405 lines
13 KiB
C++
405 lines
13 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_RENDER_OUTPUT_H
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#define PX_RENDER_OUTPUT_H
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#include "foundation/PxMat44.h"
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#include "foundation/PxBasicTemplates.h"
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#include "PxRenderBuffer.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4251 ) // class needs to have dll-interface to be used by clients of class
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#endif
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/**
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Output stream to fill RenderBuffer
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*/
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class PX_PHYSX_COMMON_API PxRenderOutput
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{
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public:
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enum Primitive
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{
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POINTS,
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LINES,
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LINESTRIP,
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TRIANGLES,
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TRIANGLESTRIP
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};
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PxRenderOutput(PxRenderBuffer& buffer)
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: mPrim(POINTS),
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mColor(0),
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mVertex0(0.0f),
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mVertex1(0.0f),
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mVertexCount(0),
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mTransform(PxIdentity),
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mBuffer(buffer)
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{
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}
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PX_INLINE PxRenderOutput& operator<<(Primitive prim);
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PX_INLINE PxRenderOutput& operator<<(PxU32 color) ;
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PX_INLINE PxRenderOutput& operator<<(const PxMat44& transform);
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PX_INLINE PxRenderOutput& operator<<(const PxTransform& t);
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PX_INLINE PxRenderOutput& operator<<(const PxVec3& vertex); //AM: Don't use this! Slow! Deprecated!
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PX_INLINE PxDebugLine* reserveSegments(PxU32 nbSegments);
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PX_INLINE PxDebugPoint* reservePoints(PxU32 nbSegments);
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PX_INLINE void outputSegment(const PxVec3& v0, const PxVec3& v1);
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PX_INLINE PxRenderOutput& outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose);
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private:
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PxRenderOutput& operator=(const PxRenderOutput&);
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Primitive mPrim;
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PxU32 mColor;
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PxVec3 mVertex0, mVertex1;
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PxU32 mVertexCount;
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PxMat44 mTransform;
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PxRenderBuffer& mBuffer;
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};
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struct PxDebugBox
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{
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explicit PxDebugBox(const PxVec3& extents, bool wireframe_ = true)
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: minimum(-extents), maximum(extents), wireframe(wireframe_) {}
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explicit PxDebugBox(const PxVec3& pos, const PxVec3& extents, bool wireframe_ = true)
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: minimum(pos - extents), maximum(pos + extents), wireframe(wireframe_) {}
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explicit PxDebugBox(const PxBounds3& bounds, bool wireframe_ = true)
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: minimum(bounds.minimum), maximum(bounds.maximum), wireframe(wireframe_) {}
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PxVec3 minimum, maximum;
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bool wireframe;
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};
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PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBox& box)
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{
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if (box.wireframe)
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{
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out << PxRenderOutput::LINESTRIP;
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z);
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out << PxRenderOutput::LINES;
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z);
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z);
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}
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else
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{
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out << PxRenderOutput::TRIANGLESTRIP;
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
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out << PxVec3(box.maximum.x, box.maximum.y, box.minimum.z); // 3
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
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out << PxVec3(box.minimum.x, box.maximum.y, box.minimum.z); // 2
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
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out << PxVec3(box.minimum.x, box.minimum.y, box.minimum.z); // 0
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
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out << PxVec3(box.maximum.x, box.minimum.y, box.minimum.z); // 1
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out << PxVec3(box.maximum.x, box.minimum.y, box.maximum.z); // 5
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out << PxVec3(box.maximum.x, box.maximum.y, box.maximum.z); // 7
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out << PxVec3(box.minimum.x, box.minimum.y, box.maximum.z); // 4
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out << PxVec3(box.minimum.x, box.maximum.y, box.maximum.z); // 6
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}
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return out;
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}
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struct PxDebugArrow
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{
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PxDebugArrow(const PxVec3& pos, const PxVec3& vec)
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: base(pos), tip(pos + vec), headLength(vec.magnitude()*0.15f) {}
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PxDebugArrow(const PxVec3& pos, const PxVec3& vec, PxReal headLength_)
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: base(pos), tip(pos + vec), headLength(headLength_) {}
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PxVec3 base, tip;
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PxReal headLength;
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};
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PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, PxVec3& tangent1)
