void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
PX_CHECK_AND_RETURN(scale > 0,
"PxScaleRigidActor requires that the scale parameter is greater than zero");
Ps::InlineArray<PxShape*, 64> shapes;
shapes.resize(actor.getNbShapes());
actor.getShapes(shapes.begin(), shapes.size());
for(PxU32 i=0;i<shapes.size();i++)
{
shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));
PxGeometryHolder h = shapes[i]->getGeometry();
switch(h.getType())
{
case PxGeometryType::eSPHERE:
h.sphere().radius *= scale;
break;
case PxGeometryType::ePLANE:
break;
case PxGeometryType::eCAPSULE:
h.capsule().halfHeight *= scale;
h.capsule().radius *= scale;
break;
case PxGeometryType::eBOX:
h.box().halfExtents *= scale;
break;
case PxGeometryType::eCONVEXMESH:
h.convexMesh().scale.scale *= scale;
break;
case PxGeometryType::eTRIANGLEMESH:
h.triangleMesh().scale.scale *= scale;
break;
case PxGeometryType::eHEIGHTFIELD:
h.heightField().heightScale *= scale;
h.heightField().rowScale *= scale;
h.heightField().columnScale *= scale;
break;
case PxGeometryType::eINVALID:
case PxGeometryType::eGEOMETRY_COUNT:
default:
PX_ASSERT(0);
}
shapes[i]->setGeometry(h.any());
}
if(!scaleMassProps)
return;
PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
if(!dynamic)
return;
PxReal scale3 = scale*scale*scale;
dynamic->setMass(dynamic->getMass()*scale3);
dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
void GLUTGame::RenderGeometry(PxGeometryHolder h, bool textured)
{
switch (h.getType())
{
case PxGeometryType::eBOX:
glScalef(h.box().halfExtents.x, h.box().halfExtents.y, h.box().halfExtents.z);
if (textured)
RenderTexturedCube(2.0f);
else
glutSolidCube(2.0f);
break;
case PxGeometryType::eSPHERE:
glutSolidSphere(h.sphere().radius, RENDER_DETAIL, RENDER_DETAIL);
break;
case PxGeometryType::eCONVEXMESH:
PxConvexMesh* mesh = h.convexMesh().convexMesh;
const PxU32 nbPolys = mesh->getNbPolygons();
const PxU8* polygons = mesh->getIndexBuffer();
const PxVec3* verts = mesh->getVertices();
PxU32 numTotalTriangles = 0;
for (PxU32 i = 0; i < nbPolys; i++)
{
PxHullPolygon data;
mesh->getPolygonData(i, data);
const PxU32 nbTris = data.mNbVerts - 2;
const PxU8 vref0 = polygons[data.mIndexBase + 0];
for (PxU32 j = 0; j < nbTris; j++)
{
const PxU32 vref1 = polygons[data.mIndexBase + 0 + j + 1];
const PxU32 vref2 = polygons[data.mIndexBase + 0 + j + 2];
if (numTotalTriangles < MAX_NUM_CONVEXMESH_TRIANGLES)
{
gConvexMeshTriIndices[3 * numTotalTriangles + 0] = vref0;
gConvexMeshTriIndices[3 * numTotalTriangles + 1] = vref1;
gConvexMeshTriIndices[3 * numTotalTriangles + 2] = vref2;
numTotalTriangles++;
}
}
}
if (numTotalTriangles < MAX_NUM_CONVEXMESH_TRIANGLES)
{
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, verts);
glDrawElements(GL_TRIANGLES, numTotalTriangles * 3, GL_UNSIGNED_INT, gConvexMeshTriIndices);
glDisableClientState(GL_VERTEX_ARRAY);
}
}
}
