void PxWorld::_releaseQueues()
{
AssertFatal( mScene, "PhysXWorld::_releaseQueues() - The scene is null!" );
// We release joints still pending in the queue
// first as they depend on the actors.
for ( S32 i = 0; i < mReleaseJointQueue.size(); i++ )
{
NxJoint *currJoint = mReleaseJointQueue[i];
mScene->releaseJoint( *currJoint );
}
// All the joints should be released, clear the queue.
mReleaseJointQueue.clear();
// Now release any actors still pending in the queue.
for ( S32 i = 0; i < mReleaseActorQueue.size(); i++ )
{
NxActor *currActor = mReleaseActorQueue[i];
bool isStatic = !currActor->isDynamic();
mScene->releaseActor( *currActor );
if ( isStatic )
PhysicsStatic::smDeleteSignal.trigger();
}
// All the actors should be released, clear the queue.
mReleaseActorQueue.clear();
// Now release any cloth still pending in the queue.
for ( S32 i = 0; i < mReleaseClothQueue.size(); i++ )
{
NxCloth *currCloth = mReleaseClothQueue[i];
mScene->releaseCloth( *currCloth );
}
// All the actors should be released, clear the queue.
mReleaseClothQueue.clear();
// Release heightfields that don't still have references.
for ( S32 i = 0; i < mReleaseHeightFieldQueue.size(); i++ )
{
NxHeightField *currHeightfield = mReleaseHeightFieldQueue[i];
if ( currHeightfield->getReferenceCount() == 0 )
{
gPhysicsSDK->releaseHeightField( *currHeightfield );
mReleaseHeightFieldQueue.erase_fast( i );
i--;
}
}
}
void PxWorld::releaseActor( NxActor &actor )
{
AssertFatal( &actor.getScene() == mScene, "PhysXWorld::releaseActor() - Bad scene!" );
// Clear the userdata.
actor.userData = NULL;
// If the scene is not simulating then we have the
// write lock and can safely delete it now.
if ( !mIsSimulating )
{
bool isStatic = !actor.isDynamic();
mScene->releaseActor( actor );
if ( isStatic )
PhysicsStatic::smDeleteSignal.trigger();
}
else
mReleaseActorQueue.push_back( &actor );
}
void PhysicsLib::updateVisualization(const VC3 &cameraPosition, float range, bool forceUpdate)
{
bool visualizeCollisionShapes = data->featureMap[PhysicsLib::VISUALIZE_COLLISION_SHAPES];
bool visualizeDynamic = data->featureMap[PhysicsLib::VISUALIZE_DYNAMIC];
bool visualizeStatic = data->featureMap[PhysicsLib::VISUALIZE_STATIC];
bool visualizeCollisionContacts = data->featureMap[PhysicsLib::VISUALIZE_COLLISION_CONTACTS];
bool visualizeFluids = data->featureMap[PhysicsLib::VISUALIZE_FLUIDS];
bool visualizeJoints = data->featureMap[PhysicsLib::VISUALIZE_JOINTS];
bool visualizeCCD = data->featureMap[PhysicsLib::VISUALIZE_CCD];
if (forceUpdate
|| visualizeCollisionShapes
|| visualizeDynamic
|| visualizeStatic
|| visualizeCollisionContacts
|| visualizeFluids
|| visualizeJoints
|| visualizeCCD)
{
// (do the update)
} else {
// do not unnecessarily do this stuff!
return;
}
float rangeSq = range * range;
int actorAmount = data->scene->getNbActors();
NxActor **actorArray = data->scene->getActors();
if(visualizeCollisionShapes || visualizeStatic || visualizeCollisionContacts)
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
else
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 0);
if(visualizeDynamic)
data->sdk->setParameter(NX_VISUALIZE_BODY_MASS_AXES, 1);
else
data->sdk->setParameter(NX_VISUALIZE_BODY_MASS_AXES, 0);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_NORMAL, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_FORCE, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_CONTACT_POINT, visualizeCollisionContacts);
data->sdk->setParameter(NX_VISUALIZE_COLLISION_SKELETONS, visualizeCCD);
for(int i = 0; i < actorAmount; ++i)
{
NxActor *actor = actorArray[i];
if(!actor)
continue;
NxVec3 nxpos = actor->getGlobalPosition();
VC3 pos(nxpos.x, nxpos.y, nxpos.z);
VC3 diff = (pos - cameraPosition);
diff.y = 0; // ignore height
bool inRange = false;
if (diff.GetSquareLength() < rangeSq)
inRange = true;
if(actor->isDynamic())
{
//if(visualizeDynamic && inRange)
if(visualizeDynamic)
actor->raiseBodyFlag(NX_BF_VISUALIZATION);
else
actor->clearBodyFlag(NX_BF_VISUALIZATION);
}
int shapeAmount = actor->getNbShapes();
NxShape *const*shapes = actor->getShapes();
while(shapeAmount--)
{
NxShape *shape = shapes[shapeAmount];
if(actor->isDynamic())
{
//if(visualizeCollisionShapes && inRange)
if(visualizeCollisionShapes)
shape->setFlag(NX_SF_VISUALIZATION, true);
else
shape->setFlag(NX_SF_VISUALIZATION, false);
