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 RenderPhysX3Debug::addConvex(const PxConvexMeshGeometry& cg, const PxTransform& tr, const RendererColor& color, PxU32 renderFlags)
{
const PxConvexMesh& mesh = *cg.convexMesh;
const PxMat33 rot = PxMat33(tr.q) * cg.scale.toMat33();
// PT: you can't use PxTransform with a non-uniform scaling
const PxMat44 globalPose(rot, tr.p);
const PxU32 polygonCount = mesh.getNbPolygons();
const PxU8* indexBuffer = mesh.getIndexBuffer();
const PxU32 vertexCount = mesh.getNbVertices();
const PxVec3* vertexBuffer = mesh.getVertices();
if(renderFlags & RENDER_DEBUG_WIREFRAME)
{
for(PxU32 i=0; i<polygonCount; i++)
{
PxHullPolygon data;
mesh.getPolygonData(i, data);
const PxU32 vertexCount = data.mNbVerts;
PxU32 i0 = indexBuffer[vertexCount-1];
PxU32 i1 = *indexBuffer++;
addLine(globalPose.transform(vertexBuffer[i0]), globalPose.transform(vertexBuffer[i1]), color);
for(PxU32 j=1; j<vertexCount; j++)
{
i0 = indexBuffer[-1];
i1 = *indexBuffer++;
addLine(globalPose.transform(vertexBuffer[i0]), globalPose.transform(vertexBuffer[i1]), color);
}
}
}
if(renderFlags & RENDER_DEBUG_SOLID)
{
for(PxU32 i=0; i<polygonCount; i++)
{
PxHullPolygon data;
mesh.getPolygonData(i, data);
const PxU32 vertexCount = data.mNbVerts;
const PxVec3& v0 = vertexBuffer[indexBuffer[0]];
for(PxU32 j=0; j<vertexCount-2; j++)
{
const PxVec3& v1 = vertexBuffer[indexBuffer[j+1]];
const PxVec3& v2 = vertexBuffer[indexBuffer[j+2]];
addTriangle(globalPose.transform(v0), globalPose.transform(v1), globalPose.transform(v2), color);
}
indexBuffer += vertexCount;
}
}
}