void Part::render()
{
assert(act && "partrender: physics equivalent invalid");
glPushMatrix();
float glMat[16];
NxActor* actor;
actor=act;
if(NULL==actor) return;
actor->getGlobalPose().getColumnMajor44(glMat);
glMultMatrixf(glMat);
if(actor->userData!=NULL && gRenderUserData) {
glPushMatrix();
((GraphicsObject*)actor->userData)->render();
glPopMatrix();
}
else {
//render according to shape descriptions in actor
for(unsigned s=0; s < actor->getNbShapes(); s++) {
NxShape *shape = actor->getShapes()[s];
glPushMatrix();
shape->getLocalPose().getColumnMajor44(glMat);
glMultMatrixf(glMat);
//render shapes
if(shape->getFlag(NX_TRIGGER_ENABLE)) {
//do nothing, triggers are not to be rendered and have different userdata
}
else if(shape->userData!=NULL) {
((GraphicsObject*)shape->userData)->render();
}
else {
NxShapeType type=shape->getType();
if(NX_SHAPE_BOX==type) {
NxBoxShape *sh=(NxBoxShape *)shape;
NxVec3 dim=sh->getDimensions();
BoxGraphicsObject g(dim.x,dim.z,dim.y); //wrond dimensions
g.render();
}
else if(NX_SHAPE_CAPSULE==type) {
NxCapsuleShape *sh=(NxCapsuleShape *)shape;
float radius=sh->getRadius();
float height=sh->getHeight();
CapsuleGraphicsObject g(radius,height);
g.render();
}
else if(NX_SHAPE_SPHERE==type) {
NxSphereShape *sh=(NxSphereShape *)shape;
float radius=sh->getRadius();
SphereGraphicsObject g(radius);
g.render();
}
else {
//render a default sphere if shape type unknown
SphereGraphicsObject sg(1);
sg.render();
}
}
glPopMatrix();
}
}
glPopMatrix();
}
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;
}