void plPXPhysicalControllerCore::ISetKinematicLoc(const hsMatrix44& l2w)
{
hsPoint3 kPos;
// Update our subworld position and rotation
const plCoordinateInterface* subworldCI = GetSubworldCI();
if (subworldCI)
{
const hsMatrix44& w2s = subworldCI->GetWorldToLocal();
hsMatrix44 l2s = w2s * l2w;
l2s.GetTranslate(&kPos);
}
else
{
l2w.GetTranslate(&kPos);
}
hsMatrix44 w2l;
l2w.GetInverse(&w2l);
if (fProxyGen)
fProxyGen->SetTransform(l2w, w2l);
// add z offset
kPos.fZ += kPhysZOffset;
// Update the physical position of kinematic
if (fKinematicActor->readBodyFlag(NX_BF_KINEMATIC))
fKinematicActor->moveGlobalPosition(plPXConvert::Point(kPos));
else
fKinematicActor->setGlobalPosition(plPXConvert::Point(kPos));
}
void plPXPhysicalControllerCore::ISetGlobalLoc(const hsMatrix44& l2w)
{
fLastGlobalLoc = l2w;
// Update our subworld position and rotation
const plCoordinateInterface* subworldCI = GetSubworldCI();
if (subworldCI)
{
const hsMatrix44& w2s = fPrevSubworldW2L;
hsMatrix44 l2s = w2s * l2w;
l2s.GetTranslate(&fLocalPosition);
fLocalRotation.SetFromMatrix44(l2s);
}
else
{
l2w.GetTranslate(&fLocalPosition);
fLocalRotation.SetFromMatrix44(l2w);
}
hsMatrix44 w2l;
l2w.GetInverse(&w2l);
if (fProxyGen)
fProxyGen->SetTransform(l2w, w2l);
// Update the physical position
NxExtendedVec3 nxPos(fLocalPosition.fX, fLocalPosition.fY, fLocalPosition.fZ + kPhysZOffset);
fController->setPosition(nxPos);
IMatchKinematicToController();
}
void plPXPhysical::ISetTransformGlobal(const hsMatrix44& l2w)
{
hsAssert(fActor->isDynamic(), "Shouldn't move a static actor");
// If we wake up normal dynamic actors, they might explode.
// However, kinematics won't update if they are asleep. Thankfully, kinematics don't
// explode, move, or cause spontaneous nuclear warfare.
if (fActor->readBodyFlag(NX_BF_KINEMATIC))
fActor->wakeUp();
NxMat34 mat;
if (fWorldKey)
{
plSceneObject* so = plSceneObject::ConvertNoRef(fWorldKey->ObjectIsLoaded());
hsAssert(so, "Scene object not loaded while accessing subworld.");
// physical to subworld (simulation space)
hsMatrix44 p2s = so->GetCoordinateInterface()->GetWorldToLocal() * l2w;
plPXConvert::Matrix(p2s, mat);
if (fProxyGen)
{
hsMatrix44 w2l;
p2s.GetInverse(&w2l);
fProxyGen->SetTransform(p2s, w2l);
}
}
// No need to localize
else
{
plPXConvert::Matrix(l2w, mat);
if (fProxyGen)
{
hsMatrix44 w2l;
l2w.GetInverse(&w2l);
fProxyGen->SetTransform(l2w, w2l);
}
}
// This used to check for the kPhysAnim flag, however animated detectors
// are also kinematic but not kPhysAnim, therefore, this would break on PhysX
// SDKs (yes, I'm looking at you, 2.6.4) that actually obey the ***GlobalPose
// rules set forth in the SDK documentation.
if (fActor->readBodyFlag(NX_BF_KINEMATIC))
fActor->moveGlobalPose(mat);
else
fActor->setGlobalPose(mat);
}
// GETTRANSFORM
void plPXPhysical::GetTransform(hsMatrix44& l2w, hsMatrix44& w2l)
{
IGetTransformGlobal(l2w);
l2w.GetInverse(&w2l);
}