udword Havok::BatchRaycasts(PintSQThreadContext context, udword nb, PintRaycastHit* dest, const PintRaycastData* raycasts)
{
ASSERT(mPhysicsWorld);
hkpWorldRayCastOutput output;
udword NbHits = 0;
while(nb--)
{
hkpWorldRayCastInput input;
input.m_from = ToHkVector4(raycasts->mOrigin);
input.m_to = ToHkVector4(raycasts->mOrigin + raycasts->mDir*raycasts->mMaxDist);
output.reset();
mPhysicsWorld->castRay(input, output);
if(output.m_rootCollidable)
{
NbHits++;
FillResultStruct(*dest, output, raycasts->mOrigin, raycasts->mDir, raycasts->mMaxDist);
}
else
{
dest->mObject = null;
}
raycasts++;
dest++;
}
return NbHits;
}
udword Havok::BatchRaycastsPhantom(udword nb, PintRaycastHit* dest, const PintRaycastData* raycasts, void** phantoms)
{
ASSERT(phantoms);
hkpAabbPhantom** ph = (hkpAabbPhantom**)phantoms;
udword NbHits = 0;
while(nb--)
{
hkpWorldRayCastInput input;
input.m_from = ToHkVector4(raycasts->mOrigin);
input.m_to = ToHkVector4(raycasts->mOrigin + raycasts->mDir*raycasts->mMaxDist);
hkpAabbPhantom* phantom = *ph++;
hkpWorldRayCastOutput output;
phantom->castRay(input, output);
if(output.m_rootCollidable)
{
NbHits++;
FillResultStruct(*dest, output, raycasts->mOrigin, raycasts->mDir, raycasts->mMaxDist);
}
else
{
dest->mObject = null;
}
raycasts++;
dest++;
}
return NbHits;
}
void Havok::ApplyActionAtPoint(PintObjectHandle handle, PintActionType action_type, const Point& action, const Point& pos)
{
hkpRigidBody* RB = (hkpRigidBody*)handle;
if(action_type==PINT_ACTION_FORCE)
{
RB->applyForce(1.0f/60.0f, ToHkVector4(action), ToHkVector4(pos));
}
else if(action_type==PINT_ACTION_IMPULSE)
{
RB->applyPointImpulseAsCriticalOperation(ToHkVector4(action), ToHkVector4(pos));
}
else ASSERT(0);
}
udword Havok::BatchSphereSweeps(PintSQThreadContext context, udword nb, PintRaycastHit* dest, const PintSphereSweepData* sweeps)
{
ASSERT(mPhysicsWorld);
hkpClosestCdPointCollector castCollector;
udword NbHits = 0;
while(nb--)
{
hkpLinearCastInput input;
input.m_to = ToHkVector4(sweeps->mSphere.mCenter + sweeps->mDir*sweeps->mMaxDist);
HAVOK_COLLIDABLE_FROM_SPHERE(sweeps->mSphere)
castCollector.reset();
mPhysicsWorld->linearCast(&Collidable, input, castCollector);
if(castCollector.hasHit())
{
NbHits++;
FillResultStruct(*dest, castCollector, sweeps->mMaxDist);
}
else
{
dest->mObject = null;
}
sweeps++;
dest++;
}
return NbHits;
}
hkpBoxShape* FindBoxShape(bool share_shapes, std::vector<hkpBoxShape*>& shapes, const PINT_BOX_CREATE& box_create)
{
const hkVector4 halfExtents = ToHkVector4(box_create.mExtents);
if(share_shapes)
{
const int size = shapes.size();
for(int i=0;i<size;i++)
{
hkpBoxShape* CurrentShape = shapes[i];
const hkVector4& CurrentExtents = CurrentShape->getHalfExtents();
if( CurrentExtents(0)==halfExtents(0)
&& CurrentExtents(1)==halfExtents(1)
&& CurrentExtents(2)==halfExtents(2))
{
CurrentShape->addReference();
return CurrentShape;
}
}
}
hkpBoxShape* shape = new hkpBoxShape(halfExtents, 0);
ASSERT(shape);
