CmVisualization.h

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#ifndef CM_VISUALIZATION_H
#define CM_VISUALIZATION_H
 
#include "foundation/PxTransform.h"
#include "common/PxRenderOutput.h"
#include "PxConstraintDesc.h"
 
namespace physx
{
namespace Cm
{
    // PT: the force-inlined functions in PxRenderOutput generate a lot of code. Use these non-inlined functions instead.
    PX_PHYSX_COMMON_API void renderOutputDebugBox(PxRenderOutput& out, const PxBounds3& box);
    PX_PHYSX_COMMON_API void renderOutputDebugCircle(PxRenderOutput& out, PxU32 s, PxReal r);
    PX_PHYSX_COMMON_API void renderOutputDebugBasis(PxRenderOutput& out, const PxDebugBasis& basis);
    PX_PHYSX_COMMON_API void renderOutputDebugArrow(PxRenderOutput& out, const PxDebugArrow& arrow);
 
    PX_PHYSX_COMMON_API void visualizeJointFrames(PxRenderOutput& out,
                              PxReal scale,
                              const PxTransform& parent,
                              const PxTransform& child);
 
    PX_PHYSX_COMMON_API void visualizeLinearLimit(PxRenderOutput& out,
                              PxReal scale,
                              const PxTransform& t0,
                              const PxTransform& t1,
                              PxReal value,
                              bool active);
 
    PX_PHYSX_COMMON_API void visualizeAngularLimit(PxRenderOutput& out,
                               PxReal scale,
                               const PxTransform& t0,
                               PxReal lower,
                               PxReal upper,
                               bool active);
 
    PX_PHYSX_COMMON_API void visualizeLimitCone(PxRenderOutput& out,
                            PxReal scale,
                            const PxTransform& t,
                            PxReal ySwing,
                            PxReal zSwing,
                            bool active);
 
    PX_PHYSX_COMMON_API void visualizeDoubleCone(PxRenderOutput& out,
                             PxReal scale,
                             const PxTransform& t,
                             PxReal angle,
                             bool active);
    
    struct ConstraintImmediateVisualizer : public PxConstraintVisualizer
    {
        PxF32           mFrameScale;
        PxF32           mLimitScale;
        PxRenderOutput& mCmOutput;
 
        //Not possible to implement
        ConstraintImmediateVisualizer& operator=( const ConstraintImmediateVisualizer& );
 
        ConstraintImmediateVisualizer(PxF32 frameScale, PxF32 limitScale, PxRenderOutput& 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 tanQSwingY, PxReal tanQSwingZ, bool active)
        {
            Cm::visualizeLimitCone(mCmOutput, mLimitScale, t, tanQSwingY, tanQSwingZ, 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