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;
}
}
mat4
getMatFromPhysXTransform(PxTransform transform) {
PxMat44 mat = PxMat44(transform);
float m[16];
for (int i = 0; i < 16; ++i) m[i] = *(mat.front() + i);
return mat4(m);
}
PxVec3 EmitterGeomSphereShellImpl::randomPosInFullVolume(const PxMat44& pose, QDSRand& rand) const
{
float hemisphere = 2.0f * *mHemisphere - 1.0f;
bool moreThanHalf = true;
if (*mHemisphere > 0.5f)
{
moreThanHalf = false;
}
// There are two cases here - 1-st for hemisphere cut above the center of the sphere
// and 2-nd for hemisphere cut below the center of the sphere.
// The reason for this is that in case very high hemisphere cut is set, so the area
// of the actual emitter is very small in compare to the whole sphere emitter, it would take too
// much time [on average] to generate suitable point using randomPointOnUnitSphere
// function, so in this case it is more efficient to use another method.
// in case we have at least half of the sphere shell present the randomPointOnUnitSphere should
// be sufficient.
PxVec3 pos;
if(!moreThanHalf)
{
// 1-st case :
// * generate random unit vector within a cone
// * clamp to big radius
const float sphereCapBaseHeight = -1.0f + 2 * (*mHemisphere);
const float phi = rand.getScaled(0.0f, PxTwoPi);
const float cos_theta = sphereCapBaseHeight;
const float z = rand.getScaled(cos_theta, 1.0f);
const float oneMinusZSquared = PxSqrt(1.0f - z * z);
pos = PxVec3(oneMinusZSquared * PxCos(phi), z, oneMinusZSquared * PxSin(phi));
}
else
{
// 2-nd case :
// * get random pos on unit sphere, until its height is above hemisphere cut
do
{
pos = randomPointOnUnitSphere(rand);
} while(pos.y < hemisphere);
}
// * add negative offset withing the thickness
// * solve edge case [for the 1-st case] - regenerate offset from the previous step
// in case point is below hemisphere cut
PxVec3 tmp;
const float sphereCapBaseHeight = -(*mRadius + *mShellThickness) + 2 * (*mRadius + *mShellThickness) * (*mHemisphere);
do
{
float thickness = rand.getScaled(0, *mShellThickness);
tmp = pos * (*mRadius + *mShellThickness - thickness);
} while(tmp.y < sphereCapBaseHeight);
pos = tmp;
pos += pose.getPosition();
return pos;
}
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;
}
}
}
bool EmitterGeomSphereShellImpl::isInEmitter(const PxVec3& pos, const PxMat44& pose) const
{
PxVec3 localPos = pose.inverseRT().transform(pos);
const float sphereCapBaseHeight = -(*mRadius + *mShellThickness) + 2 * (*mRadius + *mShellThickness) * (*mHemisphere);
float d2 = localPos.x * localPos.x + localPos.y * localPos.y + localPos.z * localPos.z;
bool isInBigSphere = d2 < (*mRadius + *mShellThickness) * (*mRadius + *mShellThickness);
bool isInSmallSphere = d2 < *mRadius * *mRadius;
bool higherThanHemisphereCut = pos.y > sphereCapBaseHeight;
return isInBigSphere && !isInSmallSphere && higherThanHemisphereCut;
}
void EmitterGeomSphereShellImpl::drawPreview(float scale, RenderDebugInterface* renderDebug) const
{
using RENDER_DEBUG::DebugColors;
RENDER_DEBUG_IFACE(renderDebug)->pushRenderState();
RENDER_DEBUG_IFACE(renderDebug)->setCurrentColor(RENDER_DEBUG_IFACE(renderDebug)->getDebugColor(DebugColors::Yellow),
RENDER_DEBUG_IFACE(renderDebug)->getDebugColor(DebugColors::Yellow));
RENDER_DEBUG_IFACE(renderDebug)->debugSphere(PxVec3(0.0f), *mRadius * scale);
RENDER_DEBUG_IFACE(renderDebug)->setCurrentColor(RENDER_DEBUG_IFACE(renderDebug)->getDebugColor(DebugColors::DarkGreen),
RENDER_DEBUG_IFACE(renderDebug)->getDebugColor(DebugColors::DarkGreen));
RENDER_DEBUG_IFACE(renderDebug)->debugSphere(PxVec3(0.0f), (*mRadius + *mShellThickness) * scale);
const float radius = *mRadius + *mShellThickness;
