void FKSphylElem::DrawElemWire(class FPrimitiveDrawInterface* PDI, const FTransform& ElemTM, const FVector& Scale3D, const FColor Color) const
{
const FVector Scale3DAbs = Scale3D.GetAbs();
const float ScaleRadius = FMath::Max(Scale3DAbs.X, Scale3DAbs.Y);
const float ScaleLength = Scale3DAbs.Z;
FVector Origin = ElemTM.GetLocation();
FVector XAxis = ElemTM.GetScaledAxis(EAxis::X);
FVector YAxis = ElemTM.GetScaledAxis(EAxis::Y);
FVector ZAxis = ElemTM.GetScaledAxis(EAxis::Z);
// Draw top and bottom circles
FVector TopEnd = Origin + ScaleLength*0.5f*Length*ZAxis;
FVector BottomEnd = Origin - ScaleLength*0.5f*Length*ZAxis;
DrawCircle(PDI, TopEnd, XAxis, YAxis, Color, ScaleRadius*Radius, DrawCollisionSides, SDPG_World);
DrawCircle(PDI, BottomEnd, XAxis, YAxis, Color, ScaleRadius*Radius, DrawCollisionSides, SDPG_World);
// Draw domed caps
DrawHalfCircle(PDI, TopEnd, YAxis, ZAxis, Color, ScaleRadius* Radius);
DrawHalfCircle(PDI, TopEnd, XAxis, ZAxis, Color, ScaleRadius*Radius);
FVector NegZAxis = -ZAxis;
DrawHalfCircle(PDI, BottomEnd, YAxis, NegZAxis, Color, ScaleRadius*Radius);
DrawHalfCircle(PDI, BottomEnd, XAxis, NegZAxis, Color, ScaleRadius*Radius);
// Draw connecty lines
PDI->DrawLine(TopEnd + ScaleRadius*Radius*XAxis, BottomEnd + ScaleRadius*Radius*XAxis, Color, SDPG_World);
PDI->DrawLine(TopEnd - ScaleRadius*Radius*XAxis, BottomEnd - ScaleRadius*Radius*XAxis, Color, SDPG_World);
PDI->DrawLine(TopEnd + ScaleRadius*Radius*YAxis, BottomEnd + ScaleRadius*Radius*YAxis, Color, SDPG_World);
PDI->DrawLine(TopEnd - ScaleRadius*Radius*YAxis, BottomEnd - ScaleRadius*Radius*YAxis, Color, SDPG_World);
}
void SetupNonUniformHelper(FVector& Scale3D, float& MinScale, float& MinScaleAbs, FVector& Scale3DAbs)
{
// if almost zero, set min scale
// @todo fixme
if (Scale3D.IsNearlyZero())
{
// set min scale
Scale3D = FVector(0.1f);
}
Scale3DAbs = Scale3D.GetAbs();
MinScaleAbs = Scale3DAbs.GetMin();
MinScale = FMath::Max3(Scale3D.X, Scale3D.Y, Scale3D.Z) < 0.f ? -MinScaleAbs : MinScaleAbs; //if all three values are negative make minScale negative
if (FMath::IsNearlyZero(MinScale))
{
// only one of them can be 0, we make sure they have mini set up correctly
MinScale = 0.1f;
MinScaleAbs = 0.1f;
}
}
bool FSeparatingAxisPointCheck::TestSeparatingAxisCommon(const FVector& Axis, float ProjectedPolyMin, float ProjectedPolyMax)
{
const float ProjectedCenter = FVector::DotProduct(Axis, BoxCenter);
const float ProjectedExtent = FVector::DotProduct(Axis.GetAbs(), BoxExtent);
const float ProjectedBoxMin = ProjectedCenter - ProjectedExtent;
const float ProjectedBoxMax = ProjectedCenter + ProjectedExtent;
if (ProjectedPolyMin > ProjectedBoxMax || ProjectedPolyMax < ProjectedBoxMin)
{
return false;
}
if (bCalcLeastPenetration)
{
const float AxisMagnitudeSqr = Axis.SizeSquared();
if (AxisMagnitudeSqr > (SMALL_NUMBER * SMALL_NUMBER))
{
const float InvAxisMagnitude = FMath::InvSqrt(AxisMagnitudeSqr);
const float MinPenetrationDist = (ProjectedBoxMax - ProjectedPolyMin) * InvAxisMagnitude;
const float MaxPenetrationDist = (ProjectedPolyMax - ProjectedBoxMin) * InvAxisMagnitude;
if (MinPenetrationDist < BestDist)
{
BestDist = MinPenetrationDist;
HitNormal = -Axis * InvAxisMagnitude;
}
if (MaxPenetrationDist < BestDist)
{
BestDist = MaxPenetrationDist;
HitNormal = Axis * InvAxisMagnitude;
}
}
}
return true;
}
void FKSphylElem::DrawElemSolid(FPrimitiveDrawInterface* PDI, const FTransform& ElemTM, const FVector& Scale3D, const FMaterialRenderProxy* MaterialRenderProxy) const
{
const FVector Scale3DAbs = Scale3D.GetAbs();
const float ScaleRadius = FMath::Max(Scale3DAbs.X, Scale3DAbs.Y);
const float ScaleLength = Scale3DAbs.Z;
const int32 NumSides = DrawCollisionSides;
const int32 NumRings = (DrawCollisionSides / 2) + 1;
// The first/last arc are on top of each other.
