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 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();
}
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);
}