const float radiusSquared = radius * radius;
const float hemisphere = *mHemisphere;
const float sphereCapBaseHeight = -radius + 2 * radius * hemisphere;
const float sphereCapBaseRadius = PxSqrt(radiusSquared - sphereCapBaseHeight * sphereCapBaseHeight);
if(hemisphere > 0.0f)
{
RENDER_DEBUG_IFACE(renderDebug)->setCurrentColor(RENDER_DEBUG_IFACE(renderDebug)->getDebugColor(DebugColors::DarkPurple));
PxMat44 circlePose = PxMat44(PxIdentity);
circlePose.setPosition(PxVec3(0.0f, sphereCapBaseHeight, 0.0f));
RENDER_DEBUG_IFACE(renderDebug)->setPose(circlePose);
RENDER_DEBUG_IFACE(renderDebug)->debugCircle(PxVec3(0.0f), sphereCapBaseRadius, 3);
RENDER_DEBUG_IFACE(renderDebug)->debugLine(PxVec3(0.0f), PxVec3(0.0f, radius - sphereCapBaseHeight, 0.0f));
for(float t = 0.0f; t < 2 * PxPi; t += PxPi / 3)
{
PxVec3 offset(PxSin(t) * sphereCapBaseRadius, 0.0f, PxCos(t) * sphereCapBaseRadius);
RENDER_DEBUG_IFACE(renderDebug)->debugLine(offset, PxVec3(0.0f, radius - sphereCapBaseHeight, 0.0f));
}
RENDER_DEBUG_IFACE(renderDebug)->setPose(PxIdentity);
}
RENDER_DEBUG_IFACE(renderDebug)->popRenderState();
}
void EmitterGeomSphereShellImpl::visualize(const PxTransform& pose, RenderDebugInterface& renderDebug)
{
using RENDER_DEBUG::DebugColors;
RENDER_DEBUG_IFACE(&renderDebug)->pushRenderState();
RENDER_DEBUG_IFACE(&renderDebug)->setCurrentColor(RENDER_DEBUG_IFACE(&renderDebug)->getDebugColor(DebugColors::DarkGreen));
// outer sphere
RENDER_DEBUG_IFACE(&renderDebug)->setPose(pose);
RENDER_DEBUG_IFACE(&renderDebug)->debugSphere(PxVec3(0.0f), *mRadius);
// intter sphere
RENDER_DEBUG_IFACE(&renderDebug)->debugSphere(PxVec3(0.0f), *mRadius + *mShellThickness);
const float radius = *mRadius + *mShellThickness;
const float radiusSquared = radius * radius;
const float hemisphere = *mHemisphere;
const float sphereCapBaseHeight = -radius + 2 * radius * hemisphere;
const float sphereCapBaseRadius = PxSqrt(radiusSquared - sphereCapBaseHeight * sphereCapBaseHeight);
// cone depicting the hemisphere
if(hemisphere > 0.0f)
{
RENDER_DEBUG_IFACE(&renderDebug)->setCurrentColor(RENDER_DEBUG_IFACE(&renderDebug)->getDebugColor(DebugColors::DarkPurple));
PxMat44 circlePose = PxMat44(PxIdentity);
circlePose.setPosition(PxVec3(0.0f, sphereCapBaseHeight, 0.0f));
RENDER_DEBUG_IFACE(&renderDebug)->setPose(circlePose);
RENDER_DEBUG_IFACE(&renderDebug)->debugCircle(PxVec3(0.0f), sphereCapBaseRadius, 3);
RENDER_DEBUG_IFACE(&renderDebug)->debugLine(circlePose.getPosition(), circlePose.getPosition() + PxVec3(0.0f, radius - sphereCapBaseHeight, 0.0f));
for(float t = 0.0f; t < 2 * PxPi; t += PxPi / 3)
{
PxVec3 offset(PxSin(t) * sphereCapBaseRadius, 0.0f, PxCos(t) * sphereCapBaseRadius);
RENDER_DEBUG_IFACE(&renderDebug)->debugLine(circlePose.getPosition() + offset, circlePose.getPosition() + PxVec3(0.0f, radius - sphereCapBaseHeight, 0.0f));
}
RENDER_DEBUG_IFACE(&renderDebug)->setPose(PxIdentity);
}
RENDER_DEBUG_IFACE(&renderDebug)->popRenderState();
}
void CTank::Update( float fDT )
{
if( m_pActor )
{
PxMat44 Matrix = physx::PxMat44( physx::PxMat33( m_pActor->getGlobalPose().q ), m_pActor->getGlobalPose().p );
D3DXMATRIX dxmat;
memcpy( &dxmat._11, Matrix.front(), 4 * 4 * sizeof(float) );
if( GameObject* pBody = GetDetail( BODY ) )
pBody->SetReleaseMatrix( dxmat, true );
if( true )
{
if( PxVehicleWheels* pDriveTank = CPhysX::GetPhysX()->GetTank() )
{
PxShape* carShapes[ MAX_DETAIL ];
const PxU32 numShapes = m_pActor->getNbShapes();
m_pActor->getShapes( carShapes, numShapes );
for( PxU32 i = 0; i < numShapes - 1; ++i )
{
const PxTransform& Trans = carShapes[ i ]->getLocalPose();
PxMat44 MatrixR = physx::PxMat44(physx::PxMat33( Trans.q ), Trans.p );
