void Gu::ConvexMesh::debugVisualize(Cm::RenderOutput& out, const PxTransform& pose, const PxMeshScale& scale) const
{
const PxU32 scolor = PxU32(PxDebugColor::eARGB_MAGENTA);
const PxVec3* vertices = mHullData.getHullVertices();
const PxU8* indexBuffer = mHullData.getVertexData8();
const PxU32 nbPolygons = getNbPolygonsFast();
const PxMat44 m44(PxMat33(pose.q) * scale.toMat33(), pose.p);
out << m44 << scolor; // PT: no need to output this for each segment!
for (PxU32 i = 0; i < nbPolygons; i++)
{
const PxU32 pnbVertices = mHullData.mPolygons[i].mNbVerts;
PxVec3 begin = m44.transform(vertices[indexBuffer[0]]); // PT: transform it only once before the loop starts
for (PxU32 j = 1; j < pnbVertices; j++)
{
PxVec3 end = m44.transform(vertices[indexBuffer[j]]);
out.outputSegment(begin, end);
begin = end;
}
out.outputSegment(begin, m44.transform(vertices[indexBuffer[0]]));
indexBuffer += pnbVertices;
}
}
void Gu::TriangleMesh::debugVisualize(
Cm::RenderOutput& out, const PxTransform& pose, const PxMeshScale& scaling, const PxBounds3& cullbox,
const PxU64 mask, const PxReal fscale, const PxU32 numMaterials) const
{
PX_UNUSED(numMaterials);
//bool cscale = !!(mask & ((PxU64)1 << PxVisualizationParameter::eCULL_BOX));
const PxU64 cullBoxMask = PxU64(1) << PxVisualizationParameter::eCULL_BOX;
bool cscale = ((mask & cullBoxMask) == cullBoxMask);
const PxMat44 midt(PxIdentity);
const Cm::Matrix34 absPose(PxMat33(pose.q) * scaling.toMat33(), pose.p);
PxU32 nbTriangles = getNbTrianglesFast();
const PxU32 nbVertices = getNbVerticesFast();
const PxVec3* vertices = getVerticesFast();
const void* indices = getTrianglesFast();
const PxDebugColor::Enum colors[] =
{
PxDebugColor::eARGB_BLACK,
PxDebugColor::eARGB_RED,
PxDebugColor::eARGB_GREEN,
PxDebugColor::eARGB_BLUE,
PxDebugColor::eARGB_YELLOW,
PxDebugColor::eARGB_MAGENTA,
PxDebugColor::eARGB_CYAN,
PxDebugColor::eARGB_WHITE,
PxDebugColor::eARGB_GREY,
PxDebugColor::eARGB_DARKRED,
PxDebugColor::eARGB_DARKGREEN,
PxDebugColor::eARGB_DARKBLUE,
};
const PxU32 colorCount = sizeof(colors)/sizeof(PxDebugColor::Enum);
if(cscale)
{
const Gu::Box worldBox(
(cullbox.maximum + cullbox.minimum)*0.5f,
(cullbox.maximum - cullbox.minimum)*0.5f,
PxMat33(PxIdentity));
// PT: TODO: use the callback version here to avoid allocating this huge array
PxU32* results = reinterpret_cast<PxU32*>(PX_ALLOC_TEMP(sizeof(PxU32)*nbTriangles, "tmp triangle indices"));
LimitedResults limitedResults(results, nbTriangles, 0);
Midphase::intersectBoxVsMesh(worldBox, *this, pose, scaling, &limitedResults);
nbTriangles = limitedResults.mNbResults;
if (fscale)
{
const PxU32 fcolor = PxU32(PxDebugColor::eARGB_DARKRED);
for (PxU32 i=0; i<nbTriangles; i++)
{
const PxU32 index = results[i];
PxVec3 wp[3];
getTriangle(*this, index, wp, vertices, indices, absPose, has16BitIndices());
const PxVec3 center = (wp[0] + wp[1] + wp[2]) / 3.0f;
PxVec3 normal = (wp[0] - wp[1]).cross(wp[0] - wp[2]);
PX_ASSERT(!normal.isZero());
normal = normal.getNormalized();
out << midt << fcolor <<
Cm::DebugArrow(center, normal * fscale);
}
}
if (mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_SHAPES))
{
const PxU32 scolor = PxU32(PxDebugColor::eARGB_MAGENTA);
out << midt << scolor; // PT: no need to output this for each segment!
PxDebugLine* segments = out.reserveSegments(nbTriangles*3);
for(PxU32 i=0; i<nbTriangles; i++)
{
const PxU32 index = results[i];
PxVec3 wp[3];
getTriangle(*this, index, wp, vertices, indices, absPose, has16BitIndices());
segments[0] = PxDebugLine(wp[0], wp[1], scolor);
segments[1] = PxDebugLine(wp[1], wp[2], scolor);
segments[2] = PxDebugLine(wp[2], wp[0], scolor);
segments+=3;
}
}
if ((mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_EDGES)) && mExtraTrigData)
visualizeActiveEdges(out, *this, nbTriangles, results, absPose, midt);
PX_FREE(results);
}
else
{
if (fscale)
{
const PxU32 fcolor = PxU32(PxDebugColor::eARGB_DARKRED);
for (PxU32 i=0; i<nbTriangles; i++)
{
PxVec3 wp[3];
getTriangle(*this, i, wp, vertices, indices, absPose, has16BitIndices());
const PxVec3 center = (wp[0] + wp[1] + wp[2]) / 3.0f;
PxVec3 normal = (wp[0] - wp[1]).cross(wp[0] - wp[2]);
PX_ASSERT(!normal.isZero());
normal = normal.getNormalized();
out << midt << fcolor <<
Cm::DebugArrow(center, normal * fscale);
}
}
if (mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_SHAPES))
{
PxU32 scolor = PxU32(PxDebugColor::eARGB_MAGENTA);
out << midt << scolor; // PT: no need to output this for each segment!
