PxRenderOutput.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#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
 
    class PX_PHYSX_COMMON_API 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); //AM: Don't use this! Slow! Deprecated!
 
        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 / 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) / 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