void SweepTest::FindTouchedCCTs( NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
const NxExtendedBounds3& world_box)
{
NxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
world_box.getCenter(Origin);
// Find touched boxes, i.e. other box controllers
for(NxU32 i=0;i<nb_boxes;i++)
{
if(!world_box.intersect(boxes[i]))
continue;
TouchedUserBox* UserBox = (TouchedUserBox*)reserve(mGeomStream, sizeof(TouchedUserBox)/sizeof(NxU32));
UserBox->mType = TOUCHED_USER_BOX;
UserBox->mUserData = box_user_data[i];
UserBox->mOffset = Origin;
UserBox->mBox = boxes[i];
}
// Find touched capsules, i.e. other capsule controllers
NxExtendedVec3 Center;
NxVec3 Extents;
world_box.getCenter(Center);
world_box.getExtents(Extents);
NxMat33 Idt;
Idt.id();
for(NxU32 i=0;i<nb_capsules;i++)
{
// Do a quick AABB check first, to avoid calling the SDK too much
const NxF32 r = capsules[i].radius;
if((capsules[i].p0.x - r > world_box.max.x) || (world_box.min.x > capsules[i].p1.x + r)) continue;
if((capsules[i].p0.y - r > world_box.max.y) || (world_box.min.y > capsules[i].p1.y + r)) continue;
if((capsules[i].p0.z - r > world_box.max.z) || (world_box.min.z > capsules[i].p1.z + r)) continue;
// Do a box-capsule intersect, or skip it? => better to skip it, not really useful now
/* NxCapsule tmp;
tmp.radius = capsules[i].radius;
tmp.p0.x = float(capsules[i].p0.x);
tmp.p0.y = float(capsules[i].p0.y);
tmp.p0.z = float(capsules[i].p0.z);
tmp.p1.x = float(capsules[i].p1.x);
tmp.p1.y = float(capsules[i].p1.y);
tmp.p1.z = float(capsules[i].p1.z);
float d2 = gUtilLib->NxSegmentOBBSqrDist(tmp, NxVec3(float(Center.x), float(Center.y), float(Center.z)),
Extents,
Idt, NULL, NULL);
if(d2<capsules[i].radius*capsules[i].radius)*/
{
TouchedUserCapsule* UserCapsule = (TouchedUserCapsule*)reserve(mGeomStream, sizeof(TouchedUserCapsule)/sizeof(NxU32));
UserCapsule->mType = TOUCHED_USER_CAPSULE;
UserCapsule->mUserData = capsule_user_data[i];
UserCapsule->mOffset = Origin;
UserCapsule->mCapsule = capsules[i];
}
}
}
void CCTDebugData::addAABB(const NxExtendedBounds3& bounds, NxU32 color)
{
NxExtendedVec3 center;
NxVec3 extents;
bounds.getCenter(center);
bounds.getExtents(extents);
NxBounds3 tmp;
tmp.setCenterExtents(NxVec3((float)center.x, (float)center.y, (float)center.z), extents);
addAABB(tmp, color, false);
}
void SweptCapsule::ComputeTemporalBox(const SweepTest& test, NxExtendedBounds3& box, const NxExtendedVec3& center, const NxVec3& direction) const
{
NxVec3 mExtents(mRadius, mRadius, mRadius);
mExtents[test.mUpDirection] += mHeight*0.5f;
//mExtents *= 2.0f;
const NxVec3 SkinExtents = mExtents + NxVec3(test.mSkinWidth, test.mSkinWidth, test.mSkinWidth);
NxExtendedVec3 tmp = center;
tmp += direction;
NxExtendedBounds3 DestBox;
DestBox.setCenterExtents(tmp, SkinExtents);
box.setCenterExtents(center, SkinExtents);
box.add(DestBox);
}
bool BoxController::getWorldBox(NxExtendedBounds3& box) const
{
box.setCenterExtents(position, extents);
return true;
}
void SweepTest::UpdateTouchedGeoms( void* user_data, const SweptVolume& swept_volume,
NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
NxU32 group_flags, const NxExtendedBounds3& world_box, const NxGroupsMask* groupsMask)
{
/*
- if this is the first iteration (new frame) we have to redo the dynamic objects & the CCTs. The static objects can
be cached.
