Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 159 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/Common/src/CmVisualization.cpp b/PhysX_3.4/Source/Common/src/CmVisualization.cpp
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+++ b/PhysX_3.4/Source/Common/src/CmVisualization.cpp
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "foundation/PxTransform.h"
+#include "CmPhysXCommon.h"
+#include "CmRenderOutput.h"
+#include "CmVisualization.h"
+
+using namespace physx;
+using namespace Cm;
+
+void Cm::visualizeJointFrames(RenderOutput& out,
+							  PxReal scale,
+							  const PxTransform& parent,
+							  const PxTransform& child)
+{
+	if(scale==0.0f)
+		return;
+
+	out << parent << Cm::DebugBasis(PxVec3(scale, scale, scale) * 1.5f,
+		PxU32(PxDebugColor::eARGB_DARKRED), PxU32(PxDebugColor::eARGB_DARKGREEN), PxU32(PxDebugColor::eARGB_DARKBLUE));
+	out << child << Cm::DebugBasis(PxVec3(scale, scale, scale));	
+}
+
+void Cm::visualizeLinearLimit(RenderOutput& out,
+							  PxReal scale,
+							  const PxTransform& t0,
+							  const PxTransform& /*t1*/,
+							  PxReal value,
+							  bool active)
+{
+	if(scale==0.0f)
+		return;
+
+	// debug circle is around z-axis, and we want it around x-axis
+	PxTransform r(t0.p+value*t0.q.getBasisVector0(), t0.q*PxQuat(PxPi/2,PxVec3(0,1.f,0)));
+	out << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY);
+	out << PxTransform(PxIdentity);
+	out << Cm::DebugArrow(t0.p,r.p);
+
+	out << r << Cm::DebugCircle(20, scale*0.3f);
+}
+
+void Cm::visualizeAngularLimit(RenderOutput& out,
+							   PxReal scale,
+							   const PxTransform& t,
+							   PxReal lower,
+							   PxReal upper,
+							   bool active)
+{
+	if(scale==0.0f)
+		return;
+
+	out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY);
+	
+	out << Cm::RenderOutput::LINES 
+		<< PxVec3(0) << PxVec3(0, PxCos(lower), PxSin(lower)) * scale
+		<< PxVec3(0) << PxVec3(0, PxCos(upper), PxSin(upper)) * scale;
+
+	out << Cm::RenderOutput::LINESTRIP;
+	PxReal angle = lower, step = (upper-lower)/20;
+
+	for(PxU32 i=0; i<=20; i++, angle += step)
+		out << PxVec3(0, PxCos(angle), PxSin(angle)) * scale;
+}
+
+void Cm::visualizeLimitCone(RenderOutput& out,
+							PxReal scale,
+							const PxTransform& t,
+							PxReal tanQSwingY,
+							PxReal tanQSwingZ,
+							bool active)
+{
+	if(scale==0.0f)
+		return;
+
+	out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY);	
+	out << Cm::RenderOutput::LINES;
+
+	PxVec3 prev(0,0,0);
+	
+	const int LINES = 32;
+
+	for(PxU32 i=0;i<=32;i++)
+	{
+		PxReal angle = 2*PxPi/LINES*i;
+		PxReal c = PxCos(angle), s = PxSin(angle);
+		PxVec3 rv(0,-tanQSwingZ*s, tanQSwingY*c);
+		PxReal rv2 = rv.magnitudeSquared();
+		PxQuat q = PxQuat(0,2*rv.y,2*rv.z,1-rv2) * (1/(1+rv2));
+		PxVec3 a = q.rotate(PxVec3(1.0f,0,0)) * scale;
+
+		out << prev << a << PxVec3(0) << a;
+		prev = a;
+	}
+}
+
+void Cm::visualizeDoubleCone(Cm::RenderOutput& out,
+							 PxReal scale,
+							 const PxTransform& t,
+							 PxReal angle,
+							 bool active)
+{
+	if(scale==0.0f)
+		return;
+
+	out << t << (active ? PxDebugColor::eARGB_RED : PxDebugColor::eARGB_GREY);	
+
+	const PxReal height = PxSin(angle);//, radius = cos(angle);
+
+	const PxU32 LINES = 32;
+
+	out << Cm::RenderOutput::LINESTRIP;
+
+	const PxReal step = PxPi*2/LINES;
+
+	for(PxU32 i=0; i<=LINES; i++)
+		out << PxVec3(height, PxCos(step * i), PxSin(step * i)) * scale;
+
+	angle = 0;
+	out << Cm::RenderOutput::LINESTRIP;
+	for(PxU32 i=0; i<=LINES; i++, angle += PxPi*2/LINES)
+		out << PxVec3(-height, PxCos(step * i), PxSin(step * i)) * scale;
+
+	angle = 0;
+	out << Cm::RenderOutput::LINES;
+	for(PxU32 i=0;i<LINES;i++, angle += PxPi*2/LINES)
+	{
+		out << PxVec3(0) << PxVec3(-height, PxCos(step * i), PxSin(step * i)) * scale;
+		out << PxVec3(0) << PxVec3(height, PxCos(step * i), PxSin(step * i)) * scale;
+	}
+}
+