PxConvexMesh* CreateWheelConvexMesh(const PxVec3* verts, const PxU32 numVerts)
{
//Extract the wheel radius and width from the aabb of the wheel convex mesh.
PxVec3 wheelMin(PX_MAX_F32,PX_MAX_F32,PX_MAX_F32);
PxVec3 wheelMax(-PX_MAX_F32,-PX_MAX_F32,-PX_MAX_F32);
for(PxU32 i=0;i<numVerts;i++)
{
wheelMin.x=PxMin(wheelMin.x,verts[i].x);
wheelMin.y=PxMin(wheelMin.y,verts[i].y);
wheelMin.z=PxMin(wheelMin.z,verts[i].z);
wheelMax.x=PxMax(wheelMax.x,verts[i].x);
wheelMax.y=PxMax(wheelMax.y,verts[i].y);
wheelMax.z=PxMax(wheelMax.z,verts[i].z);
}
const PxF32 wheelWidth=wheelMax.x-wheelMin.x;
const PxF32 wheelRadius=PxMax(wheelMax.y,wheelMax.z);
return CreateCylinderConvexMesh(wheelWidth,wheelRadius,8);
}
void ComputeWheelWidthsAndRadii(PxConvexMesh** wheelConvexMeshes, PxF32* wheelWidths, PxF32* wheelRadii)
{
for(PxU32 i = 0; i < 4; i++)
{
const PxU32 numWheelVerts = wheelConvexMeshes[i]->getNbVertices();
const PxVec3* wheelVerts = wheelConvexMeshes[i]->getVertices();
PxVec3 wheelMin(PX_MAX_F32, PX_MAX_F32, PX_MAX_F32);
PxVec3 wheelMax(-PX_MAX_F32, -PX_MAX_F32, -PX_MAX_F32);
for(PxU32 j = 0; j < numWheelVerts; j++)
{
wheelMin.x = PxMin(wheelMin.x, wheelVerts[j].x);
wheelMin.y = PxMin(wheelMin.y, wheelVerts[j].y);
wheelMin.z = PxMin(wheelMin.z, wheelVerts[j].z);
wheelMax.x = PxMax(wheelMax.x, wheelVerts[j].x);
wheelMax.y = PxMax(wheelMax.y, wheelVerts[j].y);
wheelMax.z = PxMax(wheelMax.z, wheelVerts[j].z);
}
wheelWidths[i] = wheelMax.y - wheelMin.y;
wheelRadii[i] = PxMax(wheelMax.x, wheelMax.z) * 0.975f;
}
}