- if this is not, we can cache everything
*/
// PT: using "world_box" instead of "mCachedTBV" seems to produce TTP 6207
//#define DYNAMIC_BOX world_box
#define DYNAMIC_BOX mCachedTBV
bool NewCachedBox = false;
// If the input box is inside the cached box, nothing to do
if(world_box.isInside(mCachedTBV))
{
if(mFirstUpdate)
{
mFirstUpdate = false;
// Only redo the dynamic
mGeomStream.erase(&mGeomStream[mNbCachedStatic]);
mWorldTriangles.erase(&mWorldTriangles[mNbCachedT]);
mWorldEdgeNormals.erase(&mWorldEdgeNormals[mNbCachedEN]);
mEdgeFlags.erase(&mEdgeFlags[mNbCachedF]);
FindTouchedGeometry(user_data, DYNAMIC_BOX, mWorldTriangles, swept_volume.GetType()==SWEPT_BOX ? &mWorldEdgeNormals : NULL, mEdgeFlags, mGeomStream, group_flags, false, true, groupsMask);
FindTouchedCCTs(
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
DYNAMIC_BOX
);
gNbPartialUpdates++;
}
}
else
{
NewCachedBox = true;
// Cache BV used for the query
mCachedTBV = world_box;
// Grow the volume a bit. The temporal box here doesn't take sliding & collision response into account.
// In bad cases it is possible to eventually touch a portion of space not covered by this volume. Just
// in case, we grow the initial volume slightly. Then, additional tests are performed within the loop
// to make sure the TBV is always correct. There's a tradeoff between the original (artificial) growth
// of the volume, and the number of TBV recomputations performed at runtime...
if(1)
{
mCachedTBV.scale(mVolumeGrowth);
}
else
{
NxExtendedVec3 center; mCachedTBV.getCenter(center);
NxVec3 extents; mCachedTBV.getExtents(extents);
/* NxVec3 scale(mVolumeGrowth, mVolumeGrowth, mVolumeGrowth);
scale[mUpDirection] = 1.0f;*/
/* NxVec3 scale(1.0f, 1.0f, 1.0f);
scale[mUpDirection] = mVolumeGrowth;
extents.x *= scale.x;
extents.y *= scale.y;
extents.z *= scale.z;*/
extents.x *= 1.8f;
extents.y += 1.0f;
extents.z *= 1.8f;
mCachedTBV.setCenterExtents(center, extents);
}
// Gather triangles touched by this box. This covers multiple meshes.
mWorldTriangles.clear();
mWorldEdgeNormals.clear();
mEdgeFlags.clear();
mGeomStream.clear();
mCachedTriIndexIndex = 0;
mCachedTriIndex[0] = mCachedTriIndex[1] = mCachedTriIndex[2] = 0;
gNbFullUpdates++;
FindTouchedGeometry(user_data, mCachedTBV, mWorldTriangles, swept_volume.GetType()==SWEPT_BOX ? &mWorldEdgeNormals : NULL, mEdgeFlags, mGeomStream, group_flags, true, false, groupsMask);
mNbCachedStatic = mGeomStream.size();
mNbCachedT = mWorldTriangles.size();
mNbCachedEN = mWorldEdgeNormals.size();
mNbCachedF = mEdgeFlags.size();
FindTouchedGeometry(user_data, DYNAMIC_BOX, mWorldTriangles, swept_volume.GetType()==SWEPT_BOX ? &mWorldEdgeNormals : NULL, mEdgeFlags, mGeomStream, group_flags, false, true, groupsMask);
// We can't early exit when no tris are touched since we also have to handle the boxes
FindTouchedCCTs(
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
DYNAMIC_BOX
);
mFirstUpdate = false;
}
if(debugData)
{
debugData->addAABB(mCachedTBV, NewCachedBox ? NX_ARGB_RED : NX_ARGB_GREEN);
debugData->addAABB(world_box, NX_ARGB_YELLOW);
}
}
bool CapsuleController::getWorldBox(NxExtendedBounds3& box) const
{
// box.setCenterExtents(position, NxVec3(radius, height, radius));
box.setCenterExtents(position, NxVec3(radius, radius+height*0.5f, radius));
return true;
}
bool FindTouchedGeometry(
void* user_data,
const NxExtendedBounds3& worldBounds, // ### we should also accept other volumes
TriArray& world_triangles,
TriArray* world_edge_normals,
IntArray& edge_flags,
IntArray& geom_stream,
NxU32 group_flags,
bool static_shapes, bool dynamic_shapes, const NxGroupsMask* groupsMask)
{
NX_ASSERT(user_data);
NxScene* scene = (NxScene*)user_data;
NxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
worldBounds.getCenter(Origin);
// Reserve a stack buffer big enough to hold all shapes in the world. This is a lazy approach that is
// acceptable here since the total number of shapes is limited to 64K anyway, which would "only" consume
// 256 Kb on the stack (hence, stack overflow is unlikely).
