Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_RENDER_OUTPUT_H
++ #define PX_RENDER_OUTPUT_H
++
++ #include "foundation/PxMat44.h"
++ #include "foundation/PxBasicTemplates.h"
++ #include "PxRenderBuffer.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ #if PX_VC
++ #pragma warning(push)
++ #pragma warning( disable : 4251 ) // class needs to have dll-interface to be used by clients of class
++ #endif
++
++ /**
++ Output stream to fill RenderBuffer
++ */
++ class PxRenderOutput
++ {
++ public:
++
++ enum Primitive
++ {
++ POINTS,
++ LINES,
++ LINESTRIP,
++ TRIANGLES,
++ TRIANGLESTRIP
++ };
++
++ PxRenderOutput(PxRenderBuffer& buffer)
++ : mPrim(POINTS),
++ mColor(0),
++ mVertex0(0.0f),
++ mVertex1(0.0f),
++ mVertexCount(0),
++ mTransform(PxIdentity),
++ mBuffer(buffer)
++ {
++ }
++
++ PX_INLINE PxRenderOutput& operator<<(Primitive prim);
++
++ PX_INLINE PxRenderOutput& operator<<(PxU32 color) ;
++
++ PX_INLINE PxRenderOutput& operator<<(const PxMat44& transform);
++
++ PX_INLINE PxRenderOutput& operator<<(const PxTransform& t);
++
++ PX_INLINE PxRenderOutput& operator<<(const PxVec3& vertex);
++
++ PX_INLINE PxDebugLine* reserveSegments(PxU32 nbSegments);
++
++ PX_INLINE PxDebugPoint* reservePoints(PxU32 nbSegments);
++
++ PX_INLINE void outputSegment(const PxVec3& v0, const PxVec3& v1);
++
++ PX_INLINE PxRenderOutput& outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose);
++
++ private:
++
++ PxRenderOutput& operator=(const PxRenderOutput&);
++
++ Primitive mPrim;
++ PxU32 mColor;
++ PxVec3 mVertex0, mVertex1;
++ PxU32 mVertexCount;
++ PxMat44 mTransform;
++ PxRenderBuffer& mBuffer;
++ };
++
++ struct PxDebugBox
++ {
++ explicit PxDebugBox(const PxVec3& extents, bool wireframe_ = true)
++ : minimum(-extents), maximum(extents), wireframe(wireframe_) {}
++
++ explicit PxDebugBox(const PxVec3& pos, const PxVec3& extents, bool wireframe_ = true)
++ : minimum(pos - extents), maximum(pos + extents), wireframe(wireframe_) {}
++
++ explicit PxDebugBox(const PxBounds3& bounds, bool wireframe_ = true)
++ : minimum(bounds.minimum), maximum(bounds.maximum), wireframe(wireframe_) {}
++
++ PxVec3 minimum, maximum;
++ bool wireframe;
++ };
++ PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBox& box)
++ {
++ if (box.wireframe)
++ {
++ out << PxRenderOutput::LINESTRIP;
++ out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
++ out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
++ out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
++ out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
++ out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
++ out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
++ out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
++ out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
++ out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
++ out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
++ out << PxRenderOutput::LINES;
++ out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
++ out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
++ out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
++ out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
++ out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
++ out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
++ }
++ else
++ {
++ out << PxRenderOutput::TRIANGLESTRIP;
++ out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
++ out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
++ out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
++ out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z); // 3
++ out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
++ out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
++ out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
++ out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