shapes.push_back(shape);
if(box_create.mRenderer)
shape->setUserData(hkUlong(box_create.mRenderer));
return shape;
}
bool Havok::SetKinematicPose(PintObjectHandle handle, const Point& pos)
{
hkpRigidBody* RB = (hkpRigidBody*)handle;
hkpKeyFrameUtility::applyHardKeyFrame(ToHkVector4(pos), hkQuaternion::getIdentity(), 60.0f, RB);
return true;
}
void* Havok::CreatePhantom(const AABB& box)
{
Point Min, Max;
box.GetMin(Min);
box.GetMax(Max);
hkAabb info;
info.m_min = ToHkVector4(Min);
info.m_max = ToHkVector4(Max);
hkpAabbPhantom* phantom = new hkpAabbPhantom(info);
mPhysicsWorld->lock();
mPhysicsWorld->addPhantom(phantom);
mPhysicsWorld->unlock();
mPhantoms.Add(udword(phantom));
return phantom;
}
udword Havok::BatchBoxSweeps(PintSQThreadContext context, udword nb, PintRaycastHit* dest, const PintBoxSweepData* sweeps)
{
ASSERT(mPhysicsWorld);
// Since we're not too concerned with perfect accuracy, we can set the early out
// distance to give the algorithm a chance to exit more quickly:
// mPhysicsWorld->getCollisionInput()->m_config->m_iterativeLinearCastEarlyOutDistance = 0.1f;
hkpClosestCdPointCollector castCollector;
udword NbHits = 0;
while(nb--)
{
hkpLinearCastInput input;
input.m_to = ToHkVector4(sweeps->mBox.mCenter + sweeps->mDir*sweeps->mMaxDist);
const hkpBoxShape BoxShape(ToHkVector4(sweeps->mBox.mExtents), 0.0f);
const hkTransform Pose(ToHkQuaternion(Quat(sweeps->mBox.mRot)), ToHkVector4(sweeps->mBox.mCenter));
hkpCollidable Collidable(&BoxShape, &Pose);
castCollector.reset();
mPhysicsWorld->linearCast(&Collidable, input, castCollector);
if(castCollector.hasHit())
{
NbHits++;
FillResultStruct(*dest, castCollector, sweeps->mMaxDist);
}
else
{
dest->mObject = null;
}
sweeps++;
dest++;
}
return NbHits;
}
udword Havok::BatchConvexSweeps(PintSQThreadContext context, udword nb, PintRaycastHit* dest, const PintConvexSweepData* sweeps)
{
ASSERT(mPhysicsWorld);
hkpClosestCdPointCollector castCollector;
udword NbHits = 0;
while(nb--)
{
hkpConvexVerticesShape* ConvexShape = mConvexObjects[sweeps->mConvexObjectIndex];
const Point& center = sweeps->mTransform.mPos;
const Quat& q = sweeps->mTransform.mRot;
// const Point Center = (sweeps->mCapsule.mP0 + sweeps->mCapsule.mP1)*0.5f;
hkpLinearCastInput input;
input.m_to = ToHkVector4(center + sweeps->mDir*sweeps->mMaxDist);
// HAVOK_COLLIDABLE_FROM_CAPSULE(sweeps->mCapsule, Center)
// const hkpConvexShape CapsuleShape(ToHkVector4(capsule.mP0 - center), ToHkVector4(capsule.mP1 - center), capsule.mRadius);
const hkTransform Pose(ToHkQuaternion(q), ToHkVector4(center));
const hkpCollidable Collidable(ConvexShape, &Pose);
castCollector.reset();
mPhysicsWorld->linearCast(&Collidable, input, castCollector);
if(castCollector.hasHit())
{
NbHits++;
FillResultStruct(*dest, castCollector, sweeps->mMaxDist);
}
else
{
dest->mObject = null;
}
sweeps++;
dest++;
}
return NbHits;
}
void Havok::SetGravity(const Point& gravity)
{
ASSERT(mPhysicsWorld);
mPhysicsWorld->setGravity(ToHkVector4(gravity));
}