include/common/PxRenderOutput.h
File members: include/common/PxRenderOutput.h
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// Copyright (c) 2008-2024 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 PX_RENDER_OUTPUT_H
#define PX_RENDER_OUTPUT_H
#include "foundation/PxMat44.h"
#include "foundation/PxBasicTemplates.h"
#include "PxRenderBuffer.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4251 ) // class needs to have dll-interface to be used by clients of class
#endif
class PxRenderOutput
{
public:
enum Primitive
{
POINTS,
LINES,
LINESTRIP,
TRIANGLES,
TRIANGLESTRIP
};
PxRenderOutput(PxRenderBuffer& buffer)
: mPrim(POINTS),
mColor(0),
mVertex0(0.0f),
mVertex1(0.0f),
mVertexCount(0),
mTransform(PxIdentity),
mBuffer(buffer)
{
}
PX_INLINE PxRenderOutput& operator<<(Primitive prim);
PX_INLINE PxRenderOutput& operator<<(PxU32 color) ;
PX_INLINE PxRenderOutput& operator<<(const PxMat44& transform);
PX_INLINE PxRenderOutput& operator<<(const PxTransform& t);
PX_INLINE PxRenderOutput& operator<<(const PxVec3& vertex);
PX_INLINE PxDebugLine* reserveSegments(PxU32 nbSegments);
PX_INLINE PxDebugPoint* reservePoints(PxU32 nbSegments);
PX_INLINE void outputSegment(const PxVec3& v0, const PxVec3& v1);
PX_INLINE PxRenderOutput& outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose);
private:
PxRenderOutput& operator=(const PxRenderOutput&);
Primitive mPrim;
PxU32 mColor;
PxVec3 mVertex0, mVertex1;
PxU32 mVertexCount;
PxMat44 mTransform;
PxRenderBuffer& mBuffer;
};
struct PxDebugBox
{
explicit PxDebugBox(const PxVec3& extents, bool wireframe_ = true)
: minimum(-extents), maximum(extents), wireframe(wireframe_) {}
explicit PxDebugBox(const PxVec3& pos, const PxVec3& extents, bool wireframe_ = true)
: minimum(pos - extents), maximum(pos + extents), wireframe(wireframe_) {}
explicit PxDebugBox(const PxBounds3& bounds, bool wireframe_ = true)
: minimum(bounds.minimum), maximum(bounds.maximum), wireframe(wireframe_) {}
PxVec3 minimum, maximum;
bool wireframe;
};
PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBox& box)
{
if (box.wireframe)
{
out << PxRenderOutput::LINESTRIP;
out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
out << PxRenderOutput::LINES;
out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
}
else
{
out << PxRenderOutput::TRIANGLESTRIP;
out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z); // 3
out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z); // 5
out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
}
return out;
}
struct PxDebugArrow
{
PxDebugArrow(const PxVec3& pos, const PxVec3& vec)
: base(pos), tip(pos + vec), headLength(vec.magnitude()*0.15f) {}
PxDebugArrow(const PxVec3& pos, const PxVec3& vec, PxReal headLength_)
: base(pos), tip(pos + vec), headLength(headLength_) {}
PxVec3 base, tip;
PxReal headLength;
};
PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, PxVec3& tangent1)
{
tangent0 = PxAbs(normal.x) < 0.70710678f ? PxVec3(0, -normal.z, normal.y) : PxVec3(-normal.y, normal.x, 0);
tangent0.normalize();
tangent1 = normal.cross(tangent0);
}
PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArrow& arrow)
{
PxVec3 t0 = arrow.tip - arrow.base, t1, t2;
t0.normalize();
normalToTangents(t0, t1, t2);
const PxReal tipAngle = 0.25f;
t1 *= arrow.headLength * tipAngle;
t2 *= arrow.headLength * tipAngle * PxSqrt(3.0f);
PxVec3 headBase = arrow.tip - t0 * arrow.headLength;
out << PxRenderOutput::LINES;
out << arrow.base << arrow.tip;
out << PxRenderOutput::TRIANGLESTRIP;
out << arrow.tip;
out << headBase + t1 + t1;
out << headBase - t1 - t2;
out << headBase - t1 + t2;
out << arrow.tip;
out << headBase + t1 + t1;
return out;
}
struct PxDebugBasis
{
PxDebugBasis(const PxVec3& ext, PxU32 cX = PxU32(PxDebugColor::eARGB_RED),
PxU32 cY = PxU32(PxDebugColor::eARGB_GREEN), PxU32 cZ = PxU32(PxDebugColor::eARGB_BLUE))
: extends(ext), colorX(cX), colorY(cY), colorZ(cZ) {}
PxVec3 extends;
PxU32 colorX, colorY, colorZ;
};
PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBasis& basis)
{
const PxReal headLength = basis.extends.magnitude() * 0.15f;
out << basis.colorX << PxDebugArrow(PxVec3(0.0f), PxVec3(basis.extends.x, 0, 0), headLength);
out << basis.colorY << PxDebugArrow(PxVec3(0.0f), PxVec3(0, basis.extends.y, 0), headLength);
out << basis.colorZ << PxDebugArrow(PxVec3(0.0f), PxVec3(0, 0, basis.extends.z), headLength);
return out;
}
struct PxDebugCircle
{
PxDebugCircle(PxU32 s, PxReal r)
: nSegments(s), radius(r) {}
PxU32 nSegments;
PxReal radius;
};
PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugCircle& circle)
{
const PxF32 step = PxTwoPi / PxF32(circle.nSegments);
PxF32 angle = 0;
out << PxRenderOutput::LINESTRIP;
for (PxU32 i = 0; i < circle.nSegments; i++, angle += step)
out << PxVec3(circle.radius * PxSin(angle), circle.radius * PxCos(angle), 0);
out << PxVec3(0, circle.radius, 0);
return out;
}
struct PxDebugArc
{
PxDebugArc(PxU32 s, PxReal r, PxReal minAng, PxReal maxAng)
: nSegments(s), radius(r), minAngle(minAng), maxAngle(maxAng) {}
PxU32 nSegments;
PxReal radius;
PxReal minAngle, maxAngle;
};
PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArc& arc)
{
const PxF32 step = (arc.maxAngle - arc.minAngle) / PxF32(arc.nSegments);
PxF32 angle = arc.minAngle;
out << PxRenderOutput::LINESTRIP;
for (PxU32 i = 0; i < arc.nSegments; i++, angle += step)
out << PxVec3(arc.radius * PxSin(angle), arc.radius * PxCos(angle), 0);
out << PxVec3(arc.radius * PxSin(arc.maxAngle), arc.radius * PxCos(arc.maxAngle), 0);
return out;
}
PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(Primitive prim)
{
mPrim = prim;
mVertexCount = 0;
return *this;
}
PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(PxU32 color)
{
mColor = color;
return *this;
}
PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxMat44& transform)
{
mTransform = transform;
return *this;
}
PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxTransform& t)
{
mTransform = PxMat44(t);
return *this;
}
PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxVec3& vertexIn)
{
// apply transformation
const PxVec3 vertex = mTransform.transform(vertexIn);
++mVertexCount;
// add primitive to render buffer
switch (mPrim)
{
case POINTS:
mBuffer.addPoint(PxDebugPoint(vertex, mColor)); break;
case LINES:
if (mVertexCount == 2)
{
mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
mVertexCount = 0;
}
break;
case LINESTRIP:
if (mVertexCount >= 2)
mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
break;
case TRIANGLES:
if (mVertexCount == 3)
{
mBuffer.addTriangle(PxDebugTriangle(mVertex1, mVertex0, vertex, mColor));
mVertexCount = 0;
}
break;
case TRIANGLESTRIP:
if (mVertexCount >= 3)
mBuffer.addTriangle(PxDebugTriangle(
(mVertexCount & 0x1) ? mVertex0 : mVertex1,
(mVertexCount & 0x1) ? mVertex1 : mVertex0, vertex, mColor));
break;
}
// cache the last 2 vertices (for strips)
if (1 < mVertexCount)
{
mVertex1 = mVertex0;
mVertex0 = vertex;
}
else
{
mVertex0 = vertex;
}
return *this;
}
PX_INLINE PxDebugLine* PxRenderOutput::reserveSegments(PxU32 nbSegments)
{
return mBuffer.reserveLines(nbSegments);
}
PX_INLINE PxDebugPoint* PxRenderOutput::reservePoints(PxU32 nbPoints)
{
return mBuffer.reservePoints(nbPoints);
}
// PT: using the operators is just too slow.
PX_INLINE void PxRenderOutput::outputSegment(const PxVec3& v0, const PxVec3& v1)
{
PxDebugLine* segment = mBuffer.reserveLines(1);
segment->pos0 = v0;
segment->pos1 = v1;
segment->color0 = segment->color1 = mColor;
}
PX_INLINE PxRenderOutput& PxRenderOutput::outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose)
{
PxRenderOutput& out = *this;
const PxVec3 vleft2(-halfHeight, 0.0f, 0.0f);
PxMat44 left2 = absPose;
left2.column3 += PxVec4(left2.rotate(vleft2), 0.0f);
out << left2 << PxDebugArc(100, radius, PxPi, PxTwoPi);
PxMat44 rotPose = left2;
PxSwap(rotPose.column1, rotPose.column2);
rotPose.column1 = -rotPose.column1;
out << rotPose << PxDebugArc(100, radius, PxPi, PxTwoPi);
PxSwap(rotPose.column0, rotPose.column2);
rotPose.column0 = -rotPose.column0;
out << rotPose << PxDebugCircle(100, radius);
const PxVec3 vright2(halfHeight, 0.0f, 0.0f);
PxMat44 right2 = absPose;
right2.column3 += PxVec4(right2.rotate(vright2), 0.0f);
out << right2 << PxDebugArc(100, radius, 0.0f, PxPi);
rotPose = right2;
PxSwap(rotPose.column1, rotPose.column2);
rotPose.column1 = -rotPose.column1;
out << rotPose << PxDebugArc(100, radius, 0.0f, PxPi);
PxSwap(rotPose.column0, rotPose.column2);
rotPose.column0 = -rotPose.column0;
out << rotPose << PxDebugCircle(100, radius);
out << absPose;
out.outputSegment(absPose.transform(PxVec3(-halfHeight, radius, 0)),
absPose.transform(PxVec3(halfHeight, radius, 0)));
out.outputSegment(absPose.transform(PxVec3(-halfHeight, -radius, 0)),
absPose.transform(PxVec3(halfHeight, -radius, 0)));
out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, radius)),
absPose.transform(PxVec3(halfHeight, 0, radius)));
out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, -radius)),
absPose.transform(PxVec3(halfHeight, 0, -radius)));
return *this;
}
#if PX_VC
#pragma warning(pop)
#endif
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif