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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) 2008-2017 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"
namespace physx
{
class RenderOutput;
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(static_cast<RenderBuffer &>(_output))
, 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 );
}
};
}
}
#endif
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