++ out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
++ out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
++ out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z); // 5
++ out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
++ out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
++ out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
++ }
++ return out;
++ }
++
++ struct PxDebugArrow
++ {
++ PxDebugArrow(const PxVec3& pos, const PxVec3& vec)
++ : base(pos), tip(pos + vec), headLength(vec.magnitude()*0.15f) {}
++
++ PxDebugArrow(const PxVec3& pos, const PxVec3& vec, PxReal headLength_)
++ : base(pos), tip(pos + vec), headLength(headLength_) {}
++
++ PxVec3 base, tip;
++ PxReal headLength;
++ };
++ PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, PxVec3& tangent1)
++ {
++ tangent0 = PxAbs(normal.x) < 0.70710678f ? PxVec3(0, -normal.z, normal.y) : PxVec3(-normal.y, normal.x, 0);
++ tangent0.normalize();
++ tangent1 = normal.cross(tangent0);
++ }
++ PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArrow& arrow)
++ {
++ PxVec3 t0 = arrow.tip - arrow.base, t1, t2;
++
++ t0.normalize();
++ normalToTangents(t0, t1, t2);
++
++ const PxReal tipAngle = 0.25f;
++ t1 *= arrow.headLength * tipAngle;
++ t2 *= arrow.headLength * tipAngle * PxSqrt(3.0f);
++ PxVec3 headBase = arrow.tip - t0 * arrow.headLength;
++
++ out << PxRenderOutput::LINES;
++ out << arrow.base << arrow.tip;
++
++ out << PxRenderOutput::TRIANGLESTRIP;
++ out << arrow.tip;
++ out << headBase + t1 + t1;
++ out << headBase - t1 - t2;
++ out << headBase - t1 + t2;
++ out << arrow.tip;
++ out << headBase + t1 + t1;
++ return out;
++ }
++
++ struct PxDebugBasis
++ {
++ PxDebugBasis(const PxVec3& ext, PxU32 cX = PxU32(PxDebugColor::eARGB_RED),
++ PxU32 cY = PxU32(PxDebugColor::eARGB_GREEN), PxU32 cZ = PxU32(PxDebugColor::eARGB_BLUE))
++ : extends(ext), colorX(cX), colorY(cY), colorZ(cZ) {}
++ PxVec3 extends;
++ PxU32 colorX, colorY, colorZ;
++ };
++ PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBasis& basis)
++ {
++ const PxReal headLength = basis.extends.magnitude() * 0.15f;
++ out << basis.colorX << PxDebugArrow(PxVec3(0.0f), PxVec3(basis.extends.x, 0, 0), headLength);
++ out << basis.colorY << PxDebugArrow(PxVec3(0.0f), PxVec3(0, basis.extends.y, 0), headLength);
++ out << basis.colorZ << PxDebugArrow(PxVec3(0.0f), PxVec3(0, 0, basis.extends.z), headLength);
++ return out;
++ }
++
++ struct PxDebugCircle
++ {
++ PxDebugCircle(PxU32 s, PxReal r)
++ : nSegments(s), radius(r) {}
++ PxU32 nSegments;
++ PxReal radius;
++ };
++ PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugCircle& circle)
++ {
++ const PxF32 step = PxTwoPi / PxF32(circle.nSegments);
++ PxF32 angle = 0;
++ out << PxRenderOutput::LINESTRIP;
++ for (PxU32 i = 0; i < circle.nSegments; i++, angle += step)
++ out << PxVec3(circle.radius * PxSin(angle), circle.radius * PxCos(angle), 0);
++ out << PxVec3(0, circle.radius, 0);
++ return out;
++ }
++
++ struct PxDebugArc
++ {
++ PxDebugArc(PxU32 s, PxReal r, PxReal minAng, PxReal maxAng)
++ : nSegments(s), radius(r), minAngle(minAng), maxAngle(maxAng) {}
++ PxU32 nSegments;
++ PxReal radius;
++ PxReal minAngle, maxAngle;
++ };
++ PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArc& arc)
++ {
++ const PxF32 step = (arc.maxAngle - arc.minAngle) / PxF32(arc.nSegments);
++ PxF32 angle = arc.minAngle;
++ out << PxRenderOutput::LINESTRIP;
++ for (PxU32 i = 0; i < arc.nSegments; i++, angle += step)
++ out << PxVec3(arc.radius * PxSin(angle), arc.radius * PxCos(angle), 0);
++ out << PxVec3(arc.radius * PxSin(arc.maxAngle), arc.radius * PxCos(arc.maxAngle), 0);
++ return out;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(Primitive prim)
++ {
++ mPrim = prim;
++ mVertexCount = 0;
