void UBodySetup::AddConvexElemsToRigidActor(PxRigidActor* PDestActor, const FTransform& RelativeTM, const FVector& Scale3D, const FVector& Scale3DAbs, TArray<PxShape*>* NewShapes) const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
PxMaterial* PDefaultMat = GetDefaultPhysMaterial();
for (int32 i = 0; i < AggGeom.ConvexElems.Num(); i++)
{
const FKConvexElem& ConvexElem = AggGeom.ConvexElems[i];
if (ConvexElem.ConvexMesh)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
PxConvexMeshGeometry PConvexGeom;
PConvexGeom.convexMesh = bUseNegX ? ConvexElem.ConvexMeshNegX : ConvexElem.ConvexMesh;
PConvexGeom.scale.scale = U2PVector(Scale3DAbs * ConvexElem.GetTransform().GetScale3D().GetAbs());
FTransform ConvexTransform = ConvexElem.GetTransform();
if (ConvexTransform.GetScale3D().X < 0 || ConvexTransform.GetScale3D().Y < 0 || ConvexTransform.GetScale3D().Z < 0)
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has negative scale. Not currently supported"), *GetPathNameSafe(GetOuter()), i);
}
if (ConvexTransform.IsValid())
{
PxTransform PElementTransform = U2PTransform(ConvexTransform * RelativeTM);
PLocalPose.q *= PElementTransform.q;
PLocalPose.p = PElementTransform.p;
PLocalPose.p.x *= Scale3D.X;
PLocalPose.p.y *= Scale3D.Y;
PLocalPose.p.z *= Scale3D.Z;
if (PConvexGeom.isValid())
{
PxVec3 PBoundsExtents = PConvexGeom.convexMesh->getLocalBounds().getExtents();
ensure(PLocalPose.isValid());
PxShape* NewShape = PDestActor->createShape(PConvexGeom, *PDefaultMat, PLocalPose);
if (NewShapes)
{
NewShapes->Add(NewShape);
}
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PBoundsExtents.minElement());
NewShape->setContactOffset(ContactOffset);
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] invalid"), *GetPathNameSafe(GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has invalid transform"), *GetPathNameSafe(GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: ConvexElem is missing ConvexMesh (%d: %s)"), i, *GetPathName());
}
}
}
PxController* ControlledActor::init(const ControlledActorDesc& desc, PxControllerManager* manager)
{
const float radius = desc.mRadius;
float height = desc.mHeight;
float crouchHeight = desc.mCrouchHeight;
PxControllerDesc* cDesc;
PxBoxControllerDesc boxDesc;
PxCapsuleControllerDesc capsuleDesc;
if(desc.mType==PxControllerShapeType::eBOX)
{
height *= 0.5f;
height += radius;
crouchHeight *= 0.5f;
crouchHeight += radius;
boxDesc.halfHeight = height;
boxDesc.halfSideExtent = radius;
boxDesc.halfForwardExtent = radius;
cDesc = &boxDesc;
}
else
{
PX_ASSERT(desc.mType==PxControllerShapeType::eCAPSULE);
capsuleDesc.height = height;
capsuleDesc.radius = radius;
capsuleDesc.climbingMode = PxCapsuleClimbingMode::eCONSTRAINED;
cDesc = &capsuleDesc;
}
cDesc->density = desc.mProxyDensity;
cDesc->scaleCoeff = desc.mProxyScale;
cDesc->material = &mOwner.getDefaultMaterial();
cDesc->position = desc.mPosition;
cDesc->slopeLimit = desc.mSlopeLimit;
cDesc->contactOffset = desc.mContactOffset;
cDesc->stepOffset = desc.mStepOffset;
cDesc->invisibleWallHeight = desc.mInvisibleWallHeight;
cDesc->maxJumpHeight = desc.mMaxJumpHeight;
// cDesc->nonWalkableMode = PxControllerNonWalkableMode::ePREVENT_CLIMBING_AND_FORCE_SLIDING;
cDesc->reportCallback = desc.mReportCallback;
cDesc->behaviorCallback = desc.mBehaviorCallback;
cDesc->volumeGrowth = desc.mVolumeGrowth;
mType = desc.mType;
mInitialPosition = desc.mPosition;
mStandingSize = height;
mCrouchingSize = crouchHeight;
mControllerRadius = radius;
PxController* ctrl = static_cast<PxBoxController*>(manager->createController(*cDesc));
PX_ASSERT(ctrl);
// remove controller shape from scene query for standup overlap test
PxRigidDynamic* actor = ctrl->getActor();
if(actor)
{
if(actor->getNbShapes())
{
PxShape* ctrlShape;
actor->getShapes(&ctrlShape,1);
ctrlShape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
Renderer* renderer = mOwner.getRenderer();
if(desc.mType==PxControllerShapeType::eBOX)
{
const PxVec3 standingExtents(radius, height, radius);
const PxVec3 crouchingExtents(radius, crouchHeight, radius);
mRenderActorStanding = SAMPLE_NEW(RenderBoxActor)(*renderer, standingExtents);
mRenderActorCrouching = SAMPLE_NEW(RenderBoxActor)(*renderer, crouchingExtents);
}
else if(desc.mType==PxControllerShapeType::eCAPSULE)
{
mRenderActorStanding = SAMPLE_NEW(RenderCapsuleActor)(*renderer, radius, height*0.5f);
mRenderActorCrouching = SAMPLE_NEW(RenderCapsuleActor)(*renderer, radius, crouchHeight*0.5f);
}
}
}
mController = ctrl;
return ctrl;
}
void SampleCustomGravityCameraController::update(Camera& camera, PxReal dtime)
{
const PxExtendedVec3& currentPos = mCCT.getPosition();
const PxVec3 curPos = toVec3(currentPos);
// Compute up vector for current CCT position
PxVec3 upVector;
mBase.mPlanet.getUpVector(upVector, curPos);
PX_ASSERT(upVector.isFinite());
// Update CCT
if(!mBase.isPaused())
{
if(1)
{
bool recordPos = true;
const PxU32 currentSize = mNbRecords;
if(currentSize)
{
const PxVec3 lastPos = mHistory[currentSize-1];
// const float limit = 0.1f;
const float limit = 0.5f;
if((curPos - lastPos).magnitude()<limit)
recordPos = false;
}
if(recordPos)
{
if(mNbRecords==POS_HISTORY_LIMIT)
{
for(PxU32 i=1;i<mNbRecords;i++)
mHistory[i-1] = mHistory[i];
mNbRecords--;
}
mHistory[mNbRecords++] = curPos;
}
}
// Subtract off the 'up' component of the view direction to get our forward motion vector.