D3DXMATRIX dxmatR;
memcpy( &dxmatR._11, MatrixR.front(), 4 * 4 * sizeof(float) );
if( GameObject* pObj = GetDetail( (EDetailTank)i ) )
pObj->SetReleaseMatrix( dxmatR * dxmat, true );
}
PxVehicleDriveTank& vehDriveTank = static_cast< PxVehicleDriveTank& >( *pDriveTank );
PxVehicleDriveDynData& driveDynData = vehDriveTank.mDriveDynData;
PxReal e = driveDynData.getEngineRotationSpeed();
m_fSpeedTank = pDriveTank->computeForwardSpeed();
static char t[ 256 ] = {0};
sprintf( t, "EngineRotationSpeed=%f, EngineRotationSpeed=%f", m_fSpeedTank, e );
//SetWindowText( GetForegroundWindow(), t );
PxVehicleDriveTankRawInputData carRawInputs( PxVehicleDriveTank::eDRIVE_MODEL_STANDARD );
carRawInputs.setDigitalAccel( m_bMoveForward || m_bMoveBack || m_bTurnLeft || m_bTurnRight );
carRawInputs.setDigitalLeftBrake( m_bTurnLeft ); // левая кнопка тормоза
carRawInputs.setDigitalRightBrake( m_bTurnRight ); // правая кнопка тормоза
carRawInputs.setDigitalLeftThrust( m_bMoveForward || !m_bTurnLeft );
carRawInputs.setDigitalRightThrust( m_bMoveForward || !m_bTurnRight );
if( !m_bMoveForward && !m_bMoveBack && !m_bTurnLeft && !m_bTurnRight )
{
carRawInputs.setDigitalLeftBrake( true ); // левая кнопка тормоза
carRawInputs.setDigitalRightBrake( true ); // правая кнопка тормоза
}
//carRawInputs.setGearUp( !m_bMoveForward && m_bMoveBack);
//carRawInputs.setGearDown( !m_bMoveBack && m_bMoveForward );
// if( m_bMoveBack )
// {
// carRawInputs.setDigitalLeftBrake( true ); // левая кнопка тормоза
// carRawInputs.setDigitalRightBrake( true ); // правая кнопка тормоза
// }
static PxVehicleKeySmoothingData KeySmoothingData =
{
{
3.f, //rise rate eANALOG_INPUT_ACCEL
3.f, //rise rate eANALOG_INPUT_BRAKE
5.f, //rise rate eANALOG_INPUT_HANDBRAKE
2.f, //rise rate eANALOG_INPUT_STEER_LEFT
2.f, //rise rate eANALOG_INPUT_STEER_RIGHT
},
{
5.f, //fall rate eANALOG_INPUT__ACCEL
5.f, //fall rate eANALOG_INPUT__BRAKE
10.f, //fall rate eANALOG_INPUT__HANDBRAKE
5.f, //fall rate eANALOG_INPUT_STEER_LEFT
5.f //fall rate eANALOG_INPUT_STEER_RIGHT
}
};
PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs( KeySmoothingData, carRawInputs, fDT, vehDriveTank );
}
}
}
if( GameObject* pTankTrack = GetDetail( TRACK_L ) )
pTankTrack->SetOffsetUV( D3DXVECTOR4( 0.f, m_fSpeedTank*3, 0.f, 0.f ) );
if( GameObject* pTankTrack = GetDetail( TRACK_R ) )
pTankTrack->SetOffsetUV( D3DXVECTOR4( 0.f, m_fSpeedTank*3, 0.f, 0.f ) );
for( std::map< EDetailTank, GameObject* >::iterator iter = m_ObjectsTank.begin(), iter_end = m_ObjectsTank.end(); iter != iter_end; ++iter )
{
GameObject* pObj = iter->second;
pObj->Update( fDT );
}
}
osg::Matrix toMatrix( const PxMat44& pmatrix )
{
double m[16];
for ( int i=0; i<16; ++i ) m[i] = *(pmatrix.front() + i);
return osg::Matrix(&m[0]);
}
static void outputConvexToStream(PxShape* convexShape, const PxRigidActor* actor, const PxTransform& absPose_, IntArray& geomStream, TriArray& worldTriangles, IntArray& triIndicesArray,
const PxExtendedVec3& origin, const PxBounds3& tmpBounds, const CCTParams& params, Cm::RenderBuffer* renderBuffer, PxU16& nbTessellation)
{
PX_ASSERT(convexShape->getGeometryType() == PxGeometryType::eCONVEXMESH);
PxConvexMeshGeometry cg;
convexShape->getConvexMeshGeometry(cg);
PX_ASSERT(cg.convexMesh);
// Do AABB-mesh query
PxU32* TF;
// Collide AABB against current mesh
// The overlap function doesn't exist for convexes so let's just dump all tris
PxConvexMesh& cm = *cg.convexMesh;
// PT: convex triangles are not exposed anymore so we need to access convex polygons & triangulate them
// PT: TODO: this is copied from "DrawObjects", move this to a shared place. Actually a helper directly in PxConvexMesh would be useful.
