PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk,
const PxTransform& transform,
PxShape& shape,
PxReal density)
{
PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateKinematic: transform is not valid.");
bool isDynGeom = isDynamicGeometry(shape.getGeometryType());
if(isDynGeom && density <= 0.0f)
return NULL;
PxRigidDynamic* actor = sdk.createRigidDynamic(transform);
if(actor)
{
actor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
if(!isDynGeom)
shape.setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
actor->attachShape(shape);
if(isDynGeom)
PxRigidBodyExt::updateMassAndInertia(*actor, density);
else
{
actor->setMass(1.f);
actor->setMassSpaceInertiaTensor(PxVec3(1.f,1.f,1.f));
}
}
return actor;
}
BpRigidDynamic* BpCreateDynamic(BpPhysicsCore& core, const BpMat4x4& transform, const BpMat4x4& relativeTransform, const BpGeometry& geometry, BpMaterial& material, f32 density)
{
if (!transform.IsValid())
{
BP_ERROR("BpCreateDynamic: Transform is not Valid");
}
if (!relativeTransform.IsValid())
{
BP_ERROR("BpCreateDynamic: Realtive Transform is not Valid");
}
if (!isDynamicGeometry(geometry.GetType()))
{
return nullptr;
}
BpShape* shape = core.CreateShape(geometry, material);
if (!shape)
{
return nullptr;
}
shape->SetLocalPose(relativeTransform);
BpRigidDynamic* body = BpCreateDynamic(core, transform, *shape, density);
BP_SAFE_DELETE(shape);
return body;
}
PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
const PxTransform& transform,
const PxGeometry& geometry,
PxMaterial& material,
PxReal density,
const PxTransform& shapeOffset)
{
PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateDynamic: transform is not valid.");
PX_CHECK_AND_RETURN_NULL(shapeOffset.isValid(), "PxCreateDynamic: shapeOffset is not valid.");
if(!isDynamicGeometry(geometry.getType()) || density <= 0.0f)
return NULL;
PxShape* shape = sdk.createShape(geometry, material, true);
if(!shape)
return NULL;
shape->setLocalPose(shapeOffset);
PxRigidDynamic* body = shape ? PxCreateDynamic(sdk, transform, *shape, density) : NULL;
shape->release();
return body;
}