PxVec3 viewDir = camera.getViewDir();
PxVec3 forward = (viewDir - upVector * upVector.dot(viewDir)).getNormalized();
// PxVec3 forward = mForward;
// Compute "right" vector
PxVec3 right = forward.cross(upVector);
right.normalize();
// PxVec3 right = mRightV;
PxVec3 targetKeyDisplacement(0);
if(mFwd) targetKeyDisplacement += forward;
if(mBwd) targetKeyDisplacement -= forward;
if(mRight) targetKeyDisplacement += right;
if(mLeft) targetKeyDisplacement -= right;
targetKeyDisplacement *= mKeyShiftDown ? mRunningSpeed : mWalkingSpeed;
// targetKeyDisplacement += PxVec3(0,-9.81,0);
targetKeyDisplacement *= dtime;
PxVec3 targetPadDisplacement(0);
targetPadDisplacement += forward * mGamepadForwardInc * mRunningSpeed;
targetPadDisplacement += right * mGamepadLateralInc * mRunningSpeed;
// targetPadDisplacement += PxVec3(0,-9.81,0);
targetPadDisplacement *= dtime;
const PxF32 heightDelta = gJump.getHeight(dtime);
// printf("%f\n", heightDelta);
PxVec3 upDisp = upVector;
if(heightDelta!=0.0f)
upDisp *= heightDelta;
else
upDisp *= -9.81f * dtime;
const PxVec3 disp = targetKeyDisplacement + targetPadDisplacement + upDisp;
//upDisp.normalize();
//printf("%f | %f | %f\n", upDisp.x, upDisp.y, upDisp.z);
// printf("%f | %f | %f\n", targetKeyDisplacement.x, targetKeyDisplacement.y, targetKeyDisplacement.z);
// printf("%f | %f | %f\n\n", targetPadDisplacement.x, targetPadDisplacement.y, targetPadDisplacement.z);
mCCT.setUpDirection(upVector);
const PxU32 flags = mCCT.move(disp, 0.001f, dtime, PxControllerFilters());
if(flags & PxControllerFlag::eCOLLISION_DOWN)
{
gJump.stopJump();
// printf("Stop jump\n");
}
}
// Update camera
if(1)
{
mTargetYaw += mGamepadYawInc * dtime;
mTargetPitch += mGamepadPitchInc * dtime;
// Clamp pitch
// if(mTargetPitch<mPitchMin) mTargetPitch = mPitchMin;
// if(mTargetPitch>mPitchMax) mTargetPitch = mPitchMax;
}
if(1)
{
PxVec3 up = upVector;
PxQuat localPitchQ(mTargetPitch, PxVec3(1.0f, 0.0f, 0.0f));
PX_ASSERT(localPitchQ.isSane());
PxMat33 localPitchM(localPitchQ);
const PxVec3 upRef(0.0f, 1.0f, 0.0f);
PxQuat localYawQ(mTargetYaw, upRef);
PX_ASSERT(localYawQ.isSane());
PxMat33 localYawM(localYawQ);
bool res;
PxQuat localToWorldQ = rotationArc(upRef, up, res);
static PxQuat memory(0,0,0,1);
if(!res)
{
localToWorldQ = memory;
}
else
{
memory = localToWorldQ;
}
PX_ASSERT(localToWorldQ.isSane());
PxMat33 localToWorld(localToWorldQ);
static PxVec3 previousUp(0.0f, 1.0f, 0.0f);
static PxQuat incLocalToWorldQ(0.0f, 0.0f, 0.0f, 1.0f);
PxQuat incQ = rotationArc(previousUp, up, res);
PX_ASSERT(incQ.isSane());
// incLocalToWorldQ = incLocalToWorldQ * incQ;
incLocalToWorldQ = incQ * incLocalToWorldQ;
PX_ASSERT(incLocalToWorldQ.isSane());
incLocalToWorldQ.normalize();
PxMat33 incLocalToWorldM(incLocalToWorldQ);
localToWorld = incLocalToWorldM;
previousUp = up;
mTest = localToWorld;
//mTest = localToWorld * localYawM;
// PxMat33 rot = localYawM * localToWorld;
PxMat33 rot = localToWorld * localYawM * localPitchM;
// PxMat33 rot = localToWorld * localYawM;
PX_ASSERT(rot.column0.isFinite());
PX_ASSERT(rot.column1.isFinite());
PX_ASSERT(rot.column2.isFinite());
////
PxMat44 view(rot.column0, rot.column1, rot.column2, PxVec3(0));
mForward = -rot.column2;
mRightV = rot.column0;
camera.setView(PxTransform(view));
PxVec3 viewDir = camera.getViewDir();
PX_ASSERT(viewDir.isFinite());
////
PxRigidActor* characterActor = mCCT.getActor();
PxShape* shape;
characterActor->getShapes(&shape,1);
PxCapsuleGeometry geom;
shape->getCapsuleGeometry(geom);
up *= geom.halfHeight+geom.radius;
const PxVec3 headPos = curPos + up;
const float distanceToTarget = 10.0f;
// const float distanceToTarget = 20.0f;
// const float distanceToTarget = 5.0f;
// const PxVec3 camPos = headPos - viewDir*distanceToTarget;
const PxVec3 camPos = headPos - mForward*distanceToTarget;// + up * 20.0f;
// view.t = camPos;
view.column3 = PxVec4(camPos,0);
// camera.setView(view);
camera.setView(PxTransform(view));
mTarget = headPos;
}
if(0)
{
PxControllerState cctState;
mCCT.getState(cctState);
printf("\nCCT state:\n");
printf("delta: %.02f | %.02f | %.02f\n", cctState.deltaXP.x, cctState.deltaXP.y, cctState.deltaXP.z);
printf("touchedShape: %p\n", cctState.touchedShape);
printf("touchedObstacle: %p\n", cctState.touchedObstacle);
printf("standOnAnotherCCT: %d\n", cctState.standOnAnotherCCT);
printf("standOnObstacle: %d\n", cctState.standOnObstacle);
printf("isMovingUp: %d\n", cctState.isMovingUp);
printf("collisionFlags: %d\n", cctState.collisionFlags);
}
}
void SampleParticles::Raygun::update(float dtime)
{
if(!isEnabled())
return;
PX_ASSERT(mSample && mForceSmokeCapsule && mForceWaterCapsule && mRenderActor);
// access properties from sample
PxScene& scene = mSample->getActiveScene();
PxVec3 position = mSample->getCamera().getPos();
PxTransform cameraPose = mSample->getCamera().getViewMatrix();
PxMat33 cameraBase(cameraPose.q);
PxVec3 cameraForward = -cameraBase[2];
PxVec3 cameraUp = -cameraBase[1];
// perform raycast here and update impact point
PxRaycastHit hit;
mIsImpacting = scene.raycastSingle(cameraPose.p, cameraForward, 500.0f, PxSceneQueryFlags(0xffffffff), hit);
float impactParam = mIsImpacting ? (hit.impact - position).magnitude() : FLT_MAX;
PxTransform rayPose(position + cameraUp * 0.5f, cameraPose.q*PxQuat(PxHalfPi, PxVec3(0,1,0)));
updateRayCapsule(mForceSmokeCapsule, rayPose, 1.0f);
updateRayCapsule(mForceWaterCapsule, rayPose, 0.3f);
mRenderActor->setTransform(rayPose);
// if we had an impact
if (impactParam < FLT_MAX)
{
PxVec3 impactPos = position + cameraForward*impactParam;
// update emitter with new impact point and direction
if(mSmokeEmitter.emitter)
mSmokeEmitter.emitter->setLocalPose(PxTransform(impactPos, directionToQuaternion(-cameraForward)));
if(mDebrisEmitter.emitter)
