Exemple #1
0
PxTransform Sq::getGlobalPose(const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
	PxActorType::Enum actorType = scbActor.getActorType();
	if(actorType==PxActorType::eRIGID_STATIC)
	{
		return static_cast<const Scb::RigidStatic&>(scbActor).getActor2World() * scbShape.getShape2Actor();
	}
	else 
	{
		PX_ASSERT(actorType==PxActorType::eRIGID_DYNAMIC || actorType == PxActorType::eARTICULATION_LINK);

		PxTransform body2World;
		const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
		if (!(body.getFlags() & PxRigidBodyFlag::eKINEMATIC))
			body2World = body.getBody2World();
		else
		{
			PxTransform bodyTarget;
			if (!body.getKinematicTarget(bodyTarget) || (!(body.getFlags() & PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES)))
				body2World = body.getBody2World();
			else
				body2World = bodyTarget;
		}

		return body2World * body.getBody2Actor().getInverse() * scbShape.getShape2Actor();
	}
}
static PxBounds3 computeWorldAABB(const Scb::Shape& scbShape, const Sc::BodyCore& bodyCore)
{
	const Gu::GeometryUnion& geom = scbShape.getGeometryUnion();
	const PxTransform& shape2Actor = scbShape.getShape2Actor();

	PX_ALIGN(16, PxTransform) globalPose;

	PX_ALIGN(16, PxTransform) kinematicTarget;
	PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC | PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
	bool useTarget = (PxU16(bodyCore.getFlags()) & sqktFlags) == sqktFlags;

	const PxTransform& body2World = (useTarget && bodyCore.getKinematicTarget(kinematicTarget)) ? kinematicTarget : bodyCore.getBody2World();
	Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, bodyCore.getBody2Actor(), globalPose);

	PxBounds3 tmp;
	inflateBounds(tmp, Gu::computeBounds(geom.getGeometry(), globalPose, false));
	return tmp;
}
Exemple #3
0
PxBounds3 Sq::computeWorldAABB(const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
	PxActorType::Enum actorType = scbActor.getActorType();
	const Gu::GeometryUnion& geom = scbShape.getGeometryUnion();
	const PxTransform& shape2Actor = scbShape.getShape2Actor();

	PX_ALIGN(16, PxTransform) globalPose;

	if(actorType==PxActorType::eRIGID_STATIC)
		Cm::getStaticGlobalPoseAligned(static_cast<const Scb::RigidStatic&>(scbActor).getActor2World(), shape2Actor, globalPose);
	else
	{
		const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
		PX_ALIGN(16, PxTransform) kinematicTarget;
		PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC|PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;		
		bool useTarget = (PxU16(body.getFlags()) & sqktFlags) == sqktFlags;
		const PxTransform& body2World = (useTarget && body.getKinematicTarget(kinematicTarget)) ? kinematicTarget : body.getBody2World();
		Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, body.getBody2Actor(), globalPose);
	}

	return inflateBounds(geom.computeBounds(globalPose));

}