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//
// 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) 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.
#ifndef PX_PHYSICS_COMMON_VISUALIZATION
#define PX_PHYSICS_COMMON_VISUALIZATION
#include "foundation/PxTransform.h"
#include "CmPhysXCommon.h"
#include "PxConstraintDesc.h"
#include "CmRenderOutput.h"
namespace physx
{
namespace Cm
{
PX_PHYSX_COMMON_API void visualizeJointFrames(RenderOutput& out,
PxReal scale,
const PxTransform& parent,
const PxTransform& child);
PX_PHYSX_COMMON_API void visualizeLinearLimit(RenderOutput& out,
PxReal scale,
const PxTransform& t0,
const PxTransform& t1,
PxReal value,
bool active);
PX_PHYSX_COMMON_API void visualizeAngularLimit(RenderOutput& out,
PxReal scale,
const PxTransform& t0,
PxReal lower,
PxReal upper,
bool active);
PX_PHYSX_COMMON_API void visualizeLimitCone(RenderOutput& out,
PxReal scale,
const PxTransform& t,
PxReal ySwing,
PxReal zSwing,
bool active);
PX_PHYSX_COMMON_API void visualizeDoubleCone(RenderOutput& out,
PxReal scale,
const PxTransform& t,
PxReal angle,
bool active);
struct ConstraintImmediateVisualizer : public PxConstraintVisualizer
{
PxF32 mFrameScale;
PxF32 mLimitScale;
RenderOutput& mCmOutput;
//Not possible to implement
ConstraintImmediateVisualizer& operator=( const ConstraintImmediateVisualizer& );
ConstraintImmediateVisualizer( PxF32 _frameScale, PxF32 _limitScale, RenderOutput& _output )
: mFrameScale( _frameScale )
, mLimitScale( _limitScale )
, mCmOutput( _output )
{
}
virtual void visualizeJointFrames( const PxTransform& parent, const PxTransform& child )
{
Cm::visualizeJointFrames(mCmOutput, mFrameScale, parent, child );
}
virtual void visualizeLinearLimit( const PxTransform& t0, const PxTransform& t1, PxReal value, bool active )
{
Cm::visualizeLinearLimit( mCmOutput, mLimitScale, t0, t1, value, active );
}
virtual void visualizeAngularLimit( const PxTransform& t0, PxReal lower, PxReal upper, bool active)
{
Cm::visualizeAngularLimit( mCmOutput, mLimitScale, t0, lower, upper, active );
}
virtual void visualizeLimitCone( const PxTransform& t, PxReal ySwing, PxReal zSwing, bool active)
{
Cm::visualizeLimitCone( mCmOutput, mLimitScale, t, ySwing, zSwing, active );
}
virtual void visualizeDoubleCone( const PxTransform& t, PxReal angle, bool active)
{
Cm::visualizeDoubleCone( mCmOutput, mLimitScale, t, angle, active );
}
virtual void visualizeLine( const PxVec3& p0, const PxVec3& p1, PxU32 color)
{
mCmOutput << color;
mCmOutput.outputSegment(p0, p1);
}
};
}
}
#endif
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