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#include "SceneVehicleCooking.h"
#include "PxTkStream.h"
#include "extensions/PxDefaultStreams.h"
#include "glmesh.h"
#include "RawLoader.h"

using namespace physx;

PxConvexMesh* createConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
{
	// Create descriptor for convex mesh
	PxConvexMeshDesc convexDesc;
	convexDesc.points.count = numVerts;
	convexDesc.points.stride = sizeof(PxVec3);
	convexDesc.points.data = verts;
	convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;

	PxConvexMesh* convexMesh = NULL;
	PxDefaultMemoryOutputStream buf;
	if (cooking.cookConvexMesh(convexDesc, buf))
	{
		PxDefaultMemoryInputData id(buf.getData(), buf.getSize());
		convexMesh = physics.createConvexMesh(id);
	}

	return convexMesh;
}

PxConvexMesh* createCuboidConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
{
	PxVec3 verts[8] =
	{
		PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
		PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
		PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
		PxVec3(-halfExtents.x, +halfExtents.y, +halfExtents.z),
		PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
		PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
		PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z),
		PxVec3(+halfExtents.x, +halfExtents.y, +halfExtents.z)
	};
	PxU32 numVerts = 8;

	return createConvexMesh(verts, numVerts, physics, cooking);
}

PxConvexMesh* createWedgeConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
{
	PxVec3 verts[6] =
	{
		PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
		PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
		PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
		PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
		PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
		PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z)
	};
	PxU32 numVerts = 6;

	return createConvexMesh(verts, numVerts, physics, cooking);
}

PxConvexMesh* createCylinderConvexMesh(const PxF32 width, const PxF32 radius, const PxU32 numCirclePoints, PxPhysics& physics, PxCooking& cooking)
{
#define  MAX_NUM_VERTS_IN_CIRCLE 16
	PX_ASSERT(numCirclePoints<MAX_NUM_VERTS_IN_CIRCLE);
	PxVec3 verts[2 * MAX_NUM_VERTS_IN_CIRCLE];
	PxU32 numVerts = 2 * numCirclePoints;
	const PxF32 dtheta = 2 * PxPi / (1.0f*numCirclePoints);
	for (PxU32 i = 0; i<MAX_NUM_VERTS_IN_CIRCLE; i++)
	{
		const PxF32 theta = dtheta*i;
		const PxF32 cosTheta = radius*PxCos(theta);
		const PxF32 sinTheta = radius*PxSin(theta);
		verts[2 * i + 0] = PxVec3(-0.5f*width, cosTheta, sinTheta);
		verts[2 * i + 1] = PxVec3(+0.5f*width, cosTheta, sinTheta);
	}

	return createConvexMesh(verts, numVerts, physics, cooking);
}

PxConvexMesh* createSquashedCuboidMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height1, const PxF32 height2, PxPhysics& physics, PxCooking& cooking)
{
	const PxF32 x = baseLength*0.5f;
	const PxF32 z = baseDepth*0.5f;
	PxVec3 verts[8] =
	{
		PxVec3(-x, -0.5f*height1, -z),
		PxVec3(-x, -0.5f*height1, +z),
		PxVec3(+x, -0.5f*height1, -z),
		PxVec3(+x, -0.5f*height1, +z),
		PxVec3(-x, -0.5f*height1 + height2, -z),
		PxVec3(-x, +0.5f*height1, +z),
		PxVec3(+x, -0.5f*height1 + height2, -z),
		PxVec3(+x, +0.5f*height1, +z)
	};
	PxU32 numVerts = 8;

	return createConvexMesh(verts, numVerts, physics, cooking);
}


PxConvexMesh* createPrismConvexMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height, PxPhysics& physics, PxCooking& cooking)
{
	const PxF32 x = baseLength*0.5f;
	const PxF32 z = baseDepth*0.5f;

	PxVec3 verts[6] =
	{
		PxVec3(-x, 0, -z),
		PxVec3(-x, 0, +z),
		PxVec3(+x, 0, -z),
		PxVec3(+x, 0, +z),
		PxVec3(-x, height, 0),
		PxVec3(+x, height, 0),
	};
	PxU32 numVerts = 6;

	return createConvexMesh(verts, numVerts, physics, cooking);
}

PxConvexMesh* createChassisConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
{
	return createConvexMesh(verts, numVerts, physics, cooking);
}

PxConvexMesh* createWheelConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
{
	//Extract the wheel radius and width from the aabb of the wheel convex mesh.
	PxVec3 wheelMin(PX_MAX_F32, PX_MAX_F32, PX_MAX_F32);
	PxVec3 wheelMax(-PX_MAX_F32, -PX_MAX_F32, -PX_MAX_F32);
	for (PxU32 i = 0; i<numVerts; i++)
	{
		wheelMin.x = PxMin(wheelMin.x, verts[i].x);
		wheelMin.y = PxMin(wheelMin.y, verts[i].y);
		wheelMin.z = PxMin(wheelMin.z, verts[i].z);
		wheelMax.x = PxMax(wheelMax.x, verts[i].x);
		wheelMax.y = PxMax(wheelMax.y, verts[i].y);
		wheelMax.z = PxMax(wheelMax.z, verts[i].z);
	}
	const PxF32 wheelWidth = wheelMax.x - wheelMin.x;
	const PxF32 wheelRadius = PxMax(wheelMax.y, wheelMax.z);

	return createCylinderConvexMesh(wheelWidth, wheelRadius, 8, physics, cooking);
}

GLMesh* createRenderMesh(const RAWMesh& data)
{
	GLMesh* mesh =new GLMesh(GL_TRIANGLES);
	const PxU32 nbVerts = data.mNbVerts;
	const PxU32 nbTris = data.mNbFaces;
	mesh->vertices.resize(nbVerts);
	mesh->normals.resize(nbVerts);
	mesh->texCoords.resize(nbVerts * 2);
	mesh->indices.resize(nbTris*3);

	const PxU32* src = data.mIndices;

	PxU32* indices = new PxU32[sizeof(PxU16)*nbTris * 3];
	for (PxU32 i = 0; i<nbTris; i++)
	{
		indices[i * 3 + 0] = src[i * 3 + 0];
		indices[i * 3 + 1] = src[i * 3 + 1];
		indices[i * 3 + 2] = src[i * 3 + 2];
	}


	for (PxU32 i = 0; i < nbVerts; ++i)
	{
		mesh->vertices[i] = data.mVerts[i];
		mesh->normals[i] = data.mVertexNormals[i];
		mesh->texCoords[i*2] = data.mUVs[i*2];
		mesh->texCoords[i * 2 + 1] = 1.f-data.mUVs[i*2+1];
	}

	for (PxU32 i = 0; i < nbTris * 3; ++i)
	{
		mesh->indices[i] = indices[i]; 
	}

	mesh->genVBOIBO();
	mesh->updateVBOIBO(true);

	return mesh;
}