mDebrisEmitter.emitter->setLocalPose(PxTransform(impactPos, directionToQuaternion(-cameraForward)));
// spawn new RB debris
if(mRbDebrisTimer < 0.0f && impactParam < FLT_MAX)
{
mRbDebrisTimer = RAYGUN_RB_DEBRIS_RATE;
PxVec3 randDir(getSampleRandom().rand(-1.0f, 1.0f),
getSampleRandom().rand(-1.0f, 1.0f),
getSampleRandom().rand(-1.0f, 1.0f));
PxVec3 vel = -7.0f * (cameraForward + RAYGUN_RB_DEBRIS_ANGLE_RANDOMNESS * randDir.getNormalized());
PxVec3 dim(getSampleRandom().rand(0.0f, RAYGUN_RB_DEBRIS_SCALE),
getSampleRandom().rand(0.0f, RAYGUN_RB_DEBRIS_SCALE),
getSampleRandom().rand(0.0f, RAYGUN_RB_DEBRIS_SCALE));
// give spawn position, initial velocity and dimensions, spawn convex
// which will not act in scene queries
PxConvexMesh* convexMesh = generateConvex(mSample->getPhysics(), mSample->getCooking(), RAYGUN_RB_DEBRIS_SCALE);
mSample->runtimeAssert(convexMesh, "Error generating convex for debris.\n");
PxRigidDynamic* debrisActor = PxCreateDynamic(
mSample->getPhysics(),
PxTransform(impactPos - cameraForward * 0.5f),
PxConvexMeshGeometry(convexMesh),
mSample->getDefaultMaterial(), 1.f);
mSample->getActiveScene().addActor(*debrisActor);
PX_ASSERT(debrisActor->getNbShapes() == 1);
PxShape* debrisShape;
debrisActor->getShapes(&debrisShape, 1);
debrisShape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
debrisActor->setLinearVelocity(vel);
debrisActor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
debrisActor->setAngularDamping(0.5f);
// default material is green for debris
RenderMaterial* debriMaterial = mSample->getMaterial(MATERIAL_HEIGHTFIELD);
if(!debriMaterial)
{
debriMaterial = mSample->mRenderMaterials[MATERIAL_GREEN];
}
mSample->createRenderObjectsFromActor(debrisActor, debriMaterial);
mDebrisLifetime[debrisShape] = RAYGUN_RB_DEBRIS_LIFETIME;
}
}
// update debris lifetime, remove if life ends
DebrisLifetimeMap::iterator it = mDebrisLifetime.begin();
while(it != mDebrisLifetime.end())
{
(*it).second -= dtime;
if((*it).second < 0.0f)
{
PxShape* debrisShape = (*it).first;
PX_ASSERT(debrisShape);
// remove convex mesh
PxConvexMeshGeometry geometry;
bool isConvex = debrisShape->getConvexMeshGeometry(geometry);
PX_ASSERT(isConvex);
PX_UNUSED(isConvex);
geometry.convexMesh->release();
// remove render and physics actor
PxRigidActor& actorToRemove = debrisShape->getActor();
mSample->removeActor(&actorToRemove);
actorToRemove.release();
// remove actor from lifetime map
mDebrisLifetime.erase(it);
it = mDebrisLifetime.begin();
continue;
}
++it;
}
}
void SampleParticles::loadTerrain(const char* path, PxReal xScale, PxReal yScale, PxReal zScale)
{
SampleFramework::SampleAsset* asset = getAsset(terrain_hf, SampleFramework::SampleAsset::ASSET_TEXTURE);
mManagedAssets.push_back(asset);
PX_ASSERT(asset->getType() == SampleFramework::SampleAsset::ASSET_TEXTURE);
SampleFramework::SampleTextureAsset* texAsset = static_cast<SampleFramework::SampleTextureAsset*>(asset);
SampleRenderer::RendererTexture2D* heightfieldTexture = texAsset->getTexture();
// NOTE: Assuming that heightfield texture has B8G8R8A8 format.
if(heightfieldTexture)
{
PxU16 nbColumns = PxU16(heightfieldTexture->getWidth());
PxU16 nbRows = PxU16(heightfieldTexture->getHeight());
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
PxU32* samplesData = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32) * nbColumns * nbRows);
heightFieldDesc.samples.data = samplesData;
heightFieldDesc.samples.stride = sizeof(PxU32);
heightFieldDesc.convexEdgeThreshold = 0;
PxU8* currentByte = (PxU8*)heightFieldDesc.samples.data;
PxU32 texturePitch = 0;
PxU8* loaderPtr = static_cast<PxU8*>(heightfieldTexture->lockLevel(0, texturePitch));
PxVec3Alloc* verticesA = SAMPLE_NEW(PxVec3Alloc)[nbRows * nbColumns];
PxVec3* vertices = verticesA;
PxReal* UVs = (PxReal*)SAMPLE_ALLOC(sizeof(PxReal) * nbRows * nbColumns * 2);
for (PxU32 row = 0; row < nbRows; row++)
{
for (PxU32 column = 0; column < nbColumns; column++)
{
PxHeightFieldSample* currentSample = (PxHeightFieldSample*)currentByte;
currentSample->height = *loaderPtr;
vertices[row * nbColumns + column] =
PxVec3(PxReal(row) * xScale,
PxReal(currentSample->height * zScale),
PxReal(column) * yScale);
UVs[2 * (row * nbColumns + column)] = (PxReal(row) / PxReal(nbRows)) * 7.0f;
UVs[2 * (row * nbColumns + column) + 1] = (PxReal(column) / PxReal(nbColumns)) * 7.0f;
currentSample->materialIndex0 = 0;
currentSample->materialIndex1 = 0;
currentSample->clearTessFlag();
currentByte += heightFieldDesc.samples.stride;
loaderPtr += 4 * sizeof(PxU8);
}
}
PxHeightField* heightField = getPhysics().createHeightField(heightFieldDesc);
// free allocated memory for heightfield samples description
SAMPLE_FREE(samplesData);
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*yScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*xScale) / 2.0f),
PxQuat::createIdentity());
PxRigidActor* hf = getPhysics().createRigidStatic(pose);
runtimeAssert(hf, "PxPhysics::createRigidStatic returned NULL\n");
PxShape* shape = hf->createShape(PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), zScale, xScale, yScale), getDefaultMaterial());
runtimeAssert(shape, "PxRigidActor::createShape returned NULL\n");
shape->setFlag(PxShapeFlag::ePARTICLE_DRAIN, false);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
// add actor to the scene
getActiveScene().addActor(*hf);
mPhysicsActors.push_back(hf);
// create indices and UVs
PxU32* indices = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32) * (nbColumns - 1) * (nbRows - 1) * 3 * 2);
for(int i = 0; i < (nbColumns - 1); ++i)
{
for(int j = 0; j < (nbRows - 1); ++j)
{
// first triangle
indices[6 * (i * (nbRows - 1) + j) + 0] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 1] = i * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 2] = i * nbRows + j + 1;
