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);
}
}
}
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 defaultCCTInteraction(const PxControllerShapeHit& hit)
{
PxRigidDynamic* actor = hit.shape->getActor()->is<PxRigidDynamic>();
if(actor)
{
if(actor->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
return;
if(0)
{
const PxVec3 p = actor->getGlobalPose().p + hit.dir * 10.0f;
PxShape* shape;
actor->getShapes(&shape, 1);
PxRaycastHit newHit;
PxU32 n = PxShapeExt::raycast(*shape, *shape->getActor(), p, -hit.dir, 20.0f, PxHitFlag::ePOSITION, 1, &newHit, false);
if(n)
{
// We only allow horizontal pushes. Vertical pushes when we stand on dynamic objects creates
// useless stress on the solver. It would be possible to enable/disable vertical pushes on
// particular objects, if the gameplay requires it.
const PxVec3 upVector = hit.controller->getUpDirection();
const PxF32 dp = hit.dir.dot(upVector);
// shdfnd::printFormatted("%f\n", fabsf(dp));
if(fabsf(dp)<1e-3f)
// if(hit.dir.y==0.0f)
{
const PxTransform globalPose = actor->getGlobalPose();
const PxVec3 localPos = globalPose.transformInv(newHit.position);
::addForceAtLocalPos(*actor, hit.dir*hit.length*1000.0f, localPos, PxForceMode::eACCELERATION);
}
}
}
// We only allow horizontal pushes. Vertical pushes when we stand on dynamic objects creates
// useless stress on the solver. It would be possible to enable/disable vertical pushes on
// particular objects, if the gameplay requires it.
const PxVec3 upVector = hit.controller->getUpDirection();
const PxF32 dp = hit.dir.dot(upVector);
// shdfnd::printFormatted("%f\n", fabsf(dp));
if(fabsf(dp)<1e-3f)
// if(hit.dir.y==0.0f)
{
const PxTransform globalPose = actor->getGlobalPose();
const PxVec3 localPos = globalPose.transformInv(toVec3(hit.worldPos));
::addForceAtLocalPos(*actor, hit.dir*hit.length*1000.0f, localPos, PxForceMode::eACCELERATION);
}
}
}
