126 lines
4.6 KiB
C++
126 lines
4.6 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef CM_VISUALIZATION_H
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#define CM_VISUALIZATION_H
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#include "foundation/PxTransform.h"
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#include "common/PxRenderOutput.h"
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#include "PxConstraintDesc.h"
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namespace physx
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{
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namespace Cm
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{
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// PT: the force-inlined functions in PxRenderOutput generate a lot of code. Use these non-inlined functions instead.
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PX_PHYSX_COMMON_API void renderOutputDebugBox(PxRenderOutput& out, const PxBounds3& box);
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PX_PHYSX_COMMON_API void renderOutputDebugCircle(PxRenderOutput& out, PxU32 s, PxReal r);
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PX_PHYSX_COMMON_API void renderOutputDebugBasis(PxRenderOutput& out, const PxDebugBasis& basis);
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PX_PHYSX_COMMON_API void renderOutputDebugArrow(PxRenderOutput& out, const PxDebugArrow& arrow);
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PX_PHYSX_COMMON_API void visualizeJointFrames(PxRenderOutput& out,
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PxReal scale,
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const PxTransform& parent,
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const PxTransform& child);
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PX_PHYSX_COMMON_API void visualizeLinearLimit(PxRenderOutput& out,
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PxReal scale,
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const PxTransform& t0,
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const PxTransform& t1,
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PxReal value);
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PX_PHYSX_COMMON_API void visualizeAngularLimit(PxRenderOutput& out,
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PxReal scale,
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const PxTransform& t0,
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PxReal lower,
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PxReal upper);
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PX_PHYSX_COMMON_API void visualizeLimitCone(PxRenderOutput& out,
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PxReal scale,
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const PxTransform& t,
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PxReal ySwing,
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PxReal zSwing);
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PX_PHYSX_COMMON_API void visualizeDoubleCone(PxRenderOutput& out,
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PxReal scale,
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const PxTransform& t,
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PxReal angle);
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struct ConstraintImmediateVisualizer : public PxConstraintVisualizer
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{
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PxF32 mFrameScale;
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PxF32 mLimitScale;
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PxRenderOutput& mCmOutput;
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//Not possible to implement
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ConstraintImmediateVisualizer& operator=( const ConstraintImmediateVisualizer& );
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ConstraintImmediateVisualizer(PxF32 frameScale, PxF32 limitScale, PxRenderOutput& output) :
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mFrameScale (frameScale),
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mLimitScale (limitScale),
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mCmOutput (output)
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{
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}
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virtual void visualizeJointFrames(const PxTransform& parent, const PxTransform& child) PX_OVERRIDE
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{
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Cm::visualizeJointFrames(mCmOutput, mFrameScale, parent, child);
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}
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virtual void visualizeLinearLimit(const PxTransform& t0, const PxTransform& t1, PxReal value) PX_OVERRIDE
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{
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Cm::visualizeLinearLimit(mCmOutput, mLimitScale, t0, t1, value);
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}
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virtual void visualizeAngularLimit(const PxTransform& t0, PxReal lower, PxReal upper) PX_OVERRIDE
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{
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Cm::visualizeAngularLimit(mCmOutput, mLimitScale, t0, lower, upper);
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}
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virtual void visualizeLimitCone(const PxTransform& t, PxReal tanQSwingY, PxReal tanQSwingZ) PX_OVERRIDE
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{
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Cm::visualizeLimitCone(mCmOutput, mLimitScale, t, tanQSwingY, tanQSwingZ);
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}
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virtual void visualizeDoubleCone(const PxTransform& t, PxReal angle) PX_OVERRIDE
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{
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Cm::visualizeDoubleCone(mCmOutput, mLimitScale, t, angle);
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}
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virtual void visualizeLine( const PxVec3& p0, const PxVec3& p1, PxU32 color) PX_OVERRIDE
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{
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mCmOutput << color;
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mCmOutput.outputSegment(p0, p1);
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}
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};
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}
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}
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#endif
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