const int32 NumVerts = (NumSides + 1) * (NumRings + 1);
FDynamicMeshVertex* Verts = (FDynamicMeshVertex*)FMemory::Malloc(NumVerts * sizeof(FDynamicMeshVertex));
// Calculate verts for one arc
FDynamicMeshVertex* ArcVerts = (FDynamicMeshVertex*)FMemory::Malloc((NumRings + 1) * sizeof(FDynamicMeshVertex));
for (int32 RingIdx = 0; RingIdx < NumRings + 1; RingIdx++)
{
FDynamicMeshVertex* ArcVert = &ArcVerts[RingIdx];
float Angle;
float ZOffset;
if (RingIdx <= DrawCollisionSides / 4)
{
Angle = ((float)RingIdx / (NumRings - 1)) * PI;
ZOffset = 0.5 * ScaleLength * Length;
}
else
{
Angle = ((float)(RingIdx - 1) / (NumRings - 1)) * PI;
ZOffset = -0.5 * ScaleLength * Length;
}
// Note- unit sphere, so position always has mag of one. We can just use it for normal!
FVector SpherePos;
SpherePos.X = 0.0f;
SpherePos.Y = ScaleRadius * Radius * FMath::Sin(Angle);
SpherePos.Z = ScaleRadius * Radius * FMath::Cos(Angle);
ArcVert->Position = SpherePos + FVector(0, 0, ZOffset);
ArcVert->SetTangents(
FVector(1, 0, 0),
FVector(0.0f, -SpherePos.Z, SpherePos.Y),
SpherePos
);
ArcVert->TextureCoordinate.X = 0.0f;
ArcVert->TextureCoordinate.Y = ((float)RingIdx / NumRings);
}
// Then rotate this arc NumSides+1 times.
for (int32 SideIdx = 0; SideIdx < NumSides + 1; SideIdx++)
{
const FRotator ArcRotator(0, 360.f * ((float)SideIdx / NumSides), 0);
const FRotationMatrix ArcRot(ArcRotator);
const float XTexCoord = ((float)SideIdx / NumSides);
for (int32 VertIdx = 0; VertIdx < NumRings + 1; VertIdx++)
{
int32 VIx = (NumRings + 1)*SideIdx + VertIdx;
Verts[VIx].Position = ArcRot.TransformPosition(ArcVerts[VertIdx].Position);
Verts[VIx].SetTangents(
ArcRot.TransformVector(ArcVerts[VertIdx].TangentX),
ArcRot.TransformVector(ArcVerts[VertIdx].GetTangentY()),
ArcRot.TransformVector(ArcVerts[VertIdx].TangentZ)
);
Verts[VIx].TextureCoordinate.X = XTexCoord;
Verts[VIx].TextureCoordinate.Y = ArcVerts[VertIdx].TextureCoordinate.Y;
}
}
FDynamicMeshBuilder MeshBuilder;
{
// Add all of the vertices to the mesh.
for (int32 VertIdx = 0; VertIdx < NumVerts; VertIdx++)
{
MeshBuilder.AddVertex(Verts[VertIdx]);
}
// Add all of the triangles to the mesh.
for (int32 SideIdx = 0; SideIdx < NumSides; SideIdx++)
{
const int32 a0start = (SideIdx + 0) * (NumRings + 1);
const int32 a1start = (SideIdx + 1) * (NumRings + 1);
for (int32 RingIdx = 0; RingIdx < NumRings; RingIdx++)
{
MeshBuilder.AddTriangle(a0start + RingIdx + 0, a1start + RingIdx + 0, a0start + RingIdx + 1);
MeshBuilder.AddTriangle(a1start + RingIdx + 0, a1start + RingIdx + 1, a0start + RingIdx + 1);
}
}
}
MeshBuilder.Draw(PDI, ElemTM.ToMatrixWithScale(), MaterialRenderProxy, SDPG_World,0.f);
FMemory::Free(Verts);
FMemory::Free(ArcVerts);
}
