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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) 2008-2026 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_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