void PhysX3::ApplyActionAtPoint(PintObjectHandle handle, PintActionType action_type, const Point& action, const Point& pos)
{
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(!RigidActor)
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
#ifdef SUPPORT_SHARED_SHAPES
RigidActor = Shape->getActor();
#else
RigidActor = &Shape->getActor();
#endif
}
if(RigidActor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
{
PxRigidDynamic* RigidDynamic = static_cast<PxRigidDynamic*>(RigidActor);
if(!(RigidDynamic->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC))
{
PxForceMode::Enum mode;
if(action_type==PINT_ACTION_FORCE)
mode = PxForceMode::eFORCE;
else if(action_type==PINT_ACTION_IMPULSE)
mode = PxForceMode::eIMPULSE;
else ASSERT(0);
PxRigidBodyExt::addForceAtPos(*RigidDynamic, ToPxVec3(action), ToPxVec3(pos), mode);
}
}
}
void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
PX_CHECK_AND_RETURN(scale > 0,
"PxScaleRigidActor requires that the scale parameter is greater than zero");
Ps::InlineArray<PxShape*, 64> shapes;
shapes.resize(actor.getNbShapes());
actor.getShapes(shapes.begin(), shapes.size());
for(PxU32 i=0;i<shapes.size();i++)
{
shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));
PxGeometryHolder h = shapes[i]->getGeometry();
switch(h.getType())
{
case PxGeometryType::eSPHERE:
h.sphere().radius *= scale;
break;
case PxGeometryType::ePLANE:
break;
case PxGeometryType::eCAPSULE:
h.capsule().halfHeight *= scale;
h.capsule().radius *= scale;
break;
case PxGeometryType::eBOX:
h.box().halfExtents *= scale;
break;
case PxGeometryType::eCONVEXMESH:
h.convexMesh().scale.scale *= scale;
break;
case PxGeometryType::eTRIANGLEMESH:
h.triangleMesh().scale.scale *= scale;
break;
case PxGeometryType::eHEIGHTFIELD:
h.heightField().heightScale *= scale;
h.heightField().rowScale *= scale;
h.heightField().columnScale *= scale;
break;
case PxGeometryType::eINVALID:
case PxGeometryType::eGEOMETRY_COUNT:
default:
PX_ASSERT(0);
}
shapes[i]->setGeometry(h.any());
}
if(!scaleMassProps)
return;
PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
if(!dynamic)
return;
PxReal scale3 = scale*scale*scale;
dynamic->setMass(dynamic->getMass()*scale3);
dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
void PhysXInterface::setMatrix( int id, const osg::Matrix& matrix )
{
PxReal d[16];
for ( int i=0; i<16; ++i ) d[i] = *(matrix.ptr() + i);
PxRigidActor* actor = _actors[id];
if ( actor ) actor->setGlobalPose( PxTransform(PxMat44(d)) );
}
int RayCastManagerImpl::CastSweep(const XMFLOAT3& p_origin, XMFLOAT3& p_direction, float p_width, const float& p_range, int& o_flag)
{
if(p_range <= 0.0f)
{
cout << "Physcs. Raytracer. Sweep. Range of sweep was zero or below" << endl;
return -1;
}
// Cast directx things to physx
PxVec3 origin = PxVec3(p_origin.x, p_origin.y, p_origin.z);
PxVec3 direction = PxVec3(p_direction.x, p_direction.y, p_direction.z);
direction.normalize();
PxSweepBuffer hit; // Used to save the hit
/// Paramters for the sweep
// PxGeometry* geometry
bool status = m_utils.m_worldScene->sweep(PxSphereGeometry(p_width), PxTransform(origin), direction, p_range, hit, PxHitFlag::eMESH_BOTH_SIDES);
// hit.block.position;
if(!status && !hit.hasBlock)
{
// No hit detected, return -1 TODOKO Maybee i should return something better?
return -1;
}
// Start with checking static and dynamic rigid bodies
unordered_map<PxRigidActor*, int> idsByRigidBody = m_utils.m_rigidBodyManager->GetIDsByBodies();
if(idsByRigidBody.find(hit.block.actor) != idsByRigidBody.end())
{
PxRigidActor* actorAsRigic = (PxRigidActor*)hit.block.actor;
if(actorAsRigic->isRigidDynamic())
{
PxRigidDynamic* actorsAsDynamic = (PxRigidDynamic*)hit.block.actor;
if(actorsAsDynamic->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
{
o_flag = 0;
}
}
else if(actorAsRigic->isRigidStatic())
{
o_flag = 3;
}
return idsByRigidBody.find(hit.block.actor)->second;
}
else
{
// Nothing
}
// Now comes the difficult task of checking vs character controllers
unordered_map<PxController*, int> idsByCharacterController = m_utils.m_characterControlManager->GetIdsByControllers();
for(auto pairs : idsByCharacterController) // Loop through every pair in the list
{
if(pairs.first->getActor() == hit.block.actor) // The first part contains the actor pointer
{
o_flag = 1;
return pairs.second; // If this is true we found a hit vs character controller, second contains ID
}
}
return -1;
}
void physx::PxSetGroupsMask(const PxRigidActor& actor, const PxGroupsMask& mask)
{
PxFilterData tmp;
PxFilterData fd = convert(mask);
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
void physx::PxSetGroup(const PxRigidActor& actor, const PxU16 collisionGroup)
{
PX_CHECK_AND_RETURN(collisionGroup < 32,"Collision group must be less than 32");
PxFilterData fd;
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group mask
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
void
PhysXRigidManager::move(std::string scene, float * transform) {
if (rigidBodies.find(scene) != rigidBodies.end()) {
PxRigidActor * actor = rigidBodies[scene].info.actor->is<PxRigidActor>();
if (actor) {
rigidBodies[scene].info.extInfo.transform = transform;
actor->setGlobalPose(PxTransform(PxMat44(transform)));
}
}
}
PxGroupsMask physx::PxGetGroupsMask(const PxRigidActor& actor)
{
PX_CHECK_AND_RETURN_VAL(actor.getNbShapes() >= 1,"At least one shape must be in actor",PxGroupsMask());
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
PxFilterData fd = shape->getSimulationFilterData();
return convert(fd);
}
PxU16 physx::PxGetGroup(const PxRigidActor& actor)
{
PX_CHECK_AND_RETURN_NULL(actor.getNbShapes() >= 1,"There must be a shape in actor");
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
PxFilterData fd = shape->getSimulationFilterData();
return (PxU16)fd.word0;
}
PxExtendedVec3 SampleNorthPoleCameraController::computeCameraTarget()
{
PxRigidActor* characterActor = mCCT.getActor();
PxShape* shape;
characterActor->getShapes(&shape,1);
PxCapsuleGeometry geom;
shape->getCapsuleGeometry(geom);
const PxExtendedVec3 headPos = PxExtendedVec3(0,geom.halfHeight+geom.radius,0);
return mCCT.getPosition() + headPos;
}
osg::Matrix PhysXInterface::getMatrix( int id )
{
PxRigidActor* actor = _actors[id];
if ( actor )
{
float m[16];
PxMat44 pxMat( actor->getGlobalPose() );
for ( int i=0; i<16; ++i ) m[i] = *(pxMat.front() + i);
return osg::Matrix(&m[0]);
}
return osg::Matrix();
}
void PhysXHeightfield::InitHeightfield(PxPhysics* physics, PxScene* scene, const char* filename)
{
float xScale = 0.0025f;
float yScale = 0.0025f;
float zScale = 10.00f;
// NOTE: Assuming that heightfield texture has B8G8R8A8 format.
if(LoadHeightfield(filename))
{
PxU16 nbColumns = PxU16(mHeightfield.width);
PxU16 nbRows = PxU16(mHeightfield.height);
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.format = PxHeightFieldFormat::eS16_TM;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
heightFieldDesc.samples.data = mHeightfield.data;
heightFieldDesc.samples.stride = sizeof(PxHeightFieldSample);
//heightFieldDesc.convexEdgeThreshold = 0;
PxHeightField* heightField = physics->createHeightField(heightFieldDesc);
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*yScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*xScale) / 2.0f),
PxQuat::createIdentity());
// PxTransform pose = PxTransform::createIdentity();
pose.p = PxVec3(-((nbColumns/2)*xScale),0.0,-((nbColumns/2)*xScale));
PxRigidActor* hf = physics->createRigidStatic(pose);
if(!hf)
return;
const PxMaterial* mMat = physics->createMaterial(0.9f, 0.9f, 0.001f);
//PxShape* shape = hf->createShape((PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), yScale, xScale, xScale)), *mMat);
//PxHeightFieldGeometry hfGeom(heightField, PxMeshGeometryFlags(), heightScale, rowScale, colScale);
//PxShape* aHeightFieldShape = aHeightFieldActor->createShape(hfGeom, aMaterialArray, nbMaterials);
PxHeightFieldGeometry hfGeom(heightField, PxMeshGeometryFlags(), yScale, xScale, xScale);
PxShape* hfShape = hf->createShape(hfGeom, *mMat);
if(!hfShape)
return;
//shape->setFlag(PxShapeFlag::ePARTICLE_DRAIN, false);
//shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
//shape->setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS, true);
// add actor to the scene
scene->addActor(*hf);
}
}
bool Picking::pick(int x, int y)
{
PxScene& scene = mFrame.getActiveScene();
PxVec3 rayOrig, rayDir, pickOrig;
computeCameraRay(rayOrig, rayDir, pickOrig, x, y);
// raycast rigid bodies in scene
PxRaycastHit hit; hit.shape = NULL;
PxRaycastBuffer hit1;
scene.raycast(rayOrig, rayDir, PX_MAX_F32, hit1, PxHitFlag::ePOSITION);
hit = hit1.block;
if(hit.shape)
{
const char* shapeName = hit.shape->getName();
if(shapeName)
printf("Picked shape name: %s\n", shapeName);
PxRigidActor* actor = hit.actor;
PX_ASSERT(actor);
mSelectedActor = static_cast<PxRigidActor*>(actor->is<PxRigidDynamic>());
if(!mSelectedActor)
mSelectedActor = static_cast<PxRigidActor*>(actor->is<PxArticulationLink>());
//ML::this is very useful to debug some collision problem
PxTransform t = actor->getGlobalPose();
// printf("id = %i\n PxTransform transform(PxVec3(%f, %f, %f), PxQuat(%f, %f, %f, %f))\n", (int)actor->userData, t.p.x, t.p.y, t.p.z, t.q.x, t.q.y, t.q.z, t.q.w);
}
else
{
mSelectedActor = 0;
}
if(mSelectedActor)
{
printf("Actor '%s' picked! (userData: %p)\n", mSelectedActor->getName(), mSelectedActor->userData);
//if its a dynamic rigid body, joint it for dragging purposes:
grabActor(hit.position, rayOrig);
}
#ifdef VISUALIZE_PICKING_RAYS
Ray ray;
ray.origin = rayOrig;
ray.dir = rayDir;
mRays.push_back(ray);
#endif
return true;
}
void Picking::grabActor(const PxVec3& worldImpact, const PxVec3& rayOrigin)
{
if(!mSelectedActor
|| (mSelectedActor->getType() != PxActorType::eRIGID_DYNAMIC
&& mSelectedActor->getType() != PxActorType::eARTICULATION_LINK))
return;
PxScene& scene = mFrame.getActiveScene();
PxPhysics& physics = scene.getPhysics();
//create a shape less actor for the mouse
{
mMouseActor = physics.createRigidDynamic(PxTransform(worldImpact, PxQuat::createIdentity()));
mMouseActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
mMouseActor->setMass(1.0f);
mMouseActor->setMassSpaceInertiaTensor(PxVec3(1.0f, 1.0f, 1.0f));
scene.addActor(*mMouseActor);
mFrame.addPhysicsActors(mMouseActor);
}
PxRigidActor* pickedActor = static_cast<PxRigidActor*>(mSelectedActor);
#if USE_D6_JOINT_FOR_MOUSE
mMouseJoint = PxD6JointCreate( physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
#elif USE_SPHERICAL_JOINT_FOR_MOUSE
mMouseJoint = PxSphericalJointCreate(physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
#else
mMouseJoint = PxDistanceJointCreate(physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
mMouseJoint->setMaxDistance(0.0f);
mMouseJoint->setMinDistance(0.0f);
mMouseJoint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED);
#endif
mDistanceToPicked = (worldImpact - rayOrigin).magnitude();
}
void PhysX::AddWorldImpulseAtWorldPos(PintObjectHandle handle, const Point& world_impulse, const Point& world_pos)
{
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(!RigidActor)
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
RigidActor = &Shape->getActor();
}
if(RigidActor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
{
PxRigidDynamic* RigidDynamic = static_cast<PxRigidDynamic*>(RigidActor);
PxRigidBodyExt::addForceAtPos(*RigidDynamic, ToPxVec3(world_impulse), ToPxVec3(world_pos), PxForceMode::eIMPULSE);
}
}
void PhysX::AddLocalTorque(PintObjectHandle handle, const Point& local_torque)
{
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(!RigidActor)
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
RigidActor = &Shape->getActor();
}
if(RigidActor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
{
PxRigidDynamic* RigidDynamic = static_cast<PxRigidDynamic*>(RigidActor);
const PxVec3 GlobalTorque = RigidDynamic->getGlobalPose().rotate(ToPxVec3(local_torque));
RigidDynamic->addTorque(GlobalTorque, PxForceMode::eACCELERATION, true);
}
}
void TCompCharacterController::SetFilterData(PxFilterData& filter)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
m_filter = filter;
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
PxBounds3 NpShapeManager::getWorldBounds(const PxRigidActor& actor) const
{
PxBounds3 bounds(PxBounds3::empty());
const PxU32 nbShapes = getNbShapes();
PxTransform actorPose = actor.getGlobalPose();
NpShape*const* PX_RESTRICT shapes = getShapes();
for(PxU32 i=0;i<nbShapes;i++)
bounds.include(Gu::computeBounds(shapes[i]->getScbShape().getGeometry(), actorPose * shapes[i]->getLocalPoseFast(), !physx::gUnifiedHeightfieldCollision));
return bounds;
}
bool CreateGeometryFromPhysxActor(PxActor *a, LevelGeometry::Mesh &mesh)
{
bool rv = false;
if (!a)
return rv;
PxRigidActor *ra = a->isRigidActor();
if (!ra)
return rv;
GameObject* gameObj = NULL;
PhysicsCallbackObject* userData = static_cast<PhysicsCallbackObject*>(ra->userData);
if(userData) gameObj = userData->isGameObject();
r3dCSHolder block(g_pPhysicsWorld->GetConcurrencyGuard());
PxU32 nbShapes = ra->getNbShapes();
for (PxU32 i = 0; i < nbShapes; ++i)
{
PxShape *s = 0;
ra->getShapes(&s, 1, i);
PxGeometryType::Enum gt = s->getGeometryType();
switch(gt)
{
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry g;
s->getTriangleMeshGeometry(g);
PxTransform t = s->getLocalPose().transform(ra->getGlobalPose());
rv = CreateGeometryFromPhysxGeometry(g, t, mesh);
break;
}
default:
r3dArtBug("buildNavigation: Unsupported physx mesh type %d, obj: %s\n", gt, gameObj ? gameObj->Name.c_str() : "<unknown>");
}
}
return rv;
}
PR PhysX3::GetWorldTransform(PintObjectHandle handle)
{
PxTransform Pose;
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(RigidActor)
{
Pose = RigidActor->getGlobalPose();
}
else
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
#ifdef SUPPORT_SHARED_SHAPES
ASSERT(Shape->getActor());
Pose = PxShapeExt::getGlobalPose(*Shape, *Shape->getActor());
#else
Pose = PxShapeExt::getGlobalPose(*Shape);
#endif
}
return PR(ToPoint(Pose.p), ToQuat(Pose.q));
}
void TCompCharacterController::SetCollisions(bool new_collisions)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
if (!new_collisions) {
m_filter.word1 &= ~ItLightensFilter::eCOLLISION;
m_filter.word1 &= ~ItLightensFilter::eCAN_TRIGGER; //for test only
}
else {
m_filter.word1 |= ItLightensFilter::eCOLLISION;
m_filter.word1 |= ItLightensFilter::eCAN_TRIGGER; //for test only
}
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
void NpShapeManager::setupAllSceneQuery(NpScene* scene, const PxRigidActor& actor, bool hasPrunerStructure, const PxBounds3* bounds)
{
PX_ASSERT(scene); // shouldn't get here unless we're in a scene
SceneQueryManager& sqManager = scene->getSceneQueryManagerFast();
const PxU32 nbShapes = getNbShapes();
NpShape*const *shapes = getShapes();
const PxType actorType = actor.getConcreteType();
const bool isDynamic = actorType == PxConcreteType::eRIGID_DYNAMIC || actorType == PxConcreteType::eARTICULATION_LINK;
for(PxU32 i=0;i<nbShapes;i++)
{
if(isSceneQuery(*shapes[i]))
setPrunerData(i, sqManager.addPrunerShape(*shapes[i], actor, isDynamic, bounds ? bounds + i : NULL, hasPrunerStructure));
}
}
void NpShapeManager::visualize(Cm::RenderOutput& out, NpScene* scene, const PxRigidActor& actor)
{
const PxU32 nbShapes = getNbShapes();
NpShape*const* PX_RESTRICT shapes = getShapes();
PxTransform actorPose = actor.getGlobalPose();
const bool visualizeCompounds = (nbShapes>1) && scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS)!=0.0f;
PxBounds3 compoundBounds(PxBounds3::empty());
for(PxU32 i=0;i<nbShapes;i++)
{
Scb::Shape& shape = shapes[i]->getScbShape();
if(shape.getFlags() & PxShapeFlag::eVISUALIZATION)
{
shapes[i]->visualize(out, actor);
if(visualizeCompounds)
compoundBounds.include(Gu::computeBounds(shape.getGeometry(), actorPose*shapes[i]->getLocalPose(), !physx::gUnifiedHeightfieldCollision));
}
}
if(visualizeCompounds && !compoundBounds.isEmpty())
out << PxU32(PxDebugColor::eARGB_MAGENTA) << PxMat44(PxIdentity) << Cm::DebugBox(compoundBounds);
}
void USkeletalMeshComponent::UpdateKinematicBonesToAnim(const TArray<FTransform>& InSpaceBases, ETeleportType Teleport, bool bNeedsSkinning, EAllowKinematicDeferral DeferralAllowed)
{
SCOPE_CYCLE_COUNTER(STAT_UpdateRBBones);
// This below code produces some interesting result here
// - below codes update physics data, so if you don't update pose, the physics won't have the right result
// - but if we just update physics bone without update current pose, it will have stale data
// If desired, pass the animation data to the physics joints so they can be used by motors.
// See if we are going to need to update kinematics
const bool bUpdateKinematics = (KinematicBonesUpdateType != EKinematicBonesUpdateToPhysics::SkipAllBones);
const bool bTeleport = Teleport == ETeleportType::TeleportPhysics;
// If desired, update physics bodies associated with skeletal mesh component to match.
if(!bUpdateKinematics && !(bTeleport && IsAnySimulatingPhysics()))
{
// nothing to do
return;
}
// Get the scene, and do nothing if we can't get one.
FPhysScene* PhysScene = nullptr;
if (GetWorld() != nullptr)
{
PhysScene = GetWorld()->GetPhysicsScene();
}
if(PhysScene == nullptr)
{
return;
}
const FTransform& CurrentLocalToWorld = ComponentToWorld;
// Gracefully handle NaN
if(CurrentLocalToWorld.ContainsNaN())
{
return;
}
// If we are only using bodies for physics, don't need to move them right away, can defer until simulation (unless told not to)
if(BodyInstance.GetCollisionEnabled() == ECollisionEnabled::PhysicsOnly && DeferralAllowed == EAllowKinematicDeferral::AllowDeferral)
{
PhysScene->MarkForPreSimKinematicUpdate(this, Teleport, bNeedsSkinning);
return;
}
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
// If desired, draw the skeleton at the point where we pass it to the physics.
if (bShowPrePhysBones && SkeletalMesh && InSpaceBases.Num() == SkeletalMesh->RefSkeleton.GetNum())
{
for (int32 i = 1; i<InSpaceBases.Num(); i++)
{
FVector ThisPos = CurrentLocalToWorld.TransformPosition(InSpaceBases[i].GetLocation());
int32 ParentIndex = SkeletalMesh->RefSkeleton.GetParentIndex(i);
FVector ParentPos = CurrentLocalToWorld.TransformPosition(InSpaceBases[ParentIndex].GetLocation());
GetWorld()->LineBatcher->DrawLine(ThisPos, ParentPos, AnimSkelDrawColor, SDPG_Foreground);
}
}
#endif
// warn if it has non-uniform scale
const FVector& MeshScale3D = CurrentLocalToWorld.GetScale3D();
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if( !MeshScale3D.IsUniform() )
{
UE_LOG(LogPhysics, Log, TEXT("USkeletalMeshComponent::UpdateKinematicBonesToAnim : Non-uniform scale factor (%s) can cause physics to mismatch for %s SkelMesh: %s"), *MeshScale3D.ToString(), *GetFullName(), SkeletalMesh ? *SkeletalMesh->GetFullName() : TEXT("NULL"));
}
#endif
if (bEnablePerPolyCollision == false)
{
const UPhysicsAsset* const PhysicsAsset = GetPhysicsAsset();
if (PhysicsAsset && SkeletalMesh && Bodies.Num() > 0)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (!ensure(PhysicsAsset->BodySetup.Num() == Bodies.Num()))
{
// related to TTP 280315
UE_LOG(LogPhysics, Warning, TEXT("Mesh (%s) has PhysicsAsset(%s), and BodySetup(%d) and Bodies(%d) don't match"),
*SkeletalMesh->GetName(), *PhysicsAsset->GetName(), PhysicsAsset->BodySetup.Num(), Bodies.Num());
return;
}
#endif
#if WITH_PHYSX
// Lock the scenes we need (flags set in InitArticulated)
if(bHasBodiesInSyncScene)
{
SCENE_LOCK_WRITE(PhysScene->GetPhysXScene(PST_Sync))
}
if (bHasBodiesInAsyncScene)
{
SCENE_LOCK_WRITE(PhysScene->GetPhysXScene(PST_Async))
}
#endif
// Iterate over each body
for (int32 i = 0; i < Bodies.Num(); i++)
{
// If we have a physics body, and its kinematic...
FBodyInstance* BodyInst = Bodies[i];
check(BodyInst);
if (BodyInst->IsValidBodyInstance() && (bTeleport || !BodyInst->IsInstanceSimulatingPhysics()))
{
const int32 BoneIndex = BodyInst->InstanceBoneIndex;
// If we could not find it - warn.
if (BoneIndex == INDEX_NONE || BoneIndex >= GetNumSpaceBases())
{
const FName BodyName = PhysicsAsset->BodySetup[i]->BoneName;
UE_LOG(LogPhysics, Log, TEXT("UpdateRBBones: WARNING: Failed to find bone '%s' need by PhysicsAsset '%s' in SkeletalMesh '%s'."), *BodyName.ToString(), *PhysicsAsset->GetName(), *SkeletalMesh->GetName());
}
else
{
#if WITH_PHYSX
// update bone transform to world
const FTransform BoneTransform = InSpaceBases[BoneIndex] * CurrentLocalToWorld;
if(!BoneTransform.IsValid())
{
const FName BodyName = PhysicsAsset->BodySetup[i]->BoneName;
UE_LOG(LogPhysics, Warning, TEXT("UpdateKinematicBonesToAnim: Trying to set transform with bad data %s on PhysicsAsset '%s' in SkeletalMesh '%s' for bone '%s'"), *BoneTransform.ToHumanReadableString(), *PhysicsAsset->GetName(), *SkeletalMesh->GetName(), *BodyName.ToString());
BoneTransform.DiagnosticCheck_IsValid(); //In special nan mode we want to actually ensure
continue;
}
// If kinematic and not teleporting, set kinematic target
if (!BodyInst->IsInstanceSimulatingPhysics() && !bTeleport)
{
PhysScene->SetKinematicTarget_AssumesLocked(BodyInst, BoneTransform, true);
}
// Otherwise, set global pose
else
{
const PxTransform PNewPose = U2PTransform(BoneTransform);
ensure(PNewPose.isValid());
PxRigidActor* RigidActor = BodyInst->GetPxRigidActor_AssumesLocked(); // This should never fail because IsValidBodyInstance() passed above
RigidActor->setGlobalPose(PNewPose);
}
#endif
// now update scale
// if uniform, we'll use BoneTranform
if (MeshScale3D.IsUniform())
{
// @todo UE4 should we update scale when it's simulated?
BodyInst->UpdateBodyScale(BoneTransform.GetScale3D());
}
else
{
// @note When you have non-uniform scale on mesh base,
// hierarchical bone transform can update scale too often causing performance issue
// So we just use mesh scale for all bodies when non-uniform
// This means physics representation won't be accurate, but
// it is performance friendly by preventing too frequent physics update
BodyInst->UpdateBodyScale(MeshScale3D);
}
}
}
else
{
//make sure you have physics weight or blendphysics on, otherwise, you'll have inconsistent representation of bodies
// @todo make this to be kismet log? But can be too intrusive
if (!bBlendPhysics && BodyInst->PhysicsBlendWeight <= 0.f && BodyInst->BodySetup.IsValid())
{
//It's not clear whether this should be a warning. There are certainly cases where you interpolate the blend weight towards 0. The blend feature needs some work which will probably change this in the future.
//Making it Verbose for now
UE_LOG(LogPhysics, Verbose, TEXT("%s(Mesh %s, PhysicsAsset %s, Bone %s) is simulating, but no blending. "),
*GetName(), *GetNameSafe(SkeletalMesh), *GetNameSafe(PhysicsAsset), *BodyInst->BodySetup.Get()->BoneName.ToString());
}
}
}
#if WITH_PHYSX
// Unlock the scenes
if (bHasBodiesInSyncScene)
{
SCENE_UNLOCK_WRITE(PhysScene->GetPhysXScene(PST_Sync))
}
if (bHasBodiesInAsyncScene)
{
SCENE_UNLOCK_WRITE(PhysScene->GetPhysXScene(PST_Async))
}
#endif
}
}
else
{
//per poly update requires us to update all vertex positions
if (MeshObject)
bool copyStaticProperties(PxRigidActor& to, const PxRigidActor& from,NxMirrorScene::MirrorFilter &mirrorFilter)
{
physx::shdfnd::InlineArray<PxShape*, 64> shapes;
shapes.resize(from.getNbShapes());
PxU32 shapeCount = from.getNbShapes();
from.getShapes(shapes.begin(), shapeCount);
physx::shdfnd::InlineArray<PxMaterial*, 64> materials;
for(PxU32 i = 0; i < shapeCount; i++)
{
PxShape* s = shapes[i];
if ( mirrorFilter.shouldMirror(*s) )
{
PxU32 materialCount = s->getNbMaterials();
materials.resize(materialCount);
s->getMaterials(materials.begin(), materialCount);
PxShape* shape = to.createShape(s->getGeometry().any(), materials.begin(), static_cast<physx::PxU16>(materialCount));
shape->setLocalPose( s->getLocalPose());
shape->setContactOffset(s->getContactOffset());
shape->setRestOffset(s->getRestOffset());
shape->setFlags(s->getFlags());
shape->setSimulationFilterData(s->getSimulationFilterData());
shape->setQueryFilterData(s->getQueryFilterData());
mirrorFilter.reviseMirrorShape(*shape);
}
}
to.setActorFlags(from.getActorFlags());
to.setOwnerClient(from.getOwnerClient());
to.setDominanceGroup(from.getDominanceGroup());
if ( to.getNbShapes() )
{
mirrorFilter.reviseMirrorActor(to);
}
return to.getNbShapes() != 0;
}
bool UWorld::ComponentSweepMulti(TArray<struct FHitResult>& OutHits, class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
if(GetPhysicsScene() == NULL)
{
return false;
}
if(PrimComp == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : No PrimComp"));
return false;
}
// if target is skeletalmeshcomponent and do not support singlebody physics
if ( !PrimComp->ShouldTrackOverlaps() )
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
return false;
}
ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
#if WITH_PHYSX
// if extent is 0, do line trace
if (PrimComp->IsZeroExtent())
{
return RaycastMulti(this, OutHits, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
}
PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
if(PRigidActor == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetPathName());
return false;
}
PxScene * const PScene = PRigidActor->getScene();
OutHits.Empty();
// Get all the shapes from the actor
TArray<PxShape*, TInlineAllocator<8>> PShapes;
{
SCOPED_SCENE_READ_LOCK(PScene);
PShapes.AddZeroed(PRigidActor->getNbShapes());
PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());
}
// calculate the test global pose of the actor
PxTransform PGlobalStartPose = U2PTransform(FTransform(Start));
PxTransform PGlobalEndPose = U2PTransform(FTransform(End));
bool bHaveBlockingHit = false;
PxQuat PGeomRot = U2PQuat(Rot.Quaternion());
// Iterate over each shape
SCENE_LOCK_READ(PScene);
for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
{
PxShape* PShape = PShapes[ShapeIdx];
check(PShape);
TArray<struct FHitResult> Hits;
// Calc shape global pose
PxTransform PLocalShape = PShape->getLocalPose();
PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
// consider localshape rotation for shape rotation
PxQuat PShapeRot = PGeomRot * PLocalShape.q;
GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);
if(PGeom != NULL)
{
SCENE_UNLOCK_READ(PScene);
if (GeomSweepMulti(this, *PGeom, PShapeRot, Hits, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
{
bHaveBlockingHit = true;
}
OutHits.Append(Hits);
SCENE_LOCK_READ(PScene);
}
}
SCENE_UNLOCK_READ(PScene);
return bHaveBlockingHit;
#endif //WITH_PHYSX
return false;
}
PxRigidActor* SampleSubmarine::loadTerrain(const char* name, const PxReal heightScale, const PxReal rowScale, const PxReal columnScale)
{
PxRigidActor* heightFieldActor = NULL;
BmpLoader loader;
if(loader.loadBmp(getSampleMediaFilename(name)))
{
PxU16 nbColumns = PxU16(loader.mWidth), nbRows = PxU16(loader.mHeight);
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
PxU32* samplesData = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*nbColumns * nbRows);
heightFieldDesc.samples.data = samplesData;
heightFieldDesc.samples.stride = sizeof(PxU32);
PxU8* currentByte = (PxU8*)heightFieldDesc.samples.data;
PxU8* loader_ptr = loader.mRGB;
PxVec3Alloc* vertexesA = SAMPLE_NEW(PxVec3Alloc)[nbRows * nbColumns];
PxF32* uvs = (PxF32*)SAMPLE_ALLOC(sizeof(PxF32) * nbRows * nbColumns * 2);
PxVec3* vertexes = vertexesA;
for (PxU32 row = 0; row < nbRows; row++)
{
for (PxU32 column = 0; column < nbColumns; column++)
{
PxHeightFieldSample* currentSample = (PxHeightFieldSample*)currentByte;
currentSample->height = *loader_ptr;
vertexes[row * nbColumns + column] = PxVec3(PxReal(row)*rowScale,
PxReal(currentSample->height * heightScale),
