void AddRadialForceToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff)
{
#if WITH_PHYSX
if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
{
float Mass = PRigidDynamic.getMass();
PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
PxVec3 PDelta = PCOMPos - POrigin; // vector from
float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?
// If COM is outside radius, do nothing.
if (Mag > Radius)
{
return;
}
PDelta.normalize();
// If using linear falloff, scale with distance.
float ForceMag = Strength;
if (Falloff == RIF_Linear)
{
ForceMag *= (1.0f - (Mag / Radius));
}
// Apply force
PxVec3 PImpulse = PDelta * ForceMag;
PRigidDynamic.addForce(PImpulse, PxForceMode::eFORCE);
}
#endif // WITH_PHYSX
}
void
PhysXRigidManager::update(const physx::PxActiveTransform * activeTransforms, physx::PxU32 nbActiveTransforms, float timeStep, physx::PxVec3 gravity) {
for (PxU32 i = 0; i < nbActiveTransforms; ++i) {
if (activeTransforms[i].userData != NULL) {
std::string *n = static_cast<std::string*>(activeTransforms[i].userData);
if (rigidBodies.find(*n) != rigidBodies.end()) {
PxRigidDynamic * actor = rigidBodies[*n].info.actor->is<PxRigidDynamic>();
if (rigidBodies[*n].rollingFriction >= 0.0f) {
float mass = actor->getMass();
float force = mass * gravity.magnitude() * rigidBodies[*n].rollingFriction;
float actorMotion = (mass * actor->getLinearVelocity().magnitude()) / ((float)rigidBodies[*n].rollingFrictionTimeStamp * timeStep);
if (force <= actorMotion) {
rigidBodies[*n].rollingFrictionTimeStamp++;
PxVec3 forceVec = -(actor->getLinearVelocity().getNormalized() * force);
actor->addForce(forceVec);
}
else {
rigidBodies[*n].rollingFrictionTimeStamp = 1;
//actor->setLinearVelocity(actor->getLinearVelocity() / 1.5f);
//actor->setAngularVelocity(actor->getAngularVelocity() / 1.5f);
//actor->setLinearVelocity(PxVec3(0.0f));
//actor->setAngularVelocity(PxVec3(0.0f));
}
}
PxMat44 mat(activeTransforms[i].actor2World);
mat.scale(PxVec4(PxVec3(rigidBodies[*n].scalingFactor), 1.0f));
//getMatFromPhysXTransform(activeTransforms[i].actor2World, rigidBodies[*n].extInfo.transform);
getMatFromPhysXTransform(mat, rigidBodies[*n].info.extInfo.transform);
}
}
}
}
void AddRadialImpulseToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff, bool bVelChange)
{
#if WITH_PHYSX
if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
{
float Mass = PRigidDynamic.getMass();
PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
PxVec3 PDelta = PCOMPos - POrigin; // vector from origin to COM
float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?
// If COM is outside radius, do nothing.
if (Mag > Radius)
{
return;
}
PDelta.normalize();
// Scale by U2PScale here, because units are velocity * mass.
float ImpulseMag = Strength;
if (Falloff == RIF_Linear)
{
ImpulseMag *= (1.0f - (Mag / Radius));
}
PxVec3 PImpulse = PDelta * ImpulseMag;
PxForceMode::Enum Mode = bVelChange ? PxForceMode::eVELOCITY_CHANGE : PxForceMode::eIMPULSE;
PRigidDynamic.addForce(PImpulse, Mode);
}
#endif // WITH_PHYSX
}
void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
PX_CHECK_AND_RETURN(scale > 0,
"PxScaleRigidActor requires that the scale parameter is greater than zero");
Ps::InlineArray<PxShape*, 64> shapes;
shapes.resize(actor.getNbShapes());
actor.getShapes(shapes.begin(), shapes.size());
for(PxU32 i=0;i<shapes.size();i++)
{
shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));
PxGeometryHolder h = shapes[i]->getGeometry();
switch(h.getType())
{
case PxGeometryType::eSPHERE:
h.sphere().radius *= scale;
break;
case PxGeometryType::ePLANE:
break;
case PxGeometryType::eCAPSULE:
h.capsule().halfHeight *= scale;
h.capsule().radius *= scale;
break;
case PxGeometryType::eBOX:
h.box().halfExtents *= scale;
break;
case PxGeometryType::eCONVEXMESH:
h.convexMesh().scale.scale *= scale;
break;
case PxGeometryType::eTRIANGLEMESH:
h.triangleMesh().scale.scale *= scale;
break;