PxU32 Nb = 0;
{
const PxU32 nbPolys = cm.getNbPolygons();
const PxU8* polygons = cm.getIndexBuffer();
for(PxU32 i=0;i<nbPolys;i++)
{
PxHullPolygon data;
cm.getPolygonData(i, data);
Nb += data.mNbVerts - 2;
}
// PT: revisit this code. We don't use the polygon offset?
TF = (PxU32*)PxAlloca(sizeof(PxU32)*Nb*3);
PxU32* t = TF;
for(PxU32 i=0;i<nbPolys;i++)
{
PxHullPolygon data;
cm.getPolygonData(i, data);
const PxU32 nbV = data.mNbVerts;
const PxU32 nbTris = nbV - 2;
const PxU8 vref0 = *polygons;
for(PxU32 j=0;j<nbTris;j++)
{
const PxU32 vref1 = polygons[(j+1)%nbV];
const PxU32 vref2 = polygons[(j+2)%nbV];
*t++ = vref0;
*t++ = vref1;
*t++ = vref2;
}
polygons += nbV;
}
}
// PT: you can't use PxTransform with a non-uniform scaling
const PxMat33 rot = PxMat33(absPose_.q) * cg.scale.toMat33();
const PxMat44 absPose(rot, absPose_.p);
const PxVec3 p = absPose.getPosition();
const PxVec3 MeshOffset(float(p.x - origin.x), float(p.y - origin.y), float(p.z - origin.z)); // LOSS OF ACCURACY
const PxVec3 offset(float(-origin.x), float(-origin.y), float(-origin.z));
TouchedMesh* touchedMesh = (TouchedMesh*)reserve(geomStream, sizeof(TouchedMesh)/sizeof(PxU32));
touchedMesh->mType = TouchedGeomType::eMESH;
touchedMesh->mTGUserData = convexShape;
touchedMesh->mActor = actor;
touchedMesh->mOffset = origin;
touchedMesh->mIndexWorldTriangles = worldTriangles.size();
const PxVec3* verts = cm.getVertices();
// Loop through touched triangles
if(params.mTessellation)
{
const PxBoxGeometry boxGeom(tmpBounds.getExtents());
const PxBounds3 cullingBox = PxBounds3::centerExtents(tmpBounds.getCenter() + offset, boxGeom.halfExtents);
PxU32 nbCreatedTris = 0;
while(Nb--)
{
// Compute triangle in world space, add to array
PxTriangle currentTriangle;
const PxU32 vref0 = *TF++;
const PxU32 vref1 = *TF++;
const PxU32 vref2 = *TF++;
currentTriangle.verts[0] = MeshOffset + absPose.rotate(verts[vref0]);
currentTriangle.verts[1] = MeshOffset + absPose.rotate(verts[vref1]);
currentTriangle.verts[2] = MeshOffset + absPose.rotate(verts[vref2]);
PxU32 nbNewTris = 0;
tessellateTriangle(nbNewTris, currentTriangle, PX_INVALID_U32, worldTriangles, triIndicesArray, cullingBox, params, nbTessellation);
nbCreatedTris += nbNewTris;
}
touchedMesh->mNbTris = nbCreatedTris;
}
else
{
// Reserve memory for incoming triangles
PxTriangle* TouchedTriangles = reserve(worldTriangles, Nb);
touchedMesh->mNbTris = Nb;
while(Nb--)
{
// Compute triangle in world space, add to array
PxTriangle& currentTriangle = *TouchedTriangles++;
const PxU32 vref0 = *TF++;
const PxU32 vref1 = *TF++;
const PxU32 vref2 = *TF++;
currentTriangle.verts[0] = MeshOffset + absPose.rotate(verts[vref0]);
currentTriangle.verts[1] = MeshOffset + absPose.rotate(verts[vref1]);
currentTriangle.verts[2] = MeshOffset + absPose.rotate(verts[vref2]);
triIndicesArray.pushBack(PX_INVALID_U32);
}
}
if(gVisualizeTouchedTris)
visualizeTouchedTriangles(touchedMesh->mNbTris, touchedMesh->mIndexWorldTriangles, &worldTriangles[0], renderBuffer, offset, params.mUpDirection);
}