// second triangle
indices[6 * (i * (nbRows - 1) + j) + 3] = (i + 1) * nbRows + j + 1;
indices[6 * (i * (nbRows - 1) + j) + 4] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 5] = i * nbRows + j + 1;
}
}
// add mesh to renderer
RAWMesh data;
data.mName = "terrain";
data.mTransform = PxTransform::createIdentity();
data.mNbVerts = nbColumns * nbRows;
data.mVerts = (PxVec3*)vertices;
data.mVertexNormals = NULL;
data.mUVs = UVs;
data.mMaterialID = MATERIAL_HEIGHTFIELD;
data.mNbFaces = (nbColumns - 1) * (nbRows - 1) * 2;
data.mIndices = indices;
RenderMeshActor* hf_mesh = createRenderMeshFromRawMesh(data);
hf_mesh->setPhysicsShape(shape);
SAMPLE_FREE(indices);
SAMPLE_FREE(UVs);
DELETEARRAY(verticesA);
}
else
{
char errMsg[256];
physx::string::sprintf_s(errMsg, 256, "Couldn't load %s\n", path);
fatalError(errMsg);
}
}
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;
}
// Creates an physics entity from an entity info structure and a starting transform
void PhysicsEngine::createEntity(PhysicsEntity* entity, PhysicsEntityInfo* info, PxTransform transform)
{
transform.p.y += info->yPosOffset;
// Set static/dynamic info for actor depending on its type
PxRigidActor* actor;
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidDynamic* dynamicActor = physics->createRigidDynamic(transform);
dynamicActor->setLinearDamping(dInfo->linearDamping);
dynamicActor->setAngularDamping(dInfo->angularDamping);
dynamicActor->setMaxAngularVelocity(dInfo->maxAngularVelocity);
actor = dynamicActor;
}
else if (info->type == PhysicsType::STATIC)
{
PxRigidStatic* staticActor = physics->createRigidStatic(transform);
actor = staticActor;
}
// All shapes in actor
for (auto sInfo : info->shapeInfo)
{
// Create material and geometry for shape and add it to actor
PxGeometry* geometry;
PxMaterial* material;
if (sInfo->geometry == Geometry::SPHERE)
{
SphereInfo* sphInfo = (SphereInfo*)sInfo;
geometry = new PxSphereGeometry(sphInfo->radius);
}
else if (sInfo->geometry == Geometry::BOX)
{
BoxInfo* boxInfo = (BoxInfo*)sInfo;
geometry = new PxBoxGeometry(boxInfo->halfX, boxInfo->halfY, boxInfo->halfZ);
}
else if (sInfo->geometry == Geometry::CAPSULE)
{
CapsuleInfo* capInfo = (CapsuleInfo*)sInfo;
geometry = new PxCapsuleGeometry(capInfo->radius, capInfo->halfHeight);
}
else if (sInfo->geometry == Geometry::CONVEX_MESH)
{
ConvexMeshInfo* cmInfo = (ConvexMeshInfo*)sInfo;
PxConvexMesh* mesh = helper->createConvexMesh(cmInfo->verts.data(), cmInfo->verts.size());
geometry = new PxConvexMeshGeometry(mesh);
}
// Not working until index drawing is set up
else if (sInfo->geometry == Geometry::TRIANGLE_MESH)
{
TriangleMeshInfo* tmInfo = (TriangleMeshInfo*)sInfo;
PxTriangleMesh* mesh = helper->createTriangleMesh(tmInfo->verts.data(), tmInfo->verts.size(), tmInfo->faces.data(), tmInfo->faces.size()/3);
geometry = new PxTriangleMeshGeometry(mesh);
}
material = (sInfo->isDrivable) ? drivingSurfaces[0] : physics->createMaterial(sInfo->dynamicFriction, sInfo->staticFriction, sInfo->restitution);
PxShape* shape = actor->createShape(*geometry, *material); // TODO support shape flags
shape->setLocalPose(sInfo->transform);
material->release();
delete geometry;
// Set up querry filter data for shape
PxFilterData qryFilterData;
qryFilterData.word3 = (sInfo->isDrivable) ? (PxU32)Surface::DRIVABLE : (PxU32)Surface::UNDRIVABLE;
shape->setQueryFilterData(qryFilterData);
// Set up simulation filter data for shape
PxFilterData simFilterData;
simFilterData.word0 = (PxU32)sInfo->filterFlag0;
simFilterData.word1 = (PxU32)sInfo->filterFlag1;
simFilterData.word2 = (PxU32)sInfo->filterFlag2;
simFilterData.word3 = (PxU32)sInfo->filterFlag3;
shape->setSimulationFilterData(simFilterData);
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidBodyExt::updateMassAndInertia(*(PxRigidBody*)actor, dInfo->density, &dInfo->cmOffset);
PxRigidBody* body = (PxRigidBody*)actor;
}
}
// Add actor to scene, set actor for entity, and set user data for actor. Creates one to one between entities and phyX
scene->addActor(*actor);
entity->setActor(actor);
actor->userData = entity;
}
//=================================================================================
// Multiple hits compound sweep
// AP: we might be able to improve the return results API but no time for it in 3.3
PxU32 PxRigidBodyExt::linearSweepMultiple(
PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance, PxHitFlags outputFlags,
PxSweepHit* hitBuffer, PxU32* hitShapeIndices, PxU32 hitBufferSize, PxSweepHit& block, PxI32& blockingHitShapeIndex,
bool& overflow, const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache, const PxReal inflation)
{
overflow = false;
blockingHitShapeIndex = -1;
for (PxU32 i = 0; i < hitBufferSize; i++)
hitShapeIndices[i] = 0xFFFFffff;
PxI32 sumNbResults = 0;
PxU32 nbShapes = body.getNbShapes();
PxF32 shrunkMaxDistance = distance;
for(PxU32 i=0; i < nbShapes; i++)
{
PxShape* shape = NULL;
body.getShapes(&shape, 1, i);
PX_ASSERT(shape != NULL);
PxTransform pose = PxShapeExt::getGlobalPose(*shape, body);
PxQueryFilterData fd;
fd.flags = filterData.flags;
PxU32 or4 = (filterData.data.word0 | filterData.data.word1 | filterData.data.word2 | filterData.data.word3);
fd.data = or4 ? filterData.data : shape->getSimulationFilterData();
PxGeometryHolder anyGeom = shape->getGeometry();
PxU32 bufSizeLeft = hitBufferSize-sumNbResults;
PxSweepHit extraHit;
PxSweepBuffer buffer(bufSizeLeft == 0 ? &extraHit : hitBuffer+sumNbResults, bufSizeLeft == 0 ? 1 : hitBufferSize-sumNbResults);
scene.sweep(anyGeom.any(), pose, unitDir, shrunkMaxDistance, buffer, outputFlags, fd, filterCall, cache, inflation);
// Check and abort on overflow. Assume overflow if result count is bufSize.
