void AddRadialForceToPxRigidBody_AssumesLocked(PxRigidBody& PRigidBody, const FVector& Origin, float Radius, float Strength, uint8 Falloff, bool bAccelChange)
{
#if WITH_PHYSX
if (!(PRigidBody.getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC))
{
float Mass = PRigidBody.getMass();
PxTransform PCOMTransform = PRigidBody.getGlobalPose().transform(PRigidBody.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;
PRigidBody.addForce(PImpulse, bAccelChange ? PxForceMode::eACCELERATION : PxForceMode::eFORCE);
}
#endif // WITH_PHYSX
}
void AddRadialImpulseToPxRigidBody_AssumesLocked(PxRigidBody& PRigidBody, const FVector& Origin, float Radius, float Strength, uint8 Falloff, bool bVelChange)
{
#if WITH_PHYSX
if (!(PRigidBody.getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC))
{
float Mass = PRigidBody.getMass();
PxTransform PCOMTransform = PRigidBody.getGlobalPose().transform(PRigidBody.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;
PRigidBody.addForce(PImpulse, Mode);
}
#endif // WITH_PHYSX
}
void PhysActor_PhysX::AddForce(vec3f force, PhysForceMode::Enum mode)
{
if (!impl->physActor)
{
LOG("Cannot add force to actor because physActor is null!");
return;
}
PxRigidBody* actor = nullptr;
PxVec3 pushDir;
pushDir.x = force.x;
pushDir.y = force.y;
pushDir.z = force.z;
PxForceMode::Enum physXMode;
switch (mode)
{
case PhysForceMode::Acceleration:
physXMode = PxForceMode::eACCELERATION;
break;
case PhysForceMode::Force:
physXMode = PxForceMode::eFORCE;
break;
case PhysForceMode::VelocityChange:
physXMode = PxForceMode::eVELOCITY_CHANGE;
break;
case PhysForceMode::Impulse:
default:
physXMode = PxForceMode::eIMPULSE;
break;
}
if (impl->physActor->isRigidDynamic() || impl->physActor->isRigidBody())
{
actor = (PxRigidBody*)impl->physActor;
}
else
{
LOG("Cannot add force to actor because actor is not a Rigid Dynamic or Rigid Body actor.");
return;
}
if (actor)
actor->addForce(pushDir, physXMode);
}
PX_INLINE void addForceAtPosInternal(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode, bool wakeup)
{
if(mode == PxForceMode::eACCELERATION || mode == PxForceMode::eVELOCITY_CHANGE)
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"PxRigidBodyExt::addForce methods do not support eACCELERATION or eVELOCITY_CHANGE modes");
return;
}
const PxTransform globalPose = body.getGlobalPose();
const PxVec3 centerOfMass = globalPose.transform(body.getCMassLocalPose().p);
const PxVec3 torque = (pos - centerOfMass).cross(force);
body.addForce(force, mode, wakeup);
body.addTorque(torque, mode, wakeup);
}
/** Applies forces - Assumes caller has obtained writer lock */
void FPhysSubstepTask::ApplyForces_AssumesLocked(const FPhysTarget& PhysTarget, FBodyInstance* BodyInstance)
{
#if WITH_PHYSX
/** Apply Forces */
PxRigidBody* PRigidBody = BodyInstance->GetPxRigidBody_AssumesLocked();
for (int32 i = 0; i < PhysTarget.Forces.Num(); ++i)
{
const FForceTarget& ForceTarget = PhysTarget.Forces[i];
if (ForceTarget.bPosition)
{
PxRigidBodyExt::addForceAtPos(*PRigidBody, U2PVector(ForceTarget.Force), U2PVector(ForceTarget.Position), PxForceMode::eFORCE, true);
}
else
{
PRigidBody->addForce(U2PVector(ForceTarget.Force), ForceTarget.bAccelChange ? PxForceMode::eACCELERATION : PxForceMode::eFORCE, true);
}
}
#endif
}
// Called every frame for vehicle
void Vehicle::update()
{
resetIfNeeded();
float handBrake = 0;
float forwardSpeed = physicsVehicle->computeForwardSpeed();
(input.handBrake) ? handBrake = 1.0f: handBrake = 0.0f;
// Force gear change if speed is 0 (works, not sure why)
if (forwardSpeed == 0)
{
if (input.forward > 0)
{
physicsVehicle->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
}
else if (input.backward > 0)
{
physicsVehicle->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
}
}
// If speed is close to 0 set new target gear
else if (forwardSpeed < 5 && input.backward > 0)
{
physicsVehicle->mDriveDynData.setTargetGear(PxVehicleGearsData::eREVERSE);
}
else if (forwardSpeed > -5 && input.forward > 0)
{
physicsVehicle->mDriveDynData.setTargetGear(PxVehicleGearsData::eFIRST);
}
// Determine how to apply controller input depending on current gear
if (physicsVehicle->mDriveDynData.getCurrentGear() == PxVehicleGearsData::eREVERSE)
{
vehicleInput.setAnalogAccel(input.backward);
vehicleInput.setAnalogBrake(input.forward);
}
else
{
vehicleInput.setAnalogAccel(input.forward);
vehicleInput.setAnalogBrake(input.backward);
if(input.forward > 0)
gasSignal(this);
}
if (input.forward == 0 && input.backward == 0)
idleSignal(this);
if (isSlipping && (forwardSpeed > 5 || forwardSpeed < -5))
brakeSignal(this);
// Steer and handbrake
vehicleInput.setAnalogSteer(input.steer);
vehicleInput.setAnalogHandbrake(handBrake);
PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs(smoothingData, steerVsSpeedTable, vehicleInput, stepSizeS, isInAir, *physicsVehicle);
if (input.shootPizza)
{
if (pizzaCount > 0)
{
shootPizzaSignal(this);
pizzaCount--;
}
else
{
dryFireSignal(this);
}
input.shootPizza = false;
}
if (input.jump && (!isInAir || spaceMode))
{
PxRigidBody* rigid = (PxRigidBody*)actor;
rigid->addForce(PxVec3(0, 375, 0), PxForceMode::eACCELERATION);
input.jump = false;
}
}
