void AddRadialForceToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff)
{
#if WITH_PHYSX
if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
{
float Mass = PRigidDynamic.getMass();
PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
PxVec3 PDelta = PCOMPos - POrigin; // vector from
float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?
// If COM is outside radius, do nothing.
if (Mag > Radius)
{
return;
}
PDelta.normalize();
// If using linear falloff, scale with distance.
float ForceMag = Strength;
if (Falloff == RIF_Linear)
{
ForceMag *= (1.0f - (Mag / Radius));
}
// Apply force
PxVec3 PImpulse = PDelta * ForceMag;
PRigidDynamic.addForce(PImpulse, PxForceMode::eFORCE);
}
#endif // WITH_PHYSX
}
void AddRadialImpulseToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff, bool bVelChange)
{
#if WITH_PHYSX
if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
{
float Mass = PRigidDynamic.getMass();
PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
PxVec3 PDelta = PCOMPos - POrigin; // vector from origin to COM
float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?
// If COM is outside radius, do nothing.
if (Mag > Radius)
{
return;
}
PDelta.normalize();
// Scale by U2PScale here, because units are velocity * mass.
float ImpulseMag = Strength;
if (Falloff == RIF_Linear)
{
ImpulseMag *= (1.0f - (Mag / Radius));
}
PxVec3 PImpulse = PDelta * ImpulseMag;
PxForceMode::Enum Mode = bVelChange ? PxForceMode::eVELOCITY_CHANGE : PxForceMode::eIMPULSE;
PRigidDynamic.addForce(PImpulse, Mode);
}
#endif // WITH_PHYSX
}
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));
}