PxU32 nbNewResults = buffer.getNbTouches();
overflow |= (nbNewResults >= bufSizeLeft);
if (bufSizeLeft == 0) // this is for when we used the extraHit buffer
nbNewResults = 0;
// set hitShapeIndices for each new non-blocking hit
for (PxU32 j = 0; j < nbNewResults; j++)
if (sumNbResults + PxU32(j) < hitBufferSize)
hitShapeIndices[sumNbResults+j] = i;
if (buffer.hasBlock) // there's a blocking hit in the most recent sweepMultiple results
{
// overwrite the return result blocking hit with the new blocking hit if under
if (blockingHitShapeIndex == -1 || buffer.block.distance < block.distance)
{
blockingHitShapeIndex = (PxI32)i;
block = buffer.block;
}
// Remove all the old touching hits below the new maxDist
// sumNbResults is not updated yet at this point
// and represents the count accumulated so far excluding the very last query
PxI32 nbNewResultsSigned = PxI32(nbNewResults); // need a signed version, see nbNewResultsSigned-- below
for (PxI32 j = sumNbResults-1; j >= 0; j--) // iterate over "old" hits (up to shapeIndex-1)
if (buffer.block.distance < hitBuffer[j].distance)
{
// overwrite with last "new" hit
PxI32 sourceIndex = PxI32(sumNbResults)+nbNewResultsSigned-1; PX_ASSERT(sourceIndex >= j);
hitBuffer[j] = hitBuffer[sourceIndex];
hitShapeIndices[j] = hitShapeIndices[sourceIndex];
nbNewResultsSigned--; // can get negative, that means we are shifting the last results array
}
sumNbResults += nbNewResultsSigned;
} else // if there was no new blocking hit we don't need to do anything special, simply append all results to touch array
sumNbResults += nbNewResults;
PX_ASSERT(sumNbResults >= 0 && sumNbResults <= PxI32(hitBufferSize));
}
return (PxU32)sumNbResults;
}
PxRigidActor* SampleSubmarine::loadTerrain(const char* name, const PxReal heightScale, const PxReal rowScale, const PxReal columnScale)
{
PxRigidActor* heightFieldActor = NULL;
BmpLoader loader;
if(loader.loadBmp(getSampleMediaFilename(name)))
{
PxU16 nbColumns = PxU16(loader.mWidth), nbRows = PxU16(loader.mHeight);
PxHeightFieldDesc heightFieldDesc;
heightFieldDesc.nbColumns = nbColumns;
heightFieldDesc.nbRows = nbRows;
PxU32* samplesData = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*nbColumns * nbRows);
heightFieldDesc.samples.data = samplesData;
heightFieldDesc.samples.stride = sizeof(PxU32);
PxU8* currentByte = (PxU8*)heightFieldDesc.samples.data;
PxU8* loader_ptr = loader.mRGB;
PxVec3Alloc* vertexesA = SAMPLE_NEW(PxVec3Alloc)[nbRows * nbColumns];
PxF32* uvs = (PxF32*)SAMPLE_ALLOC(sizeof(PxF32) * nbRows * nbColumns * 2);
PxVec3* vertexes = vertexesA;
for (PxU32 row = 0; row < nbRows; row++)
{
for (PxU32 column = 0; column < nbColumns; column++)
{
PxHeightFieldSample* currentSample = (PxHeightFieldSample*)currentByte;
currentSample->height = *loader_ptr;
vertexes[row * nbColumns + column] = PxVec3(PxReal(row)*rowScale,
PxReal(currentSample->height * heightScale),
PxReal(column)*columnScale);
uvs[(row * nbColumns + column)*2 + 0] = (float)column/7.0f;
uvs[(row * nbColumns + column)*2 + 1] = (float)row/7.0f;
currentSample->materialIndex0 = 0;
currentSample->materialIndex1 = 0;
currentSample->clearTessFlag();
currentByte += heightFieldDesc.samples.stride;
loader_ptr += 3 * sizeof(PxU8);
}
}
PxHeightField* heightField = getPhysics().createHeightField(heightFieldDesc);
if(!heightField) fatalError("createHeightField failed!");
// create shape for heightfield
PxTransform pose(PxVec3(-((PxReal)nbRows*rowScale) / 2.0f,
0.0f,
-((PxReal)nbColumns*columnScale) / 2.0f),
PxQuat::createIdentity());
heightFieldActor = getPhysics().createRigidStatic(pose);
if(!heightFieldActor) fatalError("createRigidStatic failed!");
PxShape* shape = heightFieldActor->createShape(PxHeightFieldGeometry(heightField, PxMeshGeometryFlags(), heightScale, rowScale, columnScale), getDefaultMaterial());
if(!shape) fatalError("createShape failed!");
// add actor to the scene
getActiveScene().addActor(*heightFieldActor);
// create indices
PxU32* indices = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*((nbColumns - 1) * (nbRows - 1) * 3 * 2));
for(int i = 0; i < (nbColumns - 1); ++i)
{
for(int j = 0; j < (nbRows - 1); ++j)
{
// first triangle
indices[6 * (i * (nbRows - 1) + j) + 0] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 1] = i * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 2] = i * nbRows + j + 1;
// second triangle
indices[6 * (i * (nbRows - 1) + j) + 3] = (i + 1) * nbRows + j + 1;
indices[6 * (i * (nbRows - 1) + j) + 4] = (i + 1) * nbRows + j;
indices[6 * (i * (nbRows - 1) + j) + 5] = i * nbRows + j + 1;
}
}
// add mesh to renderer
RAWMesh data;
data.mName = name;
data.mTransform = PxTransform::createIdentity();
data.mNbVerts = nbColumns * nbRows;
data.mVerts = vertexes;
data.mVertexNormals = NULL;
data.mUVs = uvs;
data.mMaterialID = MATERIAL_TERRAIN_MUD;
data.mNbFaces = (nbColumns - 1) * (nbRows - 1) * 2;
data.mIndices = indices;
RenderMeshActor* hf_mesh = createRenderMeshFromRawMesh(data);
if(!hf_mesh) fatalError("createRenderMeshFromRawMesh failed!");
hf_mesh->setPhysicsShape(shape);
shape->setFlag(PxShapeFlag::eVISUALIZATION, false);
SAMPLE_FREE(indices);
SAMPLE_FREE(uvs);
DELETEARRAY(vertexesA);
SAMPLE_FREE(samplesData);
}
return heightFieldActor;
}
PxCapsuleController* SampleCustomGravity::createCharacter(const PxExtendedVec3& position)
#endif
{
const float height = 2.0f;
// const float height = 1e-6f; // PT: TODO: make it work with 0?
