void FPhysScene::SetKinematicTarget(FBodyInstance * BodyInstance, const FTransform & TargetTransform)
{
TargetTransform.DiagnosticCheckNaN_All();
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->SetKinematicTarget(BodyInstance, TargetTransform);
}
else
#endif
{
const PxTransform PNewPose = U2PTransform(TargetTransform);
check(PNewPose.isValid());
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PRigidDynamic->setKinematicTarget(PNewPose);
}
}
#endif
}
bool FPhysScene::GetKinematicTarget(const FBodyInstance* BodyInstance, FTransform& OutTM) const
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
return PhysSubStepper->GetKinematicTarget(BodyInstance, OutTM);
}
else
#endif
{
SCOPED_SCENE_READ_LOCK(PRigidDynamic->getScene());
PxTransform POutTM;
bool validTM = PRigidDynamic->getKinematicTarget(POutTM);
if (validTM)
{
OutTM = P2UTransform(POutTM);
return true;
}
}
}
#endif
return false;
}
void FPhysScene::AddCustomPhysics(FBodyInstance* BodyInstance, FCalculateCustomPhysics& CalculateCustomPhysics)
{
#if WITH_PHYSX
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->AddCustomPhysics(BodyInstance, CalculateCustomPhysics);
}
else
#endif
{
// Since physics frame is set up before "pre-physics" tick group is called, can just fetch delta time from there
CalculateCustomPhysics.ExecuteIfBound(this->DeltaSeconds, BodyInstance);
}
#endif
}
void FPhysScene::TermBody(FBodyInstance * BodyInstance)
{
#if WITH_SUBSTEPPING
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->RemoveBodyInstance(BodyInstance);
}
#endif
}
void FPhysScene::TermBody(FBodyInstance* BodyInstance)
{
#if WITH_SUBSTEPPING
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->RemoveBodyInstance(BodyInstance);
}
#endif
#if WITH_PHYSX
RemoveActiveBody(BodyInstance, PST_Sync);
RemoveActiveBody(BodyInstance, PST_Async);
#endif
}
void FPhysScene::AddTorque(FBodyInstance * BodyInstance, const FVector & Torque)
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->AddTorque(BodyInstance, Torque);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PRigidDynamic->addTorque(U2PVector(Torque), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddForceAtPosition(FBodyInstance * BodyInstance, const FVector & Force, const FVector & Position)
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->AddForceAtPosition(BodyInstance, Force, Position);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PxRigidBodyExt::addForceAtPos(*PRigidDynamic, U2PVector(Force), U2PVector(Position), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddTorque(FBodyInstance* BodyInstance, const FVector& Torque, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddTorque(BodyInstance, Torque);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidBody->getScene());
PRigidBody->addTorque(U2PVector(Torque), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddForceAtPosition(FBodyInstance* BodyInstance, const FVector& Force, const FVector& Position, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddForceAtPosition(BodyInstance, Force, Position);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidBody->getScene());
PxRigidBodyExt::addForceAtPos(*PRigidBody, U2PVector(Force), U2PVector(Position), PxForceMode::eFORCE, true);
}
}
#endif
}
