1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
|
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#include "CompoundGeometry.h"
#define DEBUG_DRAW 1
#if DEBUG_DRAW
#include <windows.h>
#include <GL/gl.h>
#endif
// -------------------------------------------------------------------------------
void CompoundGeometry::debugDraw(int maxConvexes) const
{
#if DEBUG_DRAW
const bool drawConvexes = true;
const bool drawWireframe = true;
const bool drawClipped = false;
const float clipMaxX = 0.0f;
if (drawConvexes) {
float s = drawClipped ? 1.0f : 0.95f;
if (drawWireframe)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
PxVec3 n;
int num = convexes.size();
if (maxConvexes > 0 && maxConvexes < num)
num = maxConvexes;
for (int i = 0; i < num; i++) {
switch (i%7) {
case 0 : glColor3f(1.0f, 0.0f, 0.0f); break;
case 1 : glColor3f(0.0f, 1.0f, 0.0f); break;
case 2 : glColor3f(1.0f, 0.0f, 1.0f); break;
case 3 : glColor3f(0.0f, 1.0f, 1.0f); break;
case 4 : glColor3f(1.0f, 0.0f, 1.0f); break;
case 5 : glColor3f(1.0f, 1.0f, 0.0f); break;
case 6 : glColor3f(1.0f, 1.0f, 1.0f); break;
};
const Convex &c = convexes[i];
const PxVec3 *verts = &vertices[c.firstVert];
PxVec3 center;
center = PxVec3(0.0f, 0.0f, 0.0f);
for (int j = 0; j < c.numVerts; j++)
center += verts[j];
center /= (float)c.numVerts;
if (drawClipped && center.x > clipMaxX)
continue;
const int *ids = &indices[c.firstIndex];
for (int j = 0; j < c.numFaces; j++) {
int numVerts = *ids++;
int flags = *ids++;
n = (verts[ids[1]] - verts[ids[0]]).cross(verts[ids[2]] - verts[ids[0]]);
n.normalize();
glNormal3f(n.x, n.y, n.z);
glBegin(GL_POLYGON);
for (int k = 0; k < numVerts; k++) {
PxVec3 p = verts[ids[k]];
p = center + (p - center) * s;
glVertex3f(p.x, p.y, p.z);
}
glEnd();
ids += numVerts;
}
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
#endif
}
|