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{
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tangent0 = PxAbs(normal.x) < 0.70710678f ? PxVec3(0, -normal.z, normal.y) : PxVec3(-normal.y, normal.x, 0);
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tangent0.normalize();
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tangent1 = normal.cross(tangent0);
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}
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PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArrow& arrow)
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{
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PxVec3 t0 = arrow.tip - arrow.base, t1, t2;
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t0.normalize();
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normalToTangents(t0, t1, t2);
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const PxReal tipAngle = 0.25f;
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t1 *= arrow.headLength * tipAngle;
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t2 *= arrow.headLength * tipAngle * PxSqrt(3.0f);
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PxVec3 headBase = arrow.tip - t0 * arrow.headLength;
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out << PxRenderOutput::LINES;
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out << arrow.base << arrow.tip;
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out << PxRenderOutput::TRIANGLESTRIP;
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out << arrow.tip;
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out << headBase + t1 + t1;
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out << headBase - t1 - t2;
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out << headBase - t1 + t2;
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out << arrow.tip;
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out << headBase + t1 + t1;
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return out;
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}
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struct PxDebugBasis
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{
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PxDebugBasis(const PxVec3& ext, PxU32 cX = PxU32(PxDebugColor::eARGB_RED),
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PxU32 cY = PxU32(PxDebugColor::eARGB_GREEN), PxU32 cZ = PxU32(PxDebugColor::eARGB_BLUE))
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: extends(ext), colorX(cX), colorY(cY), colorZ(cZ) {}
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PxVec3 extends;
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PxU32 colorX, colorY, colorZ;
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};
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PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugBasis& basis)
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{
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const PxReal headLength = basis.extends.magnitude() * 0.15f;
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out << basis.colorX << PxDebugArrow(PxVec3(0.0f), PxVec3(basis.extends.x, 0, 0), headLength);
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out << basis.colorY << PxDebugArrow(PxVec3(0.0f), PxVec3(0, basis.extends.y, 0), headLength);
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out << basis.colorZ << PxDebugArrow(PxVec3(0.0f), PxVec3(0, 0, basis.extends.z), headLength);
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return out;
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}
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struct PxDebugCircle
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{
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PxDebugCircle(PxU32 s, PxReal r)
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: nSegments(s), radius(r) {}
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PxU32 nSegments;
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PxReal radius;
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};
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PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugCircle& circle)
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{
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const PxF32 step = PxTwoPi / circle.nSegments;
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PxF32 angle = 0;
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out << PxRenderOutput::LINESTRIP;
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for (PxU32 i = 0; i < circle.nSegments; i++, angle += step)
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out << PxVec3(circle.radius * PxSin(angle), circle.radius * PxCos(angle), 0);
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out << PxVec3(0, circle.radius, 0);
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return out;
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}
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struct PxDebugArc
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{
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PxDebugArc(PxU32 s, PxReal r, PxReal minAng, PxReal maxAng)
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: nSegments(s), radius(r), minAngle(minAng), maxAngle(maxAng) {}
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PxU32 nSegments;
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PxReal radius;
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PxReal minAngle, maxAngle;
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};
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PX_FORCE_INLINE PxRenderOutput& operator<<(PxRenderOutput& out, const PxDebugArc& arc)
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{
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const PxF32 step = (arc.maxAngle - arc.minAngle) / arc.nSegments;
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PxF32 angle = arc.minAngle;
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out << PxRenderOutput::LINESTRIP;
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for (PxU32 i = 0; i < arc.nSegments; i++, angle += step)
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out << PxVec3(arc.radius * PxSin(angle), arc.radius * PxCos(angle), 0);
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out << PxVec3(arc.radius * PxSin(arc.maxAngle), arc.radius * PxCos(arc.maxAngle), 0);
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return out;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(Primitive prim)
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{
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mPrim = prim;
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mVertexCount = 0;
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return *this;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(PxU32 color)
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{
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mColor = color;
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return *this;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxMat44& transform)
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{
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mTransform = transform;
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return *this;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxTransform& t)
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{
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mTransform = PxMat44(t);
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return *this;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::operator<<(const PxVec3& vertexIn)
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{
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// apply transformation
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const PxVec3 vertex = mTransform.transform(vertexIn);
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++mVertexCount;
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// add primitive to render buffer
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switch (mPrim)
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{
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case POINTS:
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mBuffer.addPoint(PxDebugPoint(vertex, mColor)); break;
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case LINES:
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if (mVertexCount == 2)
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{
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mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
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mVertexCount = 0;
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}
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break;
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case LINESTRIP:
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if (mVertexCount >= 2)
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mBuffer.addLine(PxDebugLine(mVertex0, vertex, mColor));
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break;
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case TRIANGLES:
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if (mVertexCount == 3)
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{
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mBuffer.addTriangle(PxDebugTriangle(mVertex1, mVertex0, vertex, mColor));
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mVertexCount = 0;
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}
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break;
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case TRIANGLESTRIP:
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if (mVertexCount >= 3)
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mBuffer.addTriangle(PxDebugTriangle(
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(mVertexCount & 0x1) ? mVertex0 : mVertex1,
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(mVertexCount & 0x1) ? mVertex1 : mVertex0, vertex, mColor));
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break;
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}
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// cache the last 2 vertices (for strips)
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if (1 < mVertexCount)
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{
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mVertex1 = mVertex0;
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mVertex0 = vertex;
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}
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else
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{
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mVertex0 = vertex;
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}
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return *this;
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}
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PX_INLINE PxDebugLine* PxRenderOutput::reserveSegments(PxU32 nbSegments)
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{
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return mBuffer.reserveLines(nbSegments);
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}
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PX_INLINE PxDebugPoint* PxRenderOutput::reservePoints(PxU32 nbPoints)
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{
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return mBuffer.reservePoints(nbPoints);
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}
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// PT: using the operators is just too slow.
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PX_INLINE void PxRenderOutput::outputSegment(const PxVec3& v0, const PxVec3& v1)
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{
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PxDebugLine* segment = mBuffer.reserveLines(1);
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segment->pos0 = v0;
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segment->pos1 = v1;
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segment->color0 = segment->color1 = mColor;
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}
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PX_INLINE PxRenderOutput& PxRenderOutput::outputCapsule(PxF32 radius, PxF32 halfHeight, const PxMat44& absPose)
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{
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PxRenderOutput& out = *this;
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const PxVec3 vleft2(-halfHeight, 0.0f, 0.0f);
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PxMat44 left2 = absPose;
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left2.column3 += PxVec4(left2.rotate(vleft2), 0.0f);
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out << left2 << PxDebugArc(100, radius, PxPi, PxTwoPi);
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PxMat44 rotPose = left2;
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PxSwap(rotPose.column1, rotPose.column2);
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rotPose.column1 = -rotPose.column1;
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out << rotPose << PxDebugArc(100, radius, PxPi, PxTwoPi);
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PxSwap(rotPose.column0, rotPose.column2);
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rotPose.column0 = -rotPose.column0;
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out << rotPose << PxDebugCircle(100, radius);
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const PxVec3 vright2(halfHeight, 0.0f, 0.0f);
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PxMat44 right2 = absPose;
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right2.column3 += PxVec4(right2.rotate(vright2), 0.0f);
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out << right2 << PxDebugArc(100, radius, 0.0f, PxPi);
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rotPose = right2;
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PxSwap(rotPose.column1, rotPose.column2);
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rotPose.column1 = -rotPose.column1;
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out << rotPose << PxDebugArc(100, radius, 0.0f, PxPi);
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PxSwap(rotPose.column0, rotPose.column2);
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rotPose.column0 = -rotPose.column0;
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out << rotPose << PxDebugCircle(100, radius);
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out << absPose;
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out.outputSegment(absPose.transform(PxVec3(-halfHeight, radius, 0)),
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absPose.transform(PxVec3(halfHeight, radius, 0)));
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out.outputSegment(absPose.transform(PxVec3(-halfHeight, -radius, 0)),
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absPose.transform(PxVec3(halfHeight, -radius, 0)));
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out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, radius)),
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absPose.transform(PxVec3(halfHeight, 0, radius)));
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out.outputSegment(absPose.transform(PxVec3(-halfHeight, 0, -radius)),
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absPose.transform(PxVec3(halfHeight, 0, -radius)));
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return *this;
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}
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#if PX_VC
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#pragma warning(pop)
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#endif
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif
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