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
}
static PxRigidDynamic* canDoCCD(PxShape* shape)
{
PxActor& actor = shape->getActor();
PxRigidDynamic* dyna = actor.is<PxRigidDynamic>();
if(!dyna)
return NULL; // PT: no need to do it for statics
const PxU32 nbShapes = dyna->getNbShapes();
if(nbShapes!=1)
return NULL; // PT: only works with simple actors for now
if(dyna->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC)
return NULL; // PT: no need to do it for kinematics
return dyna;
}
PxRigidDynamic* CloneDynamic(PxPhysics& physicsSDK,
const PxTransform& transform,
const PxRigidDynamic& from,
NxMirrorScene::MirrorFilter &mirrorFilter)
{
PxRigidDynamic* to = physicsSDK.createRigidDynamic(transform);
if(!to)
return NULL;
if ( !copyStaticProperties(*to, from, mirrorFilter) )
{
to->release();
to = NULL;
return NULL;
}
to->setRigidDynamicFlags(from.getRigidDynamicFlags());
to->setMass(from.getMass());
to->setMassSpaceInertiaTensor(from.getMassSpaceInertiaTensor());
to->setCMassLocalPose(from.getCMassLocalPose());
if ( !(to->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC) )
{
to->setLinearVelocity(from.getLinearVelocity());
to->setAngularVelocity(from.getAngularVelocity());
}
to->setLinearDamping(from.getAngularDamping());
to->setAngularDamping(from.getAngularDamping());
to->setMaxAngularVelocity(from.getMaxAngularVelocity());
PxU32 posIters, velIters;
from.getSolverIterationCounts(posIters, velIters);
to->setSolverIterationCounts(posIters, velIters);
to->setSleepThreshold(from.getSleepThreshold());
to->setContactReportThreshold(from.getContactReportThreshold());
return to;
}
void defaultCCTInteraction(const PxControllerShapeHit& hit)
{
PxRigidDynamic* actor = hit.shape->getActor().is<PxRigidDynamic>();
if(actor)
{
if(actor->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC)
return;
// 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);
// printf("%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);
}
}
}
