void CPhysicsActor::SetFromBoneData( BONEINFO* boneInfo )
{
NxMat34 transform;
transform.setRowMajor44( boneInfo->m_Matrix->GetMatrix() );
m_Actor->setGlobalPose( transform );
}
NxMat34 StillDesign::PhysX::Math::MatrixToMat34( Matrix matrix )
{
float values[ 16 ];
values[ 0 ] = matrix.M11;
values[ 1 ] = matrix.M21;
values[ 2 ] = matrix.M31;
values[ 3 ] = matrix.M41;
values[ 4 ] = matrix.M12;
values[ 5 ] = matrix.M22;
values[ 6 ] = matrix.M32;
values[ 7 ] = matrix.M42;
values[ 8 ] = matrix.M13;
values[ 9 ] = matrix.M23;
values[ 10 ] = matrix.M33;
values[ 11 ] = matrix.M43;
values[ 12 ] = matrix.M14;
values[ 13 ] = matrix.M24;
values[ 14 ] = matrix.M34;
values[ 15 ] = matrix.M44;
NxMat34 mat = NxMat34( true );
mat.setRowMajor44( &values[ 0 ] );
return mat;
}
void PxSingleActor::applyWarp( const MatrixF& mat, bool interpRender, bool sweep )
{
MatrixF newMat( mat );
if ( mActor )
{
mWorld->releaseWriteLock();
mActor->wakeUp();
NxMat34 nxMat;
nxMat.setRowMajor44( newMat );
{
mActor->setAngularVelocity( NxVec3( 0.0f ) );
mActor->setLinearVelocity( NxVec3( 0.0f ) );
mActor->setGlobalOrientation( nxMat.M );
}
/*
if ( sweep )
{
mResetPos = mat;
sweepTest( &newMat );
}
*/
nxMat.setRowMajor44( newMat );
mActor->setGlobalPose( nxMat );
}
Parent::setTransform( newMat );
mNextPos = newMat.getPosition();
mNextRot = newMat;
if ( !interpRender )
{
mLastPos = mNextPos;
mLastRot = mNextRot;
}
}
void PxBody::applyCorrection( const MatrixF &transform )
{
AssertFatal( mActor, "PxBody::applyCorrection - The actor is null!" );
AssertFatal( isDynamic(), "PxBody::applyCorrection - This call is only for dynamics!" );
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
NxMat34 xfm;
xfm.setRowMajor44( transform );
mActor->setGlobalPose( xfm );
}
void PxBody::moveKinematicTo( const MatrixF &transform )
{
AssertFatal( mActor, "BtBody::moveKinematicTo - The actor is null!" );
const bool isKinematic = mBodyFlags & BF_KINEMATIC;
if (!isKinematic )
{
Con::errorf("PxBody::moveKinematicTo is only for kinematic bodies.");
return;
}
NxMat34 xfm;
xfm.setRowMajor44( transform );
mActor->moveGlobalPose( xfm );
}
void PxSingleActor::_createActor()
{
// NXU::instantiateCollection sometimes calls methods that need
// to have write access.
mWorld->releaseWriteLock();
if ( mActor )
{
mWorld->releaseActor( *mActor );
mActor = NULL;
}
NxScene *scene = mWorld->getScene();
NxMat34 nxMat;
nxMat.setRowMajor44( getTransform() );
Point3F scale = getScale();
// Look for a zero scale in any component.
if ( mIsZero( scale.least() ) )
return;
bool createActors = false;
if ( !mDataBlock->clientOnly || (mDataBlock->clientOnly && isClientObject()) )
createActors = true;
mActor = createActors ? mDataBlock->createActor( scene, &nxMat, scale ) : NULL;
if ( !mActor )
{
mBuildScale = getScale();
mBuildAngDrag = 0;
mBuildLinDrag = 0;
return;
}
U32 group = mDataBlock->clientOnly ? PxGroup_ClientOnly : PxGroup_Default;
mActor->setGroup( group );
mActor->userData = &mUserData;
mActor->setContactReportFlags( NX_NOTIFY_ON_START_TOUCH_FORCE_THRESHOLD | NX_NOTIFY_FORCES );
mActor->setContactReportThreshold( mDataBlock->forceThreshold );
mBuildScale = getScale();
mBuildAngDrag = mActor->getAngularDamping();
mBuildLinDrag = mActor->getLinearDamping();
}
void PxBody::setTransform( const MatrixF &transform )
{
AssertFatal( mActor, "PxBody::setTransform - The actor is null!" );
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
NxMat34 xfm;
xfm.setRowMajor44( transform );
mActor->setGlobalPose( xfm );
// If its dynamic we have more to do.
if ( mActor->isDynamic() && !mActor->readBodyFlag( NX_BF_KINEMATIC ) )
{
mActor->setLinearVelocity( NxVec3( 0, 0, 0 ) );
mActor->setAngularVelocity( NxVec3( 0, 0, 0 ) );
mActor->wakeUp();
}
}
void PhysXShape::setGlobalPos(const math::matrix4x4&m)
{
NxMat34 nm;
nm.setRowMajor44(m.getMatPointer());
m_nxShape->setGlobalPose(nm);
}
void PhysXForceField::setPose(const math::matrix4x4 &m)
{
NxMat34 pos;
pos.setRowMajor44(m.mat);
m_forceField->setPose(pos);
}