#ifdef USE_BOX_CONTROLLER
PxBoxControllerDesc cDesc;
cDesc.halfHeight = height;
cDesc.halfSideExtent = mControllerRadius;
cDesc.halfForwardExtent = mControllerRadius;
#else
PxCapsuleControllerDesc cDesc;
cDesc.height = height;
cDesc.radius = mControllerRadius;
#endif
cDesc.material = &getDefaultMaterial();
cDesc.position = position;
cDesc.slopeLimit = SLOPE_LIMIT;
cDesc.contactOffset = CONTACT_OFFSET;
cDesc.stepOffset = STEP_OFFSET;
cDesc.invisibleWallHeight = INVISIBLE_WALLS_HEIGHT;
cDesc.maxJumpHeight = MAX_JUMP_HEIGHT;
cDesc.callback = this;
mControllerInitialPosition = cDesc.position;
#ifdef USE_BOX_CONTROLLER
PxBoxController* ctrl = static_cast<PxBoxController*>(mControllerManager->createController(getPhysics(), &getActiveScene(), cDesc));
#else
PxCapsuleController* ctrl = static_cast<PxCapsuleController*>(mControllerManager->createController(getPhysics(), &getActiveScene(), cDesc));
#endif
// remove controller shape from scene query for standup overlap test
PxRigidDynamic* actor = ctrl->getActor();
if(actor)
{
if(actor->getNbShapes())
{
PxShape* ctrlShape;
actor->getShapes(&ctrlShape,1);
ctrlShape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
#ifdef USE_BOX_CONTROLLER
const PxVec3 standingExtents(mControllerRadius, height, mControllerRadius);
mRenderActor = SAMPLE_NEW(RenderBoxActor)(*getRenderer(), standingExtents);
#else
mRenderActor = SAMPLE_NEW(RenderCapsuleActor)(*getRenderer(), mControllerRadius, height*0.5f);
#endif
if(mRenderActor)
mRenderActors.push_back(mRenderActor);
}
else
fatalError("character actor has no shape");
}
else
fatalError("character could not create actor");
// uncomment the next line to render the character
//createRenderObjectsFromActor(ctrl->getActor());
return ctrl;
}
osg::Node* createNodeForActor( PxRigidActor* actor )
{
if ( !actor ) return NULL;
std::vector<PxShape*> shapes( actor->getNbShapes() );
osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
transform->setMatrix( toMatrix(PxMat44(actor->getGlobalPose())) );
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
transform->addChild( geode.get() );
PxU32 num = actor->getShapes( &(shapes[0]), actor->getNbShapes() );
for ( PxU32 i=0; i<num; ++i )
{
PxShape* shape = shapes[i];
osg::Matrix localMatrix = toMatrix( PxMat44(actor->getGlobalPose()) );
osg::Vec3 localPos = toVec3( shape->getLocalPose().p );
osg::Quat localQuat(shape->getLocalPose().q.x, shape->getLocalPose().q.y,
shape->getLocalPose().q.z, shape->getLocalPose().q.w);
switch ( shape->getGeometryType() )
{
case PxGeometryType::eSPHERE:
{
PxSphereGeometry sphere;
shape->getSphereGeometry( sphere );
osg::Sphere* sphereShape = new osg::Sphere(localPos, sphere.radius);
geode->addDrawable( new osg::ShapeDrawable(sphereShape) );
}
break;
case PxGeometryType::ePLANE:
// TODO
break;
case PxGeometryType::eCAPSULE:
{
PxCapsuleGeometry capsule;
shape->getCapsuleGeometry( capsule );
osg::Capsule* capsuleShape = new osg::Capsule(
localPos, capsule.radius, capsule.halfHeight * 2.0f);
capsuleShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(capsuleShape) );
}
break;
case PxGeometryType::eBOX:
{
PxBoxGeometry box;
shape->getBoxGeometry( box );
osg::Box* boxShape = new osg::Box(localPos,
box.halfExtents[0] * 2.0f, box.halfExtents[1] * 2.0f, box.halfExtents[2] * 2.0f);
boxShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(boxShape) );
}
break;
case PxGeometryType::eCONVEXMESH:
{
PxConvexMeshGeometry convexMeshGeom;
shape->getConvexMeshGeometry( convexMeshGeom );
// TODO: consider convexMeshGeom.scale
PxConvexMesh* convexMesh = convexMeshGeom.convexMesh;
if ( convexMesh )
{
/*for ( unsigned int i=0; i<convexMesh->getNbPolygons(); ++i )
{
}*/
// TODO
}
}
break;
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry triangleMeshGeom;
shape->getTriangleMeshGeometry( triangleMeshGeom );
// TODO: consider triangleMeshGeom.scale
PxTriangleMesh* triangleMesh = triangleMeshGeom.triangleMesh;
if ( triangleMesh )
{
osg::ref_ptr<osg::Vec3Array> va = new osg::Vec3Array( triangleMesh->getNbVertices() );
for ( unsigned int i=0; i<va->size(); ++i )
(*va)[i] = toVec3( *(triangleMesh->getVertices() + i) ) * localMatrix;
osg::ref_ptr<osg::DrawElements> de;
if ( triangleMesh->getTriangleMeshFlags()&PxTriangleMeshFlag::eHAS_16BIT_TRIANGLE_INDICES )
{
osg::DrawElementsUShort* de16 = new osg::DrawElementsUShort(GL_TRIANGLES);
de = de16;
const PxU16* indices = (const PxU16*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de16->push_back( indices[3 * i + 0] );
de16->push_back( indices[3 * i + 1] );
de16->push_back( indices[3 * i + 2] );
}
}
else
{
osg::DrawElementsUInt* de32 = new osg::DrawElementsUInt(GL_TRIANGLES);
de = de32;
const PxU32* indices = (const PxU32*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de32->push_back( indices[3 * i + 0] );
de32->push_back( indices[3 * i + 1] );
de32->push_back( indices[3 * i + 2] );
}
}
geode->addDrawable( createGeometry(va.get(), NULL, NULL, de.get()) );
}
}
break;
case PxGeometryType::eHEIGHTFIELD:
{
PxHeightFieldGeometry hfGeom;
shape->getHeightFieldGeometry( hfGeom );
// TODO: consider hfGeom.*scale
PxHeightField* heightField = hfGeom.heightField;
if ( heightField )
{
// TODO
}
}
break;
}
}
return transform.release();
}
FDbool BuildingSystem::searchForHit(PhysicsSystem& physicsSystem,
Ray r, PxGeometry& pixelFrustum, SearchContext& searchContext) {
// Cast the ray into the scene. Quit if no intersection at all.
PxQueryFilterData qFilterData;
qFilterData.flags |= PxQueryFlag::ePREFILTER | PxQueryFlag::ePOSTFILTER;
FDbool rayStatus = physicsSystem.scene->raycast(
r.position, r.direction, 100, searchContext.hitBuffer,
PxHitFlag::ePOSITION | PxHitFlag::eDISTANCE | PxHitFlag::eNORMAL,
qFilterData, &CustomPhysicsQueryFilter());
/* Demo-ing to a friend showed that it can be confusing to try to connect
* up an existing point that lies on the guide plane, since part of it will
* be behind the guide plane, which the ray-cast will see as being closer.
* To remedy this, I treat the GuidePlane as a "touching" rather than
* "blocking hit" and give some priority to points. */
if (rayStatus && searchContext.hitBuffer.hasBlock) {
// In this case, we know we hit something other than the guide plane.
searchContext.hitActor = searchContext.hitBuffer.block.actor;
searchContext.rayHit = &searchContext.hitBuffer.block;
FDreal blockDistance = searchContext.rayHit->distance;
searchContext.setHit(&searchContext.hitBuffer.block);
// If the guide plane was also hit, see if it is closer.
if (searchContext.hitBuffer.nbTouches > 0) {
float guidePlaneDistance = searchContext.hitBuffer.getTouch(0).
distance;
// If the point intersects the plane, prefer it.
if (searchContext.hitActor == pointActor) {
FDUint i = (FDUint)searchContext.rayHit->shape->userData;
Vector3 pointPos = *pointAuthor->getAttribute<Vector3>(i, 0);
float pointRadius = 0.2;
Vector3 guidePlaneNormal = searchContext.hitBuffer.
getTouch(0).normal;
Plane p = Plane(searchContext.hitBuffer.getTouch(0).position,
guidePlaneNormal);
// We know the point (modeled as a sphere) intersects the
// plane if the point is within 1 sphere radius.
float pointPlaneDistance = p.distance(pointPos);
if (abs(pointPlaneDistance) <= pointRadius) {
blockDistance = 0;
}
}
if (guidePlaneDistance < blockDistance) {
searchContext.hitActor = searchContext.hitBuffer.getTouch(0).
actor;
searchContext.setHit(&searchContext.hitBuffer.getTouch(0));
}
}
} else if (rayStatus) {
// Only the guide plane was hit.
searchContext.hitActor = searchContext.hitBuffer.getTouch(0).actor;
searchContext.setHit(&searchContext.hitBuffer.getTouch(0));
}
// Try overlap test for other geometry.
Quaternion q = fdmath::getRotationBetween(Vector3(0, 0, 1), r.direction);
Vector3 obo = q.rotate(Vector3(0, 0, 1));
PxTransform pose(r.position, q);
PxQueryFilterData qPixelFilterData;
qPixelFilterData.flags |= PxQueryFlag::ePREFILTER;
physicsSystem.scene->overlap(pixelFrustum, pose,
searchContext.overlapBuffer, qPixelFilterData,
&PixelQueryFilter());
for (FDUint i = 0; i < searchContext.overlapBuffer.nbTouches; i++) {
PxRigidStatic* thisActor = (PxRigidStatic*)searchContext.overlapBuffer.
touches[i].actor;
PxShape* thisShape = searchContext.overlapBuffer.touches[i].shape;
// Get the closet point on the line to the ray.