PxReal(column)*columnScale);
uvs[(row * nbColumns + column)*2 + 0] = (float)column/7.0f;
uvs[(row * nbColumns + column)*2 + 1] = (float)row/7.0f;
currentSample->materialIndex0 = 0;
currentSample->materialIndex1 = 0;
currentSample->clearTessFlag();
currentByte += heightFieldDesc.samples.stride;
loader_ptr += 3 * sizeof(PxU8);
}
}
PxHeightField* heightField = getPhysics().createHeightField(heightFieldDesc);
if(!heightField) fatalError("createHeightField failed!");
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*rowScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*columnScale) / 2.0f),
PxQuat::createIdentity());
heightFieldActor = getPhysics().createRigidStatic(pose);
if(!heightFieldActor) fatalError("createRigidStatic failed!");
PxShape* shape = heightFieldActor->createShape(PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), heightScale, rowScale, columnScale), getDefaultMaterial());
if(!shape) fatalError("createShape failed!");
// add actor to the scene
getActiveScene().addActor(*heightFieldActor);
// create indices
PxU32* indices = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*((nbColumns - 1) * (nbRows - 1) * 3 * 2));
for(int i = 0; i < (nbColumns - 1); ++i)
{
for(int j = 0; j < (nbRows - 1); ++j)
{
// first triangle
indices[6 * (i * (nbRows - 1) + j) + 0] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 1] = i * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 2] = i * nbRows + j + 1;
// second triangle
indices[6 * (i * (nbRows - 1) + j) + 3] = (i + 1) * nbRows + j + 1;
indices[6 * (i * (nbRows - 1) + j) + 4] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 5] = i * nbRows + j + 1;
}
}
// add mesh to renderer
RAWMesh data;
data.mName = name;
data.mTransform = PxTransform::createIdentity();
data.mNbVerts = nbColumns * nbRows;
data.mVerts = vertexes;
data.mVertexNormals = NULL;
data.mUVs = uvs;
data.mMaterialID = MATERIAL_TERRAIN_MUD;
data.mNbFaces = (nbColumns - 1) * (nbRows - 1) * 2;
data.mIndices = indices;
RenderMeshActor* hf_mesh = createRenderMeshFromRawMesh(data);
if(!hf_mesh) fatalError("createRenderMeshFromRawMesh failed!");
hf_mesh->setPhysicsShape(shape);
shape->setFlag(PxShapeFlag::eVISUALIZATION, false);
SAMPLE_FREE(indices);
SAMPLE_FREE(uvs);
DELETEARRAY(vertexesA);
SAMPLE_FREE(samplesData);
}
return heightFieldActor;
}
// Creates an physics entity from an entity info structure and a starting transform
void PhysicsEngine::createEntity(PhysicsEntity* entity, PhysicsEntityInfo* info, PxTransform transform)
{
transform.p.y += info->yPosOffset;
// Set static/dynamic info for actor depending on its type
PxRigidActor* actor;
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidDynamic* dynamicActor = physics->createRigidDynamic(transform);
dynamicActor->setLinearDamping(dInfo->linearDamping);
dynamicActor->setAngularDamping(dInfo->angularDamping);
dynamicActor->setMaxAngularVelocity(dInfo->maxAngularVelocity);
actor = dynamicActor;
}
else if (info->type == PhysicsType::STATIC)
{
PxRigidStatic* staticActor = physics->createRigidStatic(transform);
actor = staticActor;
}
// All shapes in actor
for (auto sInfo : info->shapeInfo)
{
// Create material and geometry for shape and add it to actor
PxGeometry* geometry;
PxMaterial* material;
if (sInfo->geometry == Geometry::SPHERE)
{
SphereInfo* sphInfo = (SphereInfo*)sInfo;
geometry = new PxSphereGeometry(sphInfo->radius);
}
else if (sInfo->geometry == Geometry::BOX)
{
BoxInfo* boxInfo = (BoxInfo*)sInfo;
geometry = new PxBoxGeometry(boxInfo->halfX, boxInfo->halfY, boxInfo->halfZ);
}
else if (sInfo->geometry == Geometry::CAPSULE)
{
CapsuleInfo* capInfo = (CapsuleInfo*)sInfo;
geometry = new PxCapsuleGeometry(capInfo->radius, capInfo->halfHeight);
}
else if (sInfo->geometry == Geometry::CONVEX_MESH)
{
ConvexMeshInfo* cmInfo = (ConvexMeshInfo*)sInfo;
PxConvexMesh* mesh = helper->createConvexMesh(cmInfo->verts.data(), cmInfo->verts.size());
geometry = new PxConvexMeshGeometry(mesh);
}
// Not working until index drawing is set up
else if (sInfo->geometry == Geometry::TRIANGLE_MESH)
{
TriangleMeshInfo* tmInfo = (TriangleMeshInfo*)sInfo;
PxTriangleMesh* mesh = helper->createTriangleMesh(tmInfo->verts.data(), tmInfo->verts.size(), tmInfo->faces.data(), tmInfo->faces.size()/3);
geometry = new PxTriangleMeshGeometry(mesh);
}
material = (sInfo->isDrivable) ? drivingSurfaces[0] : physics->createMaterial(sInfo->dynamicFriction, sInfo->staticFriction, sInfo->restitution);
PxShape* shape = actor->createShape(*geometry, *material); // TODO support shape flags
shape->setLocalPose(sInfo->transform);
material->release();
delete geometry;
// Set up querry filter data for shape
PxFilterData qryFilterData;
qryFilterData.word3 = (sInfo->isDrivable) ? (PxU32)Surface::DRIVABLE : (PxU32)Surface::UNDRIVABLE;
shape->setQueryFilterData(qryFilterData);
// Set up simulation filter data for shape
PxFilterData simFilterData;
simFilterData.word0 = (PxU32)sInfo->filterFlag0;
simFilterData.word1 = (PxU32)sInfo->filterFlag1;
simFilterData.word2 = (PxU32)sInfo->filterFlag2;
simFilterData.word3 = (PxU32)sInfo->filterFlag3;
shape->setSimulationFilterData(simFilterData);
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidBodyExt::updateMassAndInertia(*(PxRigidBody*)actor, dInfo->density, &dInfo->cmOffset);
PxRigidBody* body = (PxRigidBody*)actor;
}
}
// Add actor to scene, set actor for entity, and set user data for actor. Creates one to one between entities and phyX
scene->addActor(*actor);
entity->setActor(actor);
actor->userData = entity;
}
void SampleParticles::loadTerrain(const char* path, PxReal xScale, PxReal yScale, PxReal zScale)
{
SampleFramework::SampleAsset* asset = getAsset(terrain_hf, SampleFramework::SampleAsset::ASSET_TEXTURE);
mManagedAssets.push_back(asset);
PX_ASSERT(asset->getType() == SampleFramework::SampleAsset::ASSET_TEXTURE);
SampleFramework::SampleTextureAsset* texAsset = static_cast<SampleFramework::SampleTextureAsset*>(asset);
SampleRenderer::RendererTexture2D* heightfieldTexture = texAsset->getTexture();
// NOTE: Assuming that heightfield texture has B8G8R8A8 format.
if(heightfieldTexture)
{
PxU16 nbColumns = PxU16(heightfieldTexture->getWidth());
PxU16 nbRows = PxU16(heightfieldTexture->getHeight());
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
PxU32* samplesData = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32) * nbColumns * nbRows);
heightFieldDesc.samples.data = samplesData;
heightFieldDesc.samples.stride = sizeof(PxU32);
heightFieldDesc.convexEdgeThreshold = 0;
PxU8* currentByte = (PxU8*)heightFieldDesc.samples.data;
PxU32 texturePitch = 0;
PxU8* loaderPtr = static_cast<PxU8*>(heightfieldTexture->lockLevel(0, texturePitch));
PxVec3Alloc* verticesA = SAMPLE_NEW(PxVec3Alloc)[nbRows * nbColumns];
PxVec3* vertices = verticesA;
PxReal* UVs = (PxReal*)SAMPLE_ALLOC(sizeof(PxReal) * nbRows * nbColumns * 2);
for (PxU32 row = 0; row < nbRows; row++)
{
for (PxU32 column = 0; column < nbColumns; column++)
{
PxHeightFieldSample* currentSample = (PxHeightFieldSample*)currentByte;
currentSample->height = *loaderPtr;
vertices[row * nbColumns + column] =
PxVec3(PxReal(row) * xScale,
PxReal(currentSample->height * zScale),
PxReal(column) * yScale);
UVs[2 * (row * nbColumns + column)] = (PxReal(row) / PxReal(nbRows)) * 7.0f;
UVs[2 * (row * nbColumns + column) + 1] = (PxReal(column) / PxReal(nbColumns)) * 7.0f;
currentSample->materialIndex0 = 0;
currentSample->materialIndex1 = 0;
currentSample->clearTessFlag();
currentByte += heightFieldDesc.samples.stride;
loaderPtr += 4 * sizeof(PxU8);
}
}
PxHeightField* heightField = getPhysics().createHeightField(heightFieldDesc);
// free allocated memory for heightfield samples description
SAMPLE_FREE(samplesData);
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*yScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*xScale) / 2.0f),
PxQuat::createIdentity());
PxRigidActor* hf = getPhysics().createRigidStatic(pose);
runtimeAssert(hf, "PxPhysics::createRigidStatic returned NULL\n");
PxShape* shape = hf->createShape(PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), zScale, xScale, yScale), getDefaultMaterial());
runtimeAssert(shape, "PxRigidActor::createShape returned NULL\n");
shape->setFlag(PxShapeFlag::ePARTICLE_DRAIN, false);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
// add actor to the scene
getActiveScene().addActor(*hf);
mPhysicsActors.push_back(hf);
// create indices and UVs
PxU32* indices = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32) * (nbColumns - 1) * (nbRows - 1) * 3 * 2);
for(int i = 0; i < (nbColumns - 1); ++i)
{
for(int j = 0; j < (nbRows - 1); ++j)
{
// first triangle
indices[6 * (i * (nbRows - 1) + j) + 0] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 1] = i * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 2] = i * nbRows + j + 1;
// second triangle
indices[6 * (i * (nbRows - 1) + j) + 3] = (i + 1) * nbRows + j + 1;
indices[6 * (i * (nbRows - 1) + j) + 4] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 5] = i * nbRows + j + 1;
}
}
// add mesh to renderer
RAWMesh data;
data.mName = "terrain";
data.mTransform = PxTransform::createIdentity();
data.mNbVerts = nbColumns * nbRows;
data.mVerts = (PxVec3*)vertices;
data.mVertexNormals = NULL;
data.mUVs = UVs;
data.mMaterialID = MATERIAL_HEIGHTFIELD;
data.mNbFaces = (nbColumns - 1) * (nbRows - 1) * 2;
data.mIndices = indices;
RenderMeshActor* hf_mesh = createRenderMeshFromRawMesh(data);
hf_mesh->setPhysicsShape(shape);
SAMPLE_FREE(indices);
SAMPLE_FREE(UVs);
DELETEARRAY(verticesA);
}
else
{
char errMsg[256];
physx::string::sprintf_s(errMsg, 256, "Couldn't load %s\n", path);
fatalError(errMsg);
}
}
void SampleCustomGravityCameraController::update(Camera& camera, PxReal dtime)
{
const PxExtendedVec3& currentPos = mCCT.getPosition();
const PxVec3 curPos = toVec3(currentPos);
// Compute up vector for current CCT position
PxVec3 upVector;
mBase.mPlanet.getUpVector(upVector, curPos);
PX_ASSERT(upVector.isFinite());
// Update CCT
if(!mBase.isPaused())
{
if(1)
{
bool recordPos = true;
const PxU32 currentSize = mNbRecords;
if(currentSize)
{
const PxVec3 lastPos = mHistory[currentSize-1];
// const float limit = 0.1f;
const float limit = 0.5f;
if((curPos - lastPos).magnitude()<limit)
recordPos = false;
}
if(recordPos)
{
if(mNbRecords==POS_HISTORY_LIMIT)
{
for(PxU32 i=1;i<mNbRecords;i++)
mHistory[i-1] = mHistory[i];
mNbRecords--;
}
mHistory[mNbRecords++] = curPos;
}
}
// Subtract off the 'up' component of the view direction to get our forward motion vector.
PxVec3 viewDir = camera.getViewDir();
PxVec3 forward = (viewDir - upVector * upVector.dot(viewDir)).getNormalized();
// PxVec3 forward = mForward;
// Compute "right" vector
PxVec3 right = forward.cross(upVector);
right.normalize();
// PxVec3 right = mRightV;
PxVec3 targetKeyDisplacement(0);
if(mFwd) targetKeyDisplacement += forward;
if(mBwd) targetKeyDisplacement -= forward;
if(mRight) targetKeyDisplacement += right;
if(mLeft) targetKeyDisplacement -= right;
targetKeyDisplacement *= mKeyShiftDown ? mRunningSpeed : mWalkingSpeed;
// targetKeyDisplacement += PxVec3(0,-9.81,0);
targetKeyDisplacement *= dtime;
PxVec3 targetPadDisplacement(0);
targetPadDisplacement += forward * mGamepadForwardInc * mRunningSpeed;
targetPadDisplacement += right * mGamepadLateralInc * mRunningSpeed;
// targetPadDisplacement += PxVec3(0,-9.81,0);
targetPadDisplacement *= dtime;
const PxF32 heightDelta = gJump.getHeight(dtime);
// printf("%f\n", heightDelta);
PxVec3 upDisp = upVector;
if(heightDelta!=0.0f)
upDisp *= heightDelta;
else
upDisp *= -9.81f * dtime;
const PxVec3 disp = targetKeyDisplacement + targetPadDisplacement + upDisp;
//upDisp.normalize();
//printf("%f | %f | %f\n", upDisp.x, upDisp.y, upDisp.z);
// printf("%f | %f | %f\n", targetKeyDisplacement.x, targetKeyDisplacement.y, targetKeyDisplacement.z);
// printf("%f | %f | %f\n\n", targetPadDisplacement.x, targetPadDisplacement.y, targetPadDisplacement.z);
mCCT.setUpDirection(upVector);
const PxU32 flags = mCCT.move(disp, 0.001f, dtime, PxControllerFilters());
if(flags & PxControllerFlag::eCOLLISION_DOWN)
{
gJump.stopJump();
// printf("Stop jump\n");
}
}
// Update camera
if(1)
{
mTargetYaw += mGamepadYawInc * dtime;
mTargetPitch += mGamepadPitchInc * dtime;
// Clamp pitch
// if(mTargetPitch<mPitchMin) mTargetPitch = mPitchMin;
// if(mTargetPitch>mPitchMax) mTargetPitch = mPitchMax;
}
if(1)
{
PxVec3 up = upVector;
PxQuat localPitchQ(mTargetPitch, PxVec3(1.0f, 0.0f, 0.0f));
PX_ASSERT(localPitchQ.isSane());
PxMat33 localPitchM(localPitchQ);
const PxVec3 upRef(0.0f, 1.0f, 0.0f);
PxQuat localYawQ(mTargetYaw, upRef);
PX_ASSERT(localYawQ.isSane());
PxMat33 localYawM(localYawQ);
bool res;
PxQuat localToWorldQ = rotationArc(upRef, up, res);
static PxQuat memory(0,0,0,1);
if(!res)
{
localToWorldQ = memory;
}
else
{
memory = localToWorldQ;
}
PX_ASSERT(localToWorldQ.isSane());
PxMat33 localToWorld(localToWorldQ);
static PxVec3 previousUp(0.0f, 1.0f, 0.0f);
static PxQuat incLocalToWorldQ(0.0f, 0.0f, 0.0f, 1.0f);
PxQuat incQ = rotationArc(previousUp, up, res);
PX_ASSERT(incQ.isSane());
// incLocalToWorldQ = incLocalToWorldQ * incQ;
incLocalToWorldQ = incQ * incLocalToWorldQ;
PX_ASSERT(incLocalToWorldQ.isSane());
incLocalToWorldQ.normalize();
PxMat33 incLocalToWorldM(incLocalToWorldQ);
localToWorld = incLocalToWorldM;
previousUp = up;
mTest = localToWorld;
//mTest = localToWorld * localYawM;
// PxMat33 rot = localYawM * localToWorld;
PxMat33 rot = localToWorld * localYawM * localPitchM;
// PxMat33 rot = localToWorld * localYawM;
PX_ASSERT(rot.column0.isFinite());
PX_ASSERT(rot.column1.isFinite());
PX_ASSERT(rot.column2.isFinite());
////
PxMat44 view(rot.column0, rot.column1, rot.column2, PxVec3(0));
mForward = -rot.column2;
mRightV = rot.column0;
camera.setView(PxTransform(view));
PxVec3 viewDir = camera.getViewDir();
PX_ASSERT(viewDir.isFinite());
////
PxRigidActor* characterActor = mCCT.getActor();
PxShape* shape;
characterActor->getShapes(&shape,1);
PxCapsuleGeometry geom;
shape->getCapsuleGeometry(geom);
up *= geom.halfHeight+geom.radius;
const PxVec3 headPos = curPos + up;
const float distanceToTarget = 10.0f;
// const float distanceToTarget = 20.0f;
// const float distanceToTarget = 5.0f;
// const PxVec3 camPos = headPos - viewDir*distanceToTarget;
const PxVec3 camPos = headPos - mForward*distanceToTarget;// + up * 20.0f;
// view.t = camPos;
view.column3 = PxVec4(camPos,0);
// camera.setView(view);
camera.setView(PxTransform(view));
mTarget = headPos;
}
if(0)
{
PxControllerState cctState;
mCCT.getState(cctState);
printf("\nCCT state:\n");
printf("delta: %.02f | %.02f | %.02f\n", cctState.deltaXP.x, cctState.deltaXP.y, cctState.deltaXP.z);
printf("touchedShape: %p\n", cctState.touchedShape);
printf("touchedObstacle: %p\n", cctState.touchedObstacle);
printf("standOnAnotherCCT: %d\n", cctState.standOnAnotherCCT);
printf("standOnObstacle: %d\n", cctState.standOnObstacle);
printf("isMovingUp: %d\n", cctState.isMovingUp);
printf("collisionFlags: %d\n", cctState.collisionFlags);
}
}
