| 415 | |
| 416 | #if PX_ENABLE_DEBUG_VISUALIZATION |
| 417 | void NpArticulationLink::visualize(Cm::RenderOutput& out, NpScene* scene) |
| 418 | { |
| 419 | NpArticulationLinkT::visualize(out, scene); |
| 420 | |
| 421 | if (getScbBodyFast().getActorFlags() & PxActorFlag::eVISUALIZATION) |
| 422 | { |
| 423 | PX_ASSERT(getScene()); |
| 424 | PxReal scale = getScene()->getVisualizationParameter(PxVisualizationParameter::eSCALE); |
| 425 | |
| 426 | PxReal massAxes = scale * getScene()->getVisualizationParameter(PxVisualizationParameter::eBODY_MASS_AXES); |
| 427 | if (massAxes != 0) |
| 428 | { |
| 429 | PxU32 color = 0xff; |
| 430 | color = (color<<16 | color<<8 | color); |
| 431 | PxVec3 dims = invertDiagInertia(getScbBodyFast().getInverseInertia()); |
| 432 | dims = getDimsFromBodyInertia(dims, 1.0f / getScbBodyFast().getInverseMass()); |
| 433 | |
| 434 | out << color << getScbBodyFast().getBody2World() << Cm::DebugBox(dims * 0.5f); |
| 435 | } |
| 436 | PxReal frameScale = scale * getScene()->getVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES); |
| 437 | PxReal limitScale = scale * getScene()->getVisualizationParameter(PxVisualizationParameter::eJOINT_LIMITS); |
| 438 | if ( frameScale != 0.0f || limitScale != 0.0f ) |
| 439 | { |
| 440 | Cm::ConstraintImmediateVisualizer viz( frameScale, limitScale, out ); |
| 441 | visualizeJoint( viz ); |
| 442 | } |
| 443 | } |
| 444 | } |
| 445 | |
| 446 | static PX_FORCE_INLINE PxReal computePhi(const PxQuat& q) |
| 447 | { |
nothing calls this directly
no test coverage detected