Transform lineTransform = thisActor->getGlobalPose() *
thisShape->getLocalPose();
Vector3 lineAxisPoint = lineTransform.transform(Vector3(1, 0, 0));
Vector3 centerPos = lineTransform.p;
Vector3 lineAxis = (lineAxisPoint - centerPos).getNormalized();
Vector3 uAxis = lineAxis.cross(r.direction);
uAxis.normalize();
Plane p(centerPos, lineAxisPoint, centerPos + uAxis);
Vector3 intersectionPoint;
FDbool intersects = r.intersect(p, intersectionPoint);
FD_ASSERT(intersects, "Ray did not intersect line's plane.");
FDreal y = lineAxis.dot(intersectionPoint) - lineAxis.dot(centerPos);
Vector3 closestPoint = centerPos + lineAxis * y;
FDreal dist = (closestPoint - r.position).magnitude();
if (dist < searchContext.hitDist) {
searchContext.setHit(&searchContext.overlapBuffer.touches[i],
closestPoint, -r.direction, dist);
searchContext.hitActor = thisActor;
}
}
return searchContext.hitHappened;
}
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::ComponentSweepMulti(TArray<struct FHitResult>& OutHits, class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FQuat& Quat, const struct FComponentQueryParams& Params) const
{
if (GetPhysicsScene() == NULL)
{
return false;
}
if (PrimComp == NULL)
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : No PrimComp"));
return false;
}
ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
// if extent is 0, do line trace
if (PrimComp->IsZeroExtent())
{
return RaycastMulti(this, OutHits, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
}
OutHits.Reset();
#if UE_WITH_PHYSICS
const FBodyInstance* BodyInstance = PrimComp->GetBodyInstance();
if (!BodyInstance || !BodyInstance->IsValidBodyInstance())
{
UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetReadableName());
return false;
}
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if(PrimComp->IsA(USkeletalMeshComponent::StaticClass()))
{
UE_LOG(LogCollision, Warning, TEXT("ComponentSweepMulti : SkeletalMeshComponent support only root body (%s) "), *PrimComp->GetReadableName());
}
#endif
#endif
SCOPE_CYCLE_COUNTER(STAT_Collision_GeomSweepMultiple);
bool bHaveBlockingHit = false;
#if WITH_PHYSX
ExecuteOnPxRigidActorReadOnly(BodyInstance, [&] (const PxRigidActor* PRigidActor)
{
// Get all the shapes from the actor
FInlinePxShapeArray PShapes;
const int32 NumShapes = FillInlinePxShapeArray(PShapes, *PRigidActor);
// calculate the test global pose of the actor
const PxQuat PGeomRot = U2PQuat(Quat);
const PxTransform PGlobalStartPose = PxTransform(U2PVector(Start), PGeomRot);
const PxTransform PGlobalEndPose = PxTransform(U2PVector(End), PGeomRot);
// Iterate over each shape
for(int32 ShapeIdx=0; ShapeIdx<NumShapes; ShapeIdx++)
{
PxShape* PShape = PShapes[ShapeIdx];
check(PShape);
GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);
if (PGeom != NULL)
{
// Calc shape global pose
const PxTransform PLocalShape = PShape->getLocalPose();
const PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
const PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
// consider localshape rotation for shape rotation
const PxQuat PShapeRot = PGeomRot * PLocalShape.q;
if (GeomSweepMulti_PhysX(this, *PGeom, PShapeRot, OutHits, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
{
bHaveBlockingHit = true;
}
}
}
});
#endif //WITH_PHYSX
//@TODO: BOX2D: Implement UWorld::ComponentSweepMulti
#if WITH_BOX2D
// if (b2Body* BodyInstance = PrimComp->BodyInstance.BodyInstancePtr)
// {
//
// }
#endif
return bHaveBlockingHit;
}
void SampleSubmarine::createDynamicActors()
{
// create mines
static const PxU32 numMines = 20;
static const PxVec3 mineFieldCenter = PxVec3(0, 64, 0);
static const PxReal minMineDistance = 3.0f;
static const PxI32 mineFieldRadius = 30;
for(PxU32 i = 0; i < numMines; i++)
{
// raycast against floor (height field) to find the height to attach the mine
PxRaycastHit rayHit;
bool hit = false;
do
{
PxVec3 offset = PxVec3(PxReal(getSampleRandom().rand(-mineFieldRadius, mineFieldRadius)), 0, PxReal(getSampleRandom().rand(-mineFieldRadius, mineFieldRadius)));
PxVec3 raycastStart = mineFieldCenter + offset*minMineDistance;
hit = getActiveScene().raycastSingle(raycastStart, PxVec3(0,-1,0), 100.0f, PxSceneQueryFlag::eIMPACT, rayHit);
}
while(!hit || (rayHit.impact.y > 25.0f) || rayHit.shape->getActor().is<PxRigidDynamic>());
createSeamine(rayHit.impact, getSampleRandom().rand(10.0f, 25.0f));
}
// create treasure
{
static const PxVec3 treasureDim = PxVec3(5, 3, 4)*0.5f;
PxRaycastHit rayHit;
PxVec3 raycastStart = PxVec3(-19, 64, -24);
getActiveScene().raycastSingle(raycastStart, PxVec3(0,-1,0), 100.0f, PxSceneQueryFlag::eIMPACT, rayHit);
#ifdef RENDERER_PSP2
gTreasureActor = createBox(rayHit.impact+treasureDim, treasureDim, NULL, mTreasureMaterial, 1)->is<PxRigidDynamic>();
#else
gTreasureActor = createBox(rayHit.impact+treasureDim, treasureDim, NULL, mManagedMaterials[MATERIAL_BLUE], 1)->is<PxRigidDynamic>();
#endif
if(!gTreasureActor) fatalError("createBox failed!");
gTreasureActor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
PxShape* treasureShape;
gTreasureActor->getShapes(&treasureShape, 1);
treasureShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
treasureShape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
}
// create submarine
createSubmarine(PxVec3(-110, 50, 110), 2.1f);
char theCrabName[256];
sprintf(theCrabName, "crab_%s.bin", getPlatformName());
// If we have already had crab copy, just load it, or will create crab and export it
char thePathBuffer[1024];
const char* theCrabPath = getSampleOutputDirManager().getFilePath( theCrabName, thePathBuffer, false );
FILE *fp = fopen( theCrabPath, "r" );
if( fp )
{
printf("loading the crab from file status: ");
gCrab = SAMPLE_NEW(Crab)(*this, theCrabPath, mManagedMaterials[MATERIAL_RED]);
if (gCrab && !gCrab->getCrabBody())
{
delete gCrab;
gCrab = NULL;
}
printf(gCrab ? "successful\n":"failed\n");
fclose (fp);
}
if( !gCrab )
{
gCrab = SAMPLE_NEW(Crab)(*this, PxVec3(0, 50, 0), mManagedMaterials[MATERIAL_RED]);
printf("crab file not found ... exporting crab file\n");
gCrab->save(theCrabPath);
}
PX_ASSERT( gCrab );
mCrabs.push_back(gCrab);
static const PxU32 numCrabs = 3;
for(PxU32 i = 0; i < numCrabs; i++)
{
Crab* crab = SAMPLE_NEW(Crab)(*this, PxVec3(getSampleRandom().rand(-20.0f,20.0f), 50, getSampleRandom().rand(-20.0f,20.0f)), mManagedMaterials[MATERIAL_RED]);
mCrabs.push_back(crab);
}
}
void Cct::findTouchedGeometry(
const InternalCBData_FindTouchedGeom* userData,
const PxExtendedBounds3& worldBounds, // ### we should also accept other volumes
TriArray& worldTriangles,
IntArray& triIndicesArray,
IntArray& geomStream,
const CCTFilter& filter,
const CCTParams& params)
{
PX_ASSERT(userData);
const PxInternalCBData_FindTouchedGeom* internalData = static_cast<const PxInternalCBData_FindTouchedGeom*>(userData);
PxScene* scene = internalData->scene;
Cm::RenderBuffer* renderBuffer = internalData->renderBuffer;
PxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
getCenter(worldBounds, Origin);
// Find touched *boxes* i.e. touched objects' AABBs in the world
// We collide against dynamic shapes too, to get back dynamic boxes/etc
// TODO: add active groups in interface!
PxSceneQueryFilterFlags sqFilterFlags;
if(filter.mStaticShapes) sqFilterFlags |= PxSceneQueryFilterFlag::eSTATIC;
if(filter.mDynamicShapes) sqFilterFlags |= PxSceneQueryFilterFlag::eDYNAMIC;
if(filter.mFilterCallback)
{
if(filter.mPreFilter)
sqFilterFlags |= PxSceneQueryFilterFlag::ePREFILTER;
if(filter.mPostFilter)
sqFilterFlags |= PxSceneQueryFilterFlag::ePOSTFILTER;
}
// ### this one is dangerous
const PxBounds3 tmpBounds(toVec3(worldBounds.minimum), toVec3(worldBounds.maximum)); // LOSS OF ACCURACY
// PT: unfortunate conversion forced by the PxGeometry API
PxVec3 center = tmpBounds.getCenter(), extents = tmpBounds.getExtents();
PxShape* hits[100];
PxU32 size = 100;
const PxSceneQueryFilterData sceneQueryFilterData = filter.mFilterData ? PxSceneQueryFilterData(*filter.mFilterData, sqFilterFlags) : PxSceneQueryFilterData(sqFilterFlags);
PxI32 numberHits = scene->overlapMultiple(PxBoxGeometry(extents), PxTransform(center), hits, size, sceneQueryFilterData, filter.mFilterCallback);
for(PxI32 i = 0; i < numberHits; i++)
{
PxShape* shape = hits[i];
if(shape == NULL)
continue;
// Filtering
// Discard all CCT shapes, i.e. kinematic actors we created ourselves. We don't need to collide with them since they're surrounded
// by the real CCT volume - and collisions with those are handled elsewhere. We use the userData field for filtering because that's
// really our only valid option (filtering groups are already used by clients and we don't have control over them, clients might
// create other kinematic actors that we may want to keep here, etc, etc)
if(internalData->cctShapeHashSet->contains(shape))
continue;
// Ubi (EA) : Discarding Triggers :
if(shape->getFlags() & PxShapeFlag::eTRIGGER_SHAPE)
continue;
// PT: here you might want to disable kinematic objects.
// Output shape to stream
const PxTransform globalPose = getShapeGlobalPose(*shape);
const PxGeometryType::Enum type = shape->getGeometryType(); // ### VIRTUAL!
if(type==PxGeometryType::eSPHERE) outputSphereToStream(shape, globalPose, geomStream, Origin);
else if(type==PxGeometryType::eCAPSULE) outputCapsuleToStream(shape, globalPose, geomStream, Origin);
else if(type==PxGeometryType::eBOX) outputBoxToStream(shape, globalPose, geomStream, worldTriangles, triIndicesArray, Origin, tmpBounds, params, renderBuffer);
else if(type==PxGeometryType::eTRIANGLEMESH) outputMeshToStream(shape, globalPose, geomStream, worldTriangles, triIndicesArray, Origin, tmpBounds, params, renderBuffer);
else if(type==PxGeometryType::eHEIGHTFIELD) outputHeightFieldToStream(shape, globalPose, geomStream, worldTriangles, triIndicesArray, Origin, tmpBounds, params, renderBuffer);
else if(type==PxGeometryType::eCONVEXMESH) outputConvexToStream(shape, globalPose, geomStream, worldTriangles, triIndicesArray, Origin, tmpBounds);
else if(type==PxGeometryType::ePLANE) outputPlaneToStream(shape, globalPose, geomStream, worldTriangles, triIndicesArray, Origin, tmpBounds, params, renderBuffer);
}
}
void SimulationEventCallback::destroyWallBlock(const PxRigidBody& _krRigidBody, const PxShape& _krShape)
{
Entity* wallBlock = static_cast<Entity*>(_krRigidBody.userData);
if (find(m_destroyedWallBlocks.begin(), m_destroyedWallBlocks.end(), wallBlock) != m_destroyedWallBlocks.end())
{
return;
}
PxBoxGeometry geometry;
_krShape.getBoxGeometry(geometry);
PxTransform transform = _krRigidBody.getGlobalPose();
Matrix44 transformation = PhysXMatrix::toMatrix44(transform);
PxVec3 angularVelocity = _krRigidBody.getAngularVelocity();
PxVec3 linearVelocity = _krRigidBody.getLinearVelocity();
m_destroyedWallBlocks.push_back(wallBlock);
GazEngine::removeEntity(*wallBlock);
float halfSize = geometry.halfExtents.x / 2.0f;
Matrix44 fragment0Transformation = transformation;
getTranslation3(fragment0Transformation) += Vector3(-halfSize, halfSize, 0.0f);
Entity* pFragment0 = CreateWallBlock(fragment0Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment0RigidBody = pFragment0->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment0RigidBody->setAngularVelocity(angularVelocity);
pFragment0RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment0Transform = transform;
fragment0Transform.p += PxVec3(-halfSize, halfSize, 0.0f);
pFragment0RigidBody->setGlobalPose(fragment0Transform);
Matrix44 fragment1Transformation = transformation;
getTranslation3(fragment1Transformation) += Vector3(halfSize, halfSize, 0.0f);
Entity* pFragment1 = CreateWallBlock(fragment1Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment1RigidBody = pFragment1->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment1RigidBody->setAngularVelocity(angularVelocity);
pFragment1RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment1Transform = transform;
fragment1Transform.p += PxVec3(halfSize, halfSize, 0.0f);
pFragment1RigidBody->setGlobalPose(fragment1Transform);
Matrix44 fragment2Transformation = transformation;
getTranslation3(fragment2Transformation) += Vector3(halfSize, -halfSize, 0.0f);
Entity* pFragment2 = CreateWallBlock(fragment2Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment2RigidBody = pFragment2->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment2RigidBody->setAngularVelocity(angularVelocity);
pFragment2RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment2Transform = transform;
fragment2Transform.p += PxVec3(halfSize, -halfSize, 0.0f);
pFragment2RigidBody->setGlobalPose(fragment2Transform);
Matrix44 fragment3Transformation = transformation;
getTranslation3(fragment3Transformation) += Vