void physx::PxSetGroupsMask(const PxRigidActor& actor, const PxGroupsMask& mask)
{
PxFilterData tmp;
PxFilterData fd = convert(mask);
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
void physx::PxSetGroup(const PxRigidActor& actor, const PxU16 collisionGroup)
{
PX_CHECK_AND_RETURN(collisionGroup < 32,"Collision group must be less than 32");
PxFilterData fd;
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group mask
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
PX_CHECK_AND_RETURN(scale > 0,
"PxScaleRigidActor requires that the scale parameter is greater than zero");
Ps::InlineArray<PxShape*, 64> shapes;
shapes.resize(actor.getNbShapes());
actor.getShapes(shapes.begin(), shapes.size());
for(PxU32 i=0;i<shapes.size();i++)
{
shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));
PxGeometryHolder h = shapes[i]->getGeometry();
switch(h.getType())
{
case PxGeometryType::eSPHERE:
h.sphere().radius *= scale;
break;
case PxGeometryType::ePLANE:
break;
case PxGeometryType::eCAPSULE:
h.capsule().halfHeight *= scale;
h.capsule().radius *= scale;
break;
case PxGeometryType::eBOX:
h.box().halfExtents *= scale;
break;
case PxGeometryType::eCONVEXMESH:
h.convexMesh().scale.scale *= scale;
break;
case PxGeometryType::eTRIANGLEMESH:
h.triangleMesh().scale.scale *= scale;
break;
case PxGeometryType::eHEIGHTFIELD:
h.heightField().heightScale *= scale;
h.heightField().rowScale *= scale;
h.heightField().columnScale *= scale;
break;
case PxGeometryType::eINVALID:
case PxGeometryType::eGEOMETRY_COUNT:
default:
PX_ASSERT(0);
}
shapes[i]->setGeometry(h.any());
}
if(!scaleMassProps)
return;
PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
if(!dynamic)
return;
PxReal scale3 = scale*scale*scale;
dynamic->setMass(dynamic->getMass()*scale3);
dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
PxGroupsMask physx::PxGetGroupsMask(const PxRigidActor& actor)
{
PX_CHECK_AND_RETURN_VAL(actor.getNbShapes() >= 1,"At least one shape must be in actor",PxGroupsMask());
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
PxFilterData fd = shape->getSimulationFilterData();
return convert(fd);
}
PxU16 physx::PxGetGroup(const PxRigidActor& actor)
{
PX_CHECK_AND_RETURN_NULL(actor.getNbShapes() >= 1,"There must be a shape in actor");
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
PxFilterData fd = shape->getSimulationFilterData();
return (PxU16)fd.word0;
}
bool copyStaticProperties(PxRigidActor& to, const PxRigidActor& from,NxMirrorScene::MirrorFilter &mirrorFilter)
{
physx::shdfnd::InlineArray<PxShape*, 64> shapes;
shapes.resize(from.getNbShapes());
PxU32 shapeCount = from.getNbShapes();
from.getShapes(shapes.begin(), shapeCount);
physx::shdfnd::InlineArray<PxMaterial*, 64> materials;
for(PxU32 i = 0; i < shapeCount; i++)
{
PxShape* s = shapes[i];
if ( mirrorFilter.shouldMirror(*s) )
{
PxU32 materialCount = s->getNbMaterials();
materials.resize(materialCount);
s->getMaterials(materials.begin(), materialCount);
PxShape* shape = to.createShape(s->getGeometry().any(), materials.begin(), static_cast<physx::PxU16>(materialCount));
shape->setLocalPose( s->getLocalPose());
shape->setContactOffset(s->getContactOffset());
shape->setRestOffset(s->getRestOffset());
shape->setFlags(s->getFlags());
shape->setSimulationFilterData(s->getSimulationFilterData());
shape->setQueryFilterData(s->getQueryFilterData());
mirrorFilter.reviseMirrorShape(*shape);
}
}
to.setActorFlags(from.getActorFlags());
to.setOwnerClient(from.getOwnerClient());
to.setDominanceGroup(from.getDominanceGroup());
if ( to.getNbShapes() )
{
mirrorFilter.reviseMirrorActor(to);
}
return to.getNbShapes() != 0;
}
void TCompCharacterController::SetFilterData(PxFilterData& filter)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
m_filter = filter;
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
bool CreateGeometryFromPhysxActor(PxActor *a, LevelGeometry::Mesh &mesh)
{
bool rv = false;
if (!a)
return rv;
PxRigidActor *ra = a->isRigidActor();
if (!ra)
return rv;
GameObject* gameObj = NULL;
PhysicsCallbackObject* userData = static_cast<PhysicsCallbackObject*>(ra->userData);
if(userData) gameObj = userData->isGameObject();
r3dCSHolder block(g_pPhysicsWorld->GetConcurrencyGuard());
PxU32 nbShapes = ra->getNbShapes();
for (PxU32 i = 0; i < nbShapes; ++i)
{
PxShape *s = 0;
ra->getShapes(&s, 1, i);
PxGeometryType::Enum gt = s->getGeometryType();
switch(gt)
{
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry g;
s->getTriangleMeshGeometry(g);
PxTransform t = s->getLocalPose().transform(ra->getGlobalPose());
rv = CreateGeometryFromPhysxGeometry(g, t, mesh);
break;
}
default:
r3dArtBug("buildNavigation: Unsupported physx mesh type %d, obj: %s\n", gt, gameObj ? gameObj->Name.c_str() : "<unknown>");
}
}
return rv;
}
void TCompCharacterController::SetCollisions(bool new_collisions)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
if (!new_collisions) {
m_filter.word1 &= ~ItLightensFilter::eCOLLISION;
m_filter.word1 &= ~ItLightensFilter::eCAN_TRIGGER; //for test only
}
else {
m_filter.word1 |= ItLightensFilter::eCOLLISION;
m_filter.word1 |= ItLightensFilter::eCAN_TRIGGER; //for test only
}
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
bool UWorld::ComponentSweepMulti(TArray<struct FHitResult>& OutHits, class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
if(GetPhysicsScene() == NULL)
{
return false;
}
if(PrimComp == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : No PrimComp"));
return false;
}
// if target is skeletalmeshcomponent and do not support singlebody physics
if ( !PrimComp->ShouldTrackOverlaps() )
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
return false;
}
ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
#if WITH_PHYSX
// if extent is 0, do line trace
if (PrimComp->IsZeroExtent())
{
return RaycastMulti(this, OutHits, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
}
PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
if(PRigidActor == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetPathName());
return false;
}
PxScene * const PScene = PRigidActor->getScene();
OutHits.Empty();
// Get all the shapes from the actor
TArray<PxShape*, TInlineAllocator<8>> PShapes;
{
SCOPED_SCENE_READ_LOCK(PScene);
PShapes.AddZeroed(PRigidActor->getNbShapes());
PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());
}
// calculate the test global pose of the actor
PxTransform PGlobalStartPose = U2PTransform(FTransform(Start));
PxTransform PGlobalEndPose = U2PTransform(FTransform(End));
bool bHaveBlockingHit = false;
PxQuat PGeomRot = U2PQuat(Rot.Quaternion());
// Iterate over each shape
SCENE_LOCK_READ(PScene);
for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
{
PxShape* PShape = PShapes[ShapeIdx];
check(PShape);
TArray<struct FHitResult> Hits;
// Calc shape global pose
PxTransform PLocalShape = PShape->getLocalPose();
PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
// consider localshape rotation for shape rotation
PxQuat PShapeRot = PGeomRot * PLocalShape.q;
GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);
if(PGeom != NULL)
{
SCENE_UNLOCK_READ(PScene);
if (GeomSweepMulti(this, *PGeom, PShapeRot, Hits, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
{
bHaveBlockingHit = true;
}
OutHits.Append(Hits);
SCENE_LOCK_READ(PScene);
}
}
SCENE_UNLOCK_READ(PScene);
return bHaveBlockingHit;
#endif //WITH_PHYSX
return false;
}
bool UWorld::ComponentSweepSingle(struct FHitResult& OutHit,class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
OutHit.TraceStart = Start;
OutHit.TraceEnd = End;
if(GetPhysicsScene() == NULL)
{
return false;
}
if(PrimComp == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepSingle : No PrimComp"));
return false;
}
// if target is skeletalmeshcomponent and do not support singlebody physics
if ( !PrimComp->ShouldTrackOverlaps() )
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepSingle : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
return false;
}
ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
#if WITH_PHYSX
// if extent is 0, do line trace
if (PrimComp->IsZeroExtent())
{
return RaycastSingle(this, OutHit, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
}
PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
if(PRigidActor == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetPathName());
return false;
}
// Get all the shapes from the actor
TArray<PxShape*, TInlineAllocator<8>> PShapes;
PShapes.AddZeroed(PRigidActor->getNbShapes());
int32 NumShapes = PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());
// calculate the test global pose of the actor
PxTransform PGlobalStartPose = U2PTransform(FTransform(Start));
PxTransform PGlobalEndPose = U2PTransform(FTransform(End));
bool bHaveBlockingHit = false;
PxQuat PGeomRot = U2PQuat(Rot.Quaternion());
// Iterate over each shape
for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
{
PxShape* PShape = PShapes[ShapeIdx];
check(PShape);
// Calc shape global pose
PxTransform PLocalShape = PShape->getLocalPose();
PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
// consider localshape rotation for shape rotation
PxQuat PShapeRot = PGeomRot * PLocalShape.q;
GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);
if(PGeom != NULL)
{
// @todo UE4, this might not be the best behavior. If we're looking for the most closest, this have to change to save the result, and find the closest one or
// any other options, right now if anything hits first, it will return
if (GeomSweepSingle(this, *PGeom, PShapeRot, OutHit, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
{
bHaveBlockingHit = true;
break;
}
}
}
return bHaveBlockingHit;
#endif //WITH_PHYSX
return false;
}
bool UWorld::ComponentOverlapTest(class UPrimitiveComponent* PrimComp, const FVector& Pos, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
if(GetPhysicsScene() == NULL)
{
return false;
}
if(PrimComp == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : No PrimComp"));
return false;
}
// if target is skeletalmeshcomponent and do not support singlebody physics, we don't support this yet
// talk to @JG, SP, LH
if ( !PrimComp->ShouldTrackOverlaps() )
{
UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
return false;
}
#if WITH_PHYSX
ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
if(PRigidActor == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : (%s) No physics data"), *PrimComp->GetPathName());
return false;
}
// calculate the test global pose of the actor
PxTransform PTestGlobalPose = U2PTransform(FTransform(Rot, Pos));
// Get all the shapes from the actor
TArray<PxShape*, TInlineAllocator<8>> PShapes;
PShapes.AddZeroed(PRigidActor->getNbShapes());
int32 NumShapes = PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());
// Iterate over each shape
for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
{
PxShape* PShape = PShapes[ShapeIdx];
check(PShape);
// Calc shape global pose
PxTransform PLocalPose = PShape->getLocalPose();
PxTransform PShapeGlobalPose = PTestGlobalPose.transform(PLocalPose);
GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);
if(PGeom != NULL)
{
if( GeomOverlapTest(this, *PGeom, PShapeGlobalPose, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
{
// in this test, it only matters true or false.
// if we found first true, we don't care next test anymore.
return true;
}
}
}
#endif //WITH_PHYSX
return false;
}