pxShapeScaling.cpp

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#include "Headers/pxShapeScaling.h"
 
using namespace physx;
 
namespace Divide {
 
// Scales the given shape as precisely as possible.
void Scale(PxShape&shape, const PxVec3&scaling) {
    PxTransform pose = shape.getLocalPose();
 
    PxGeometryHolder shapeGeom(shape.getGeometry());
    
    switch ( shapeGeom.getType() ) {
        case PxGeometryType::eBOX: {
            PxBoxGeometry geom = shapeGeom.box();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        case PxGeometryType::eSPHERE: {
            PxSphereGeometry geom = shapeGeom.sphere();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        case PxGeometryType::ePLANE: {
            PxPlaneGeometry geom = shapeGeom.plane();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        case PxGeometryType::eCAPSULE: {
            PxCapsuleGeometry geom = shapeGeom.capsule();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        case PxGeometryType::eCONVEXMESH: {
            PxConvexMeshGeometry geom = shapeGeom.convexMesh();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        case PxGeometryType::eTRIANGLEMESH: {
            PxTriangleMeshGeometry geom = shapeGeom.triangleMesh();
            Scale(geom, pose, scaling);
            shape.setGeometry(geom);
        } break;
        default:
        case PxGeometryType::eHEIGHTFIELD:
        case PxGeometryType::eGEOMETRY_COUNT: break;
    }
 
    shape.setLocalPose(pose);
}
 
// Scales the given shape as precisely as possible.
void Scale(PxGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    switch (geometry.getType()) {
        case PxGeometryType::eBOX:          Scale(static_cast<PxBoxGeometry&>(geometry), pose, scaling); break;
        case PxGeometryType::eSPHERE:       Scale(static_cast<PxSphereGeometry&>(geometry), pose, scaling); break;
        case PxGeometryType::ePLANE:        Scale(static_cast<PxPlaneGeometry&>(geometry), pose, scaling); break;
        case PxGeometryType::eCAPSULE:      Scale(static_cast<PxCapsuleGeometry&>(geometry), pose, scaling); break;
        case PxGeometryType::eCONVEXMESH:   Scale(static_cast<PxConvexMeshGeometry&>(geometry), pose, scaling); break;
        case PxGeometryType::eTRIANGLEMESH: Scale(static_cast<PxTriangleMeshGeometry&>(geometry), pose, scaling); break;
        default: break;
    }
}
 
// Scales the given shape as precisely as possible.
void Scale(PxBoxGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    // Shape-space approximation
    const PxMat33 scaleMat =
        PxMat33::createDiagonal(scaling) *
        PxMat33(pose.q);  // == (pose^-1 * scaling)^T
    geometry.halfExtents.x *= scaleMat.column0.magnitude();
    geometry.halfExtents.y *= scaleMat.column1.magnitude();
    geometry.halfExtents.z *= scaleMat.column2.magnitude();
 
    pose.p = pose.p.multiply(scaling);
}
 
// Scales the given shape as precisely as possible.
void Scale(PxSphereGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    // Omnidirectional approximation
    geometry.radius *= std::pow(std::abs(scaling.x * scaling.y * scaling.z), 1.0f / 3.0f);
 
    pose.p = pose.p.multiply(scaling);
}
 
// Scales the given shape as precisely as possible.
void Scale([[maybe_unused]] PxPlaneGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    pose.p = pose.p.multiply(scaling);
}
 
// Scales the given shape as precisely as possible.
void Scale(PxCapsuleGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    // Shape-space approximation
    const PxMat33 scaleMat =
        PxMat33::createDiagonal(scaling) *
        PxMat33(pose.q);  // == (pose^-1 * scaling)^T
    geometry.halfHeight *= scaleMat.column0.magnitude();
    // Bi-directional shape-space approximation
    geometry.radius *=
        Sqrt(scaleMat.column1.magnitude() * scaleMat.column2.magnitude());
 
    pose.p = pose.p.multiply(scaling);
}
 
// Scales the given shape as precisely as possible.
void Scale(PxConvexMeshGeometry& geometry, PxTransform& pose, const PxVec3& scaling) {
    // TODO: Remove WORKAROUND as soon as possible
 
    // Shape-space approximation
    const PxMat33 scaleMat =
        PxMat33::createDiagonal(scaling) *
        PxMat33(pose.q);  // == (pose^-1 * scaling)^T
    geometry.scale.scale.x *= scaleMat.column0.magnitude();
    geometry.scale.scale.y *= scaleMat.column1.magnitude();
    geometry.scale.scale.z *= scaleMat.column2.magnitude();
 
    /*    // MONITOR: only allows for one kind of scaling
        geometry.scale.rotation = pose.q.getConjugate();
        geometry.scale.scale = geometry.scale.scale.multiply(scaling);
    */
    pose.p = pose.p.multiply(scaling);
}
 
// Scales the given shape as precisely as possible.
void Scale(PxTriangleMeshGeometry&geometry, PxTransform&pose, const PxVec3&scaling) {
    // TODO: Remove WORKAROUND as soon as possible
 
    // Shape-space approximation
    const PxMat33 scaleMat =
        PxMat33::createDiagonal(scaling) *
        PxMat33(pose.q);  // == (pose^-1 * scaling)^T
    geometry.scale.scale.x *= scaleMat.column0.magnitude();
    geometry.scale.scale.y *= scaleMat.column1.magnitude();
    geometry.scale.scale.z *= scaleMat.column2.magnitude();
 
    /*    // MONITOR: only allows for one kind of scaling
        geometry.scale.rotation = pose.q.getConjugate();
        geometry.scale.scale = geometry.scale.scale.multiply(scaling);
    */
    pose.p = pose.p.multiply(scaling);
}
};