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;
	}
}
示例#2
0
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;
		}
	}
}