void AddConvexElemsToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
for (int32 i = 0; i < BodySetup->AggGeom.ConvexElems.Num(); i++)
{
const FKConvexElem& ConvexElem = BodySetup->AggGeom.ConvexElems[i];
if (ConvexElem.ConvexMesh)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
PxConvexMeshGeometry PConvexGeom;
PConvexGeom.convexMesh = bUseNegX ? ConvexElem.ConvexMeshNegX : ConvexElem.ConvexMesh;
PConvexGeom.scale.scale = U2PVector(Scale3DAbs * ConvexElem.GetTransform().GetScale3D().GetAbs());
FTransform ConvexTransform = ConvexElem.GetTransform();
if (ConvexTransform.GetScale3D().X < 0 || ConvexTransform.GetScale3D().Y < 0 || ConvexTransform.GetScale3D().Z < 0)
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has negative scale. Not currently supported"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
if (ConvexTransform.IsValid())
{
PxTransform PElementTransform = U2PTransform(ConvexTransform * RelativeTM);
PLocalPose.q *= PElementTransform.q;
PLocalPose.p = PElementTransform.p;
PLocalPose.p.x *= Scale3D.X;
PLocalPose.p.y *= Scale3D.Y;
PLocalPose.p.z *= Scale3D.Z;
if (PConvexGeom.isValid())
{
PxVec3 PBoundsExtents = PConvexGeom.convexMesh->getLocalBounds().getExtents();
ensure(PLocalPose.isValid());
{
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PBoundsExtents.minElement());
AttachShape_AssumesLocked(PConvexGeom, PLocalPose, ContactOffset);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] invalid"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has invalid transform"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: ConvexElem is missing ConvexMesh (%d: %s)"), i, *BodySetup->GetPathName());
}
}
}
void UBodySetup::AddTriMeshToRigidActor(PxRigidActor* PDestActor, const FVector& Scale3D, const FVector& Scale3DAbs) const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
PxMaterial* PDefaultMat = GetDefaultPhysMaterial();
if(TriMesh || TriMeshNegX)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
// Only case where TriMeshNegX should be null is BSP, which should not require negX version
if (bUseNegX && TriMeshNegX == NULL)
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: Want to use NegX but it doesn't exist! %s"), *GetPathName());
}
PxTriangleMesh* UseTriMesh = bUseNegX ? TriMeshNegX : TriMesh;
if (UseTriMesh != NULL)
{
PxTriangleMeshGeometry PTriMeshGeom;
PTriMeshGeom.triangleMesh = bUseNegX ? TriMeshNegX : TriMesh;
PTriMeshGeom.scale.scale = U2PVector(Scale3DAbs);
if (bDoubleSidedGeometry)
{
PTriMeshGeom.meshFlags |= PxMeshGeometryFlag::eDOUBLE_SIDED;
}
if (PTriMeshGeom.isValid())
{
ensure(PLocalPose.isValid());
// Create without 'sim shape' flag, problematic if it's kinematic, and it gets set later anyway.
PxShape* NewShape = PDestActor->createShape(PTriMeshGeom, *PDefaultMat, PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eVISUALIZATION);
if (NewShape)
{
NewShape->setLocalPose(PLocalPose);
NewShape->setContactOffset(MaxContactOffset);
}
else
{
UE_LOG(LogPhysics, Log, TEXT("Can't create new mesh shape in AddShapesToRigidActor"));
}
}
else
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: TriMesh invalid"));
}
}
}
}
void AddTriMeshToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
if (BodySetup->TriMesh || BodySetup->TriMeshNegX)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
// Only case where TriMeshNegX should be null is BSP, which should not require negX version
if (bUseNegX && BodySetup->TriMeshNegX == NULL)
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: Want to use NegX but it doesn't exist! %s"), *BodySetup->GetPathName());
}
PxTriangleMesh* UseTriMesh = bUseNegX ? BodySetup->TriMeshNegX : BodySetup->TriMesh;
if (UseTriMesh != NULL)
{
PxTriangleMeshGeometry PTriMeshGeom;
PTriMeshGeom.triangleMesh = bUseNegX ? BodySetup->TriMeshNegX : BodySetup->TriMesh;
PTriMeshGeom.scale.scale = U2PVector(Scale3DAbs);
if (BodySetup->bDoubleSidedGeometry)
{
PTriMeshGeom.meshFlags |= PxMeshGeometryFlag::eDOUBLE_SIDED;
}
if (PTriMeshGeom.isValid())
{
ensure(PLocalPose.isValid());
// Create without 'sim shape' flag, problematic if it's kinematic, and it gets set later anyway.
{
if (!AttachShape_AssumesLocked(PTriMeshGeom, PLocalPose, MaxContactOffset, PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eVISUALIZATION))
{
UE_LOG(LogPhysics, Log, TEXT("Can't create new mesh shape in AddShapesToRigidActor"));
}
}
}
else
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: TriMesh invalid"));
}
}
}
}
void UBodySetup::AddConvexElemsToRigidActor(PxRigidActor* PDestActor, const FTransform& RelativeTM, const FVector& Scale3D, const FVector& Scale3DAbs, TArray<PxShape*>* NewShapes) const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
PxMaterial* PDefaultMat = GetDefaultPhysMaterial();
for (int32 i = 0; i < AggGeom.ConvexElems.Num(); i++)
{
const FKConvexElem& ConvexElem = AggGeom.ConvexElems[i];
if (ConvexElem.ConvexMesh)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
PxConvexMeshGeometry PConvexGeom;
PConvexGeom.convexMesh = bUseNegX ? ConvexElem.ConvexMeshNegX : ConvexElem.ConvexMesh;
PConvexGeom.scale.scale = U2PVector(Scale3DAbs * ConvexElem.GetTransform().GetScale3D().GetAbs());
FTransform ConvexTransform = ConvexElem.GetTransform();
if (ConvexTransform.GetScale3D().X < 0 || ConvexTransform.GetScale3D().Y < 0 || ConvexTransform.GetScale3D().Z < 0)
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has negative scale. Not currently supported"), *GetPathNameSafe(GetOuter()), i);
}
if (ConvexTransform.IsValid())
{
PxTransform PElementTransform = U2PTransform(ConvexTransform * RelativeTM);
PLocalPose.q *= PElementTransform.q;
PLocalPose.p = PElementTransform.p;
PLocalPose.p.x *= Scale3D.X;
PLocalPose.p.y *= Scale3D.Y;
PLocalPose.p.z *= Scale3D.Z;
if (PConvexGeom.isValid())
{
PxVec3 PBoundsExtents = PConvexGeom.convexMesh->getLocalBounds().getExtents();
ensure(PLocalPose.isValid());
PxShape* NewShape = PDestActor->createShape(PConvexGeom, *PDefaultMat, PLocalPose);
if (NewShapes)
{
NewShapes->Add(NewShape);
}
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PBoundsExtents.minElement());
NewShape->setContactOffset(ContactOffset);
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] invalid"), *GetPathNameSafe(GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has invalid transform"), *GetPathNameSafe(GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: ConvexElem is missing ConvexMesh (%d: %s)"), i, *GetPathName());
}
}
}
