVec3(arc.radius * PxSin(angle), arc.radius * PxCos(angle), 0);
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out << PxVec3(arc.radius * PxSin(arc.maxAngle), arc.radius * PxCos(arc.maxAngle), 0);
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return out;
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}
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// PT: I need those functions available here so that I don't have to duplicate all the code in other modules like the CCT.
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// PT: TODO: move other functions here as well
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RenderOutput& RenderOutput::outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose)
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{
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RenderOutput& out = *this;
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const PxVec3 vleft2(-halfHeight, 0.0f, 0.0f);
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PxMat44 left2 = absPose;
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left2.column3 += PxVec4(left2.rotate(vleft2), 0.0f);
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out << left2 << Cm::DebugArc(100, radius, PxPi, PxTwoPi);
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PxMat44 rotPose = left2;
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Ps::swap(rotPose.column1, rotPose.column2);
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rotPose.column1 = -rotPose.column1;
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out << rotPose << Cm::DebugArc(100, radius, PxPi, PxTwoPi);
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Ps::swap(rotPose.column0, rotPose.column2);
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rotPose.column0 = -rotPose.column0;
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out << rotPose << Cm::DebugCircle(100, radius);
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const PxVec3 vright2(halfHeight, 0.0f, 0.0f);
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PxMat44 right2 = absPose;
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right2.column3 += PxVec4(right2.rotate(vright2), 0.0f);
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out << right2 << Cm::DebugArc(100, radius, 0.0f, PxPi);
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rotPose = right2;
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Ps::swap(rotPose.column1, rotPose.column2);
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rotPose.column1 = -rotPose.column1;
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out << rotPose << Cm::DebugArc(100, radius, 0.0f, PxPi);
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Ps::swap(rotPose.column0, rotPose.column2);
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rotPose.column0 = -rotPose.column0;
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out << rotPose << Cm::DebugCircle(100, radius);
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out << absPose;
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out.outputSegment( absPose.transform(PxVec3(-halfHeight, radius, 0)),
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absPose.transform(PxVec3( halfHeight, radius, 0)));
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out.outputSegment( absPose.transform(PxVec3(-halfHeight, -radius, 0)),
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absPose.transform(PxVec3( halfHeight, -radius, 0)));
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out.outputSegment( absPose.transform(PxVec3(-halfHeight, 0, radius)),
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absPose.transform(PxVec3( halfHeight, 0, radius)));
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out.outputSegment( absPose.transform(PxVec3(-halfHeight, 0, -radius)),
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absPose.transform(PxVec3( halfHeight, 0, -radius)));
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return *this;
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}
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} // Cm
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}
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