}
else
{
if(visualizeStatic && !shape->isHeightField() && inRange)
shape->setFlag(NX_SF_VISUALIZATION, true);
else
shape->setFlag(NX_SF_VISUALIZATION, false);
}
}
}
}
void FPxSceneMain::Tick( FLOAT DeltaTime )
{
pxguard(FPxSceneMain::Tick);
if( mScene )
{
//mCharManager->updateControllers();
//
// Kinematic actors move unreal actors
//
/*NxActor** actors = mScene->getActors();
int nbActors = mScene->getNbActors();
while(nbActors--)
{
NxActor* actor = *actors++;
if( actor->userData && actor->isDynamic() && actor->readBodyFlag( NX_BF_KINEMATIC ) )
{
AActor* aptr = (AActor*)actor->userData;
// update location and rotation
FCheckResult Hit(1.0f);
NxMat34 m = actor->getGlobalPose();
aptr->GetLevel()->MoveActor( aptr, FVector(0,0,0), ToRotator(m.M), Hit );
aptr->GetLevel()->FarMoveActor( aptr, ToFVS(m.t), 0, 1 );
}
}*/
//
// Unreal actors move kinematic actors
//
/*NxActor** actors = mScene->getActors();
int nbActors = mScene->getNbActors();
while(nbActors--)
{
NxActor* actor = *actors++;
if( actor->userData && actor->isDynamic() && actor->readBodyFlag( NX_BF_KINEMATIC ) )
{
AActor* aptr = (AActor*)actor->userData;
// update location and rotation
NxMat34 m = ToMat34(aptr->Rotation,aptr->Location);
actor->setGlobalPose(m);
}
}*/
//
// Dynamic actors move unreal actors
//
NxActor** actors = mScene->getActors();
int nbActors = mScene->getNbActors();
while(nbActors--)
{
NxActor* actor = *actors++;
if( actor->userData && actor->isDynamic() && !actor->readBodyFlag( NX_BF_KINEMATIC ) )
{
AActor* aptr = (AActor*)actor->userData;
// update location and rotation
FCheckResult Hit(1.0f);
NxMat34 m = actor->getGlobalPose();
aptr->GetLevel()->FarMoveActor( aptr, ToFVS(m.t) );
aptr->GetLevel()->MoveActor( aptr, FVector(0,0,0), ToRotator(m.M), Hit );
}
}
//
// TODO: optimize timing
//
// Minimum acceptable framerate is 5fps
if( DeltaTime > 0.2f )
{
DeltaTime = 0.2f;
}
mTime += DeltaTime;
while( /*!mSimulating &&*/ mTime >= PX_TIMESTEP )
{
mTime -= PX_TIMESTEP;
mScene->simulate(PX_TIMESTEP);
mScene->flushStream();
mScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
//mSimulating = true;
}
//renderScene();
/*if( mSimulating && mScene->checkResults(NX_RIGID_BODY_FINISHED, false) )
{
mScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
mSimulating = false;
//modifyScene(DeltaTime);
}*/
// get debug info
if( GPxPhysics.mDrawPhysX )
mDebugRen = mScene->getDebugRenderable();
}
unguard;
}
void render()
{
static Timer t;
if(!gMyPhysX.isPaused())
{
for (NxU32 i = 0; i < gKinematicActors.size(); i++)
{
NxActor* actor = gKinematicActors[i].actor;
NxVec3 pos = actor->getGlobalPosition();
pos += gKinematicActors[i].vel * 1.f/60.f;
actor->moveGlobalPosition(pos);
}
}
gMyPhysX.simulate(t.elapsed_time());
t.reset();
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glColor4f(0.5,0.9,0.5,1.0);
DrawSkyBox(SKYEXTENTS);
drawPlane(SKYEXTENTS);
// Keep physics & graphics in sync
for (NxU32 pass = 0; pass < 2; pass++) {
int nbActors = gMyPhysX.getScene()->getNbActors();
NxActor** actors = gMyPhysX.getScene()->getActors();
actors += nbActors;
while(nbActors--)
{
NxActor* actor = *--actors;
float size;
bool isTrigger = false;
bool isKinematic = actor->isDynamic() && actor->readBodyFlag(NX_BF_KINEMATIC);
NxVec3 color;
NxF32 alpha = 1;
if (actor->isDynamic()) {
if (actor->readBodyFlag(NX_BF_KINEMATIC)) {
color.set(1,0,0);
} else {
color.set(0,1,0);
}
} else {
color.set(0.2f,0.2f,0.2f);
}
if (*(int *)(&actor->userData) < 0)
{
NxI32 triggerNumber = -(*(NxI32 *)(&actor->userData));
NxI32 triggerIndex = triggerNumber - 1;
// This is our trigger
isTrigger = true;
size = 10.0f;
color.z = gNbTouchedBodies[triggerIndex] > 0.5f ? 1.0f:0.0f;
alpha = 0.5f;
if (pass == 0)
continue;
}
else
{
// This is a normal object
size = float(*(int *)(&actor->userData));
if (pass == 1)
continue;
}
float glmat[16];
glPushMatrix();
actor->getGlobalPose().getColumnMajor44(glmat);
glMultMatrixf(glmat);
glColor4f(color.x, color.y, color.z, 1.0f);
glutSolidCube(size*2.0f);
glPopMatrix();
// Handle shadows
if( !isTrigger)
{
glPushMatrix();
const static float ShadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };
glMultMatrixf(ShadowMat);
glMultMatrixf(glmat);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glutSolidCube(size*2.0f);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}
}
