void PhysXMeshCollider::applyGeometry()
{
if (!mMesh.isLoaded())
{
setGeometry(PxSphereGeometry(0.01f)); // Dummy
return;
}
FPhysXMesh* physxMesh = static_cast<FPhysXMesh*>(mMesh->_getInternal());
if (mMesh->getType() == PhysicsMeshType::Convex)
{
PxConvexMeshGeometry geometry;
geometry.scale = PxMeshScale(toPxVector(getScale()), PxIdentity);
geometry.convexMesh = physxMesh->_getConvex();
setGeometry(geometry);
}
else // Triangle
{
PxTriangleMeshGeometry geometry;
geometry.scale = PxMeshScale(toPxVector(getScale()), PxIdentity);
geometry.triangleMesh = physxMesh->_getTriangle();
setGeometry(geometry);
}
}
void PhysXRigidbody::addForceAtPoint(const Vector3& force, const Vector3& position, PointForceMode mode)
{
const PxVec3& pxForce = toPxVector(force);
const PxVec3& pxPos = toPxVector(position);
const PxTransform globalPose = mInternal->getGlobalPose();
PxVec3 centerOfMass = globalPose.transform(mInternal->getCMassLocalPose().p);
PxForceMode::Enum pxMode = toPxForceMode(mode);
PxVec3 torque = (pxPos - centerOfMass).cross(pxForce);
mInternal->addForce(pxForce, pxMode);
mInternal->addTorque(torque, pxMode);
}
CharacterCollisionFlags PhysXCharacterController::move(const Vector3& displacement)
{
PxControllerFilters filters;
filters.mFilterCallback = this;
filters.mFilterFlags = PxQueryFlag::eANY_HIT | PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER;
filters.mCCTFilterCallback = this;
float curTime = gTime().getTime();
float delta = curTime - mLastMoveCall;
mLastMoveCall = curTime;
PxControllerCollisionFlags collisionFlag = mController->move(toPxVector(displacement), mMinMoveDistance, delta, filters);
CharacterCollisionFlags output;
if (collisionFlag.isSet(PxControllerCollisionFlag::eCOLLISION_DOWN))
output.set(CharacterCollisionFlag::Down);
if (collisionFlag.isSet(PxControllerCollisionFlag::eCOLLISION_UP))
output.set(CharacterCollisionFlag::Up);
if (collisionFlag.isSet(PxControllerCollisionFlag::eCOLLISION_SIDES))
output.set(CharacterCollisionFlag::Sides);
return output;
}
void PhysXRigidbody::setInertiaTensor(const Vector3& tensor)
{
if (((UINT32)mFlags & (UINT32)Flag::AutoTensors) != 0)
{
LOGWRN("Attempting to set Rigidbody inertia tensor, but it has automatic tensor calculation turned on.");
return;
}
mInternal->setMassSpaceInertiaTensor(toPxVector(tensor));
}
Vector3 PhysXRigidbody::getVelocityAtPoint(const Vector3& point) const
{
const PxVec3& pxPoint = toPxVector(point);
const PxTransform globalPose = mInternal->getGlobalPose();
const PxVec3 centerOfMass = globalPose.transform(mInternal->getCMassLocalPose().p);
const PxVec3 rpoint = pxPoint - centerOfMass;
PxVec3 velocity = mInternal->getLinearVelocity();
velocity += mInternal->getAngularVelocity().cross(rpoint);
return fromPxVector(velocity);
}
PxCapsuleControllerDesc toPxDesc(const CHAR_CONTROLLER_DESC& desc)
{
PxCapsuleControllerDesc output;
output.climbingMode = toPxEnum(desc.climbingMode);
output.nonWalkableMode = toPxEnum(desc.nonWalkableMode);
output.contactOffset = desc.contactOffset;
output.stepOffset = desc.stepOffset;
output.slopeLimit = desc.slopeLimit.valueRadians();
output.height = desc.height;
output.radius = desc.radius;
output.upDirection = toPxVector(desc.up);
output.position = toPxExtVector(desc.position);
return output;
}
void PhysXRigidbody::move(const Vector3& position)
{
if (getIsKinematic())
{
PxTransform target;
if (!mInternal->getKinematicTarget(target))
target = PxTransform(PxIdentity);
target.p = toPxVector(position);
mInternal->setKinematicTarget(target);
}
else
{
setTransform(position, getRotation());
}
}
void PhysXRigidbody::addTorque(const Vector3& force, ForceMode mode)
{
mInternal->addTorque(toPxVector(force), toPxForceMode(mode));
}
void PhysXRigidbody::setAngularVelocity(const Vector3& velocity)
{
mInternal->setAngularVelocity(toPxVector(velocity));
}
void PhysXCharacterController::setUp(const Vector3& up)
{
mController->setUpDirection(toPxVector(up));
}
void PhysXD6Joint::setDriveVelocity(const Vector3& linear, const Vector3& angular)
{
getInternal()->setDriveVelocity(toPxVector(linear), toPxVector(angular));
}
