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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) 2008-2018 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-t0.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 = PxTan(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;
}
}
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