// ### TODO: the new callback mechanism would allow us to use less memory here
// NxU32 total = scene->getNbStaticShapes() + scene->getNbDynamicShapes();
NxU32 total = scene->getTotalNbShapes();
NxShape** buffer = (NxShape**)NxAlloca(total*sizeof(NxShape*));
// Find touched *boxes* i.e. touched objects' AABBs in the world
// We collide against dynamic shapes too, to get back dynamic boxes/etc
// TODO: add active groups in interface!
NxU32 Flags = 0;
if(static_shapes) Flags |= NX_STATIC_SHAPES;
if(dynamic_shapes) Flags |= NX_DYNAMIC_SHAPES;
// ### this one is dangerous
NxBounds3 tmpBounds; // LOSS OF ACCURACY
tmpBounds.min.x = (float)worldBounds.min.x;
tmpBounds.min.y = (float)worldBounds.min.y;
tmpBounds.min.z = (float)worldBounds.min.z;
tmpBounds.max.x = (float)worldBounds.max.x;
tmpBounds.max.y = (float)worldBounds.max.y;
tmpBounds.max.z = (float)worldBounds.max.z;
NxU32 nbTouchedBoxes = scene->overlapAABBShapes(tmpBounds, NxShapesType(Flags), total, buffer, NULL, group_flags, groupsMask);
// Early exit if no AABBs found
if(!nbTouchedBoxes) return false;
NX_ASSERT(nbTouchedBoxes<=total); // Else we just trashed some stack memory
// Loop through touched world AABBs
NxShape** touched = buffer;
while(nbTouchedBoxes--)
{
// Get current shape
NxShape* shape = *touched++;
// Filtering
// Discard all CCT shapes, i.e. kinematic actors we created ourselves. We don't need to collide with them since they're surrounded
// by the real CCT volume - and collisions with those are handled elsewhere. We use the userData field for filtering because that's
// really our only valid option (filtering groups are already used by clients and we don't have control over them, clients might
// create other kinematic actors that we may want to keep here, etc, etc)
if(size_t(shape->userData)=='CCTS')
continue;
// Discard if not collidable
// PT: this shouldn't be possible at this point since:
// - the SF flag is only used for compounds
// - the AF flag is already tested in scene query
// - we shouldn't get compound shapes here
if(shape->getFlag(NX_SF_DISABLE_COLLISION))
continue;
// Ubi (EA) : Discarding Triggers :
if ( shape->getFlag(NX_TRIGGER_ENABLE) )
continue;
// PT: here you might want to disable kinematic objects.
// Output shape to stream
NxShapeType type = shape->getType();
if(type==NX_SHAPE_SPHERE) outputSphereToStream((NxSphereShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_CAPSULE) outputCapsuleToStream((NxCapsuleShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_BOX) outputBoxToStream((NxBoxShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_MESH) outputMeshToStream((NxTriangleMeshShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
else if(type==NX_SHAPE_HEIGHTFIELD) outputHeightFieldToStream((NxHeightFieldShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
else if(type==NX_SHAPE_CONVEX) outputConvexToStream((NxConvexShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
}
return true;
}