PxVec3* transformed = reinterpret_cast<PxVec3*>(PX_ALLOC(sizeof(PxVec3)*nbVertices, "PxVec3"));
for(PxU32 i=0;i<nbVertices;i++)
transformed[i] = absPose.transform(vertices[i]);
PxDebugLine* segments = out.reserveSegments(nbTriangles*3);
for (PxU32 i=0; i<nbTriangles; i++)
{
PxVec3 wp[3];
getTriangle(*this, i, wp, transformed, indices, has16BitIndices());
const PxU32 localMaterialIndex = getTriangleMaterialIndex(i);
scolor = colors[localMaterialIndex % colorCount];
segments[0] = PxDebugLine(wp[0], wp[1], scolor);
segments[1] = PxDebugLine(wp[1], wp[2], scolor);
segments[2] = PxDebugLine(wp[2], wp[0], scolor);
segments+=3;
}
PX_FREE(transformed);
}
if ((mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_EDGES)) && mExtraTrigData)
visualizeActiveEdges(out, *this, nbTriangles, NULL, absPose, midt);
}
}
void Gu::TriangleMesh::debugVisualize(
Cm::RenderOutput& out, const Cm::Matrix34& absPose, const PxBounds3& cullbox,
const PxU64 mask, const PxReal fscale) const
{
bool cscale = !!(mask & ((PxU64)1 << PxVisualizationParameter::eCULL_BOX));
const PxMat44 midt = PxMat44::createIdentity();
const PxU32 nbTriangles = mesh.getNumTriangles();
const PxU32 nbVertices = mesh.getNumVertices();
const PxVec3* vertices = mesh.getVertices();
const void* indices = getTrianglesFast();
const bool has16BitIndices = mesh.has16BitIndices();
if (fscale)
{
const PxU32 fcolor = PxDebugColor::eARGB_DARKRED;
for (PxU32 i=0; i<nbTriangles; i++)
{
PxVec3 wp[3];
getTriangle(*this, i, wp, vertices, indices, absPose, has16BitIndices);
const PxVec3 center = (wp[0] + wp[1] + wp[2]) / 3.0f;
PxVec3 normal = (wp[0] - wp[1]).cross(wp[0] - wp[2]);
PX_ASSERT(!normal.isZero());
normal = normal.getNormalized();
if (!cscale || cullbox.contains(center))
out << midt << fcolor <<
Cm::DebugArrow(center, normal * fscale);
}
}
if (mask & ((PxU64)1 << PxVisualizationParameter::eCOLLISION_SHAPES))
{
const PxU32 scolor = PxDebugColor::eARGB_MAGENTA;
out << midt << scolor; // PT: no need to output this for each segment!
// PT: transform vertices only once
PxVec3* transformed = (PxVec3*)PX_ALLOC(sizeof(PxVec3)*nbVertices);
for(PxU32 i=0;i<nbVertices;i++)
transformed[i] = absPose.transform(vertices[i]);
for (PxU32 i=0; i<nbTriangles; i++)
{
PxVec3 wp[3];
getTriangle(*this, i, wp, transformed, indices, has16BitIndices);
if (!cscale || (cullbox.contains(wp[0]) && cullbox.contains(wp[1]) && cullbox.contains(wp[2])))
{
out.outputSegment(wp[0], wp[1]);
out.outputSegment(wp[1], wp[2]);
out.outputSegment(wp[2], wp[0]);
}
}
PX_FREE(transformed);
}
if (mask & ((PxU64)1 << PxVisualizationParameter::eCOLLISION_EDGES))
{
const PxU32 ecolor = PxDebugColor::eARGB_YELLOW;
for (PxU32 i=0; i<nbTriangles; i++)
{
PxVec3 wp[3];
getTriangle(*this, i, wp, vertices, indices, absPose, has16BitIndices);
const PxU32 flags = mesh.getTrigSharedEdgeFlags(i);
if(flags & Gu::ETD_CONVEX_EDGE_01)
{
if (!cscale || (cullbox.contains(wp[0]) && cullbox.contains(wp[1])))
out << midt << ecolor << Cm::RenderOutput::LINES << wp[0] << wp[1];
}
if(flags & Gu::ETD_CONVEX_EDGE_12)
{
if (!cscale || (cullbox.contains(wp[1]) && cullbox.contains(wp[2])))
out << midt << ecolor << Cm::RenderOutput::LINES << wp[1] << wp[2];
}
if(flags & Gu::ETD_CONVEX_EDGE_20)
{
if (!cscale || (cullbox.contains(wp[0]) && cullbox.contains(wp[2])))
out << midt << ecolor << Cm::RenderOutput::LINES << wp[0] << wp[2];
}
}
}
}