case PxGeometryType::eHEIGHTFIELD:
h.heightField().heightScale *= scale;
h.heightField().rowScale *= scale;
h.heightField().columnScale *= scale;
break;
case PxGeometryType::eINVALID:
case PxGeometryType::eGEOMETRY_COUNT:
default:
PX_ASSERT(0);
}
shapes[i]->setGeometry(h.any());
}
if(!scaleMassProps)
return;
PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
if(!dynamic)
return;
PxReal scale3 = scale*scale*scale;
dynamic->setMass(dynamic->getMass()*scale3);
dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
Seamine* SampleSubmarine::createSeamine(const PxVec3& inPosition, PxReal inHeight)
{
static const PxReal chainLinkLength = 2.0f;
static const PxReal linkSpacing = 0.05f;
static const PxReal mineHeadRadius = 1.5f;
const PxVec3 mineStartPos = inPosition;
static const PxVec3 linkOffset = PxVec3(0, chainLinkLength + linkSpacing, 0);
static const PxVec3 halfLinkOffset = linkOffset * 0.5f;
static const PxVec3 linkDim = PxVec3(chainLinkLength*0.125f, chainLinkLength*0.5f, chainLinkLength*0.125f);
PxU32 numLinks = PxU32((inHeight - 2.0f*mineHeadRadius) / (chainLinkLength + linkSpacing));
numLinks = numLinks ? numLinks : 1;
Seamine* seamine = SAMPLE_NEW(Seamine);
mSeamines.push_back(seamine);
// create links from floor
PxVec3 linkPos = mineStartPos + halfLinkOffset;
PxRigidActor* prevActor = NULL;
for(PxU32 i = 0; i < numLinks; i++)
{
// create the link actor
PxRigidDynamic* link = createBox(linkPos, linkDim, NULL, mSeamineMaterial, 1.0f)->is<PxRigidDynamic>();
if(!link) fatalError("createBox failed!");
// back reference to mineHead
link->userData = seamine;
seamine->mLinks.push_back(link);
setupFiltering(link, FilterGroup::eMINE_LINK, FilterGroup::eSUBMARINE);
link->setLinearDamping(0.5f);
link->setAngularDamping(0.5f);
link->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
// create distance joint between link and prevActor
PxTransform linkFrameA = prevActor ? PxTransform(halfLinkOffset, PxQuat::createIdentity()) : PxTransform(mineStartPos, PxQuat::createIdentity());
PxTransform linkFrameB = PxTransform(-halfLinkOffset, PxQuat::createIdentity());
PxDistanceJoint *joint = PxDistanceJointCreate(getPhysics(), prevActor, linkFrameA, link, linkFrameB);
if(!joint) fatalError("PxDistanceJointCreate failed!");
// set min & max distance to 0
joint->setMaxDistance(0.0f);
joint->setMinDistance(0.0f);
// setup damping & spring
joint->setDamping(1.0f * link->getMass());
joint->setSpring(400.0f * link->getMass());
joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
// add to joints array for cleanup
mJoints.push_back(joint);
prevActor = link;
linkPos += linkOffset;
}
// create mine head
linkPos.y += mineHeadRadius - (chainLinkLength*0.5f);
PxRigidDynamic* mineHead = createSphere(linkPos, mineHeadRadius, NULL, mSeamineMaterial, 1.0f)->is<PxRigidDynamic>();
mineHead->userData = seamine;
seamine->mMineHead = mineHead;
mineHead->setLinearDamping(0.5f);
mineHead->setAngularDamping(0.5f);
mineHead->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
// setup filtering to trigger contact reports when submarine touches the minehead
setupFiltering(mineHead, FilterGroup::eMINE_HEAD, FilterGroup::eSUBMARINE);
// create distance joint between mine head and prevActor
PxTransform linkFrameA = PxTransform(halfLinkOffset, PxQuat::createIdentity());
PxTransform linkFrameB = PxTransform(PxVec3(0, -mineHeadRadius - linkSpacing*0.5f, 0), PxQuat::createIdentity());
PxDistanceJoint *joint = PxDistanceJointCreate(getPhysics(), prevActor, linkFrameA, mineHead, linkFrameB);
if(!joint) fatalError("PxDistanceJointCreate failed!");
// set min & max distance to 0
joint->setMaxDistance(0.0f);
joint->setMinDistance(0.0f);
// setup damping & spring
joint->setDamping(1.0f * mineHead->getMass());
joint->setSpring(400.0f * mineHead->getMass());
joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
// add to joints array for cleanup
mJoints.push_back(joint);
return seamine;
}