++ return *this;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(PxU32 color)
++ {
++ mColor = color;
++ return *this;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxMat44& transform)
++ {
++ mTransform = transform;
++ return *this;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxTransform& t)
++ {
++ mTransform = PxMat44(t);
++ return *this;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxVec3& vertexIn)
++ {
++ // apply transformation
++ const PxVec3 vertex = mTransform.transform(vertexIn);
++ ++mVertexCount;
++
++ // add primitive to render buffer
++ switch (mPrim)
++ {
++ case POINTS:
++ mBuffer.addPoint(PxDebugPoint(vertex, mColor)); break;
++ case LINES:
++ if (mVertexCount == 2)
++ {
++ mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
++ mVertexCount = 0;
++ }
++ break;
++ case LINESTRIP:
++ if (mVertexCount >= 2)
++ mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
++ break;
++ case TRIANGLES:
++ if (mVertexCount == 3)
++ {
++ mBuffer.addTriangle(PxDebugTriangle(mVertex1, mVertex0, vertex, mColor));
++ mVertexCount = 0;
++ }
++ break;
++ case TRIANGLESTRIP:
++ if (mVertexCount >= 3)
++ mBuffer.addTriangle(PxDebugTriangle(
++ (mVertexCount & 0x1) ? mVertex0 : mVertex1,
++ (mVertexCount & 0x1) ? mVertex1 : mVertex0, vertex, mColor));
++ break;
++ }
++
++ // cache the last 2 vertices (for strips)
++ if (1 < mVertexCount)
++ {
++ mVertex1 = mVertex0;
++ mVertex0 = vertex;
++ }
++ else
++ {
++ mVertex0 = vertex;
++ }
++ return *this;
++ }
++
++ PX_INLINE PxDebugLine* PxRenderOutput::reserveSegments(PxU32 nbSegments)
++ {
++ return mBuffer.reserveLines(nbSegments);
++ }
++
++ PX_INLINE PxDebugPoint* PxRenderOutput::reservePoints(PxU32 nbPoints)
++ {
++ return mBuffer.reservePoints(nbPoints);
++ }
++
++ // PT: using the operators is just too slow.
++ PX_INLINE void PxRenderOutput::outputSegment(const PxVec3& v0, const PxVec3& v1)
++ {
++ PxDebugLine* segment = mBuffer.reserveLines(1);
++ segment->pos0 = v0;
++ segment->pos1 = v1;
++ segment->color0 = segment->color1 = mColor;
++ }
++
++ PX_INLINE PxRenderOutput& PxRenderOutput::outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose)
++ {
++ PxRenderOutput& out = *this;
++
++ const PxVec3 vleft2(-halfHeight, 0.0f, 0.0f);
++ PxMat44 left2 = absPose;
++ left2.column3 += PxVec4(left2.rotate(vleft2), 0.0f);
++ out << left2 << PxDebugArc(100, radius, PxPi, PxTwoPi);
++
++ PxMat44 rotPose = left2;
++ PxSwap(rotPose.column1, rotPose.column2);
++ rotPose.column1 = -rotPose.column1;
++ out << rotPose << PxDebugArc(100, radius, PxPi, PxTwoPi);
++
++ PxSwap(rotPose.column0, rotPose.column2);
++ rotPose.column0 = -rotPose.column0;
++ out << rotPose << PxDebugCircle(100, radius);
++
++ const PxVec3 vright2(halfHeight, 0.0f, 0.0f);
++ PxMat44 right2 = absPose;
++ right2.column3 += PxVec4(right2.rotate(vright2), 0.0f);
++ out << right2 << PxDebugArc(100, radius, 0.0f, PxPi);
++
++ rotPose = right2;
++ PxSwap(rotPose.column1, rotPose.column2);
++ rotPose.column1 = -rotPose.column1;
++ out << rotPose << PxDebugArc(100, radius, 0.0f, PxPi);
++
++ PxSwap(rotPose.column0, rotPose.column2);
++ rotPose.column0 = -rotPose.column0;
++ out << rotPose << PxDebugCircle(100, radius);
++
++ out << absPose;
++ out.outputSegment(absPose.transform(PxVec3(-halfHeight, radius, 0)),
++ absPose.transform(PxVec3(halfHeight, radius, 0)));
++ out.outputSegment(absPose.transform(PxVec3(-halfHeight, -radius, 0)),
++ absPose.transform(PxVec3(halfHeight, -radius, 0)));
++ out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, radius)),
++ absPose.transform(PxVec3(halfHeight, 0, radius)));
++ out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, -radius)),
++ absPose.transform(PxVec3(halfHeight, 0, -radius)));
++
++ return *this;
++ }
++
++ #if PX_VC
++ #pragma warning(pop)
++ #endif
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif