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#ifndef CM_VISUALIZATION_H
#define CM_VISUALIZATION_H

#include "foundation/PxTransform.h"
#include "common/PxRenderOutput.h"
#include "PxConstraintDesc.h"

namespace physx
{
namespace Cm
{
	// PT: the force-inlined functions in PxRenderOutput generate a lot of code. Use these non-inlined functions instead.
	PX_PHYSX_COMMON_API	void renderOutputDebugBox(PxRenderOutput& out, const PxBounds3& box);
	PX_PHYSX_COMMON_API	void renderOutputDebugCircle(PxRenderOutput& out, PxU32 s, PxReal r);
	PX_PHYSX_COMMON_API	void renderOutputDebugBasis(PxRenderOutput& out, const PxDebugBasis& basis);
	PX_PHYSX_COMMON_API	void renderOutputDebugArrow(PxRenderOutput& out, const PxDebugArrow& arrow);

	PX_PHYSX_COMMON_API void visualizeJointFrames(PxRenderOutput& out,
							  PxReal scale,
							  const PxTransform& parent,
							  const PxTransform& child);

	PX_PHYSX_COMMON_API void visualizeLinearLimit(PxRenderOutput& out,
							  PxReal scale,
							  const PxTransform& t0,
							  const PxTransform& t1,
							  PxReal value);

	PX_PHYSX_COMMON_API void visualizeAngularLimit(PxRenderOutput& out,
							   PxReal scale,
							   const PxTransform& t0,
							   PxReal lower,
							   PxReal upper);

	PX_PHYSX_COMMON_API void visualizeLimitCone(PxRenderOutput& out,
							PxReal scale,
							const PxTransform& t,
							PxReal ySwing,
							PxReal zSwing);

	PX_PHYSX_COMMON_API void visualizeDoubleCone(PxRenderOutput& out,
							 PxReal scale,
							 const PxTransform& t,
							 PxReal angle);
	
	struct ConstraintImmediateVisualizer : public PxConstraintVisualizer
	{
		PxF32			mFrameScale;
		PxF32			mLimitScale;
		PxRenderOutput&	mCmOutput;

		//Not possible to implement
		ConstraintImmediateVisualizer& operator=( const ConstraintImmediateVisualizer& );

		ConstraintImmediateVisualizer(PxF32 frameScale, PxF32 limitScale, PxRenderOutput& output) :
			mFrameScale	(frameScale),
			mLimitScale	(limitScale),
			mCmOutput	(output)
		{
		}

		virtual void visualizeJointFrames(const PxTransform& parent, const PxTransform& child)	PX_OVERRIDE
		{
			Cm::visualizeJointFrames(mCmOutput, mFrameScale, parent, child);
		}

		virtual void visualizeLinearLimit(const PxTransform& t0, const PxTransform& t1, PxReal value)	PX_OVERRIDE
		{
			Cm::visualizeLinearLimit(mCmOutput, mLimitScale, t0, t1, value);
		}

		virtual void visualizeAngularLimit(const PxTransform& t0, PxReal lower, PxReal upper)	PX_OVERRIDE
		{
			Cm::visualizeAngularLimit(mCmOutput, mLimitScale, t0, lower, upper);
		}

		virtual void visualizeLimitCone(const PxTransform& t, PxReal tanQSwingY, PxReal tanQSwingZ)	PX_OVERRIDE
		{
			Cm::visualizeLimitCone(mCmOutput, mLimitScale, t, tanQSwingY, tanQSwingZ);
		}

		virtual void visualizeDoubleCone(const PxTransform& t, PxReal angle)	PX_OVERRIDE
		{
			Cm::visualizeDoubleCone(mCmOutput, mLimitScale, t, angle);
		}

		virtual void visualizeLine( const PxVec3& p0, const PxVec3& p1, PxU32 color)	PX_OVERRIDE
		{
			mCmOutput << color;
			mCmOutput.outputSegment(p0, p1);
		}
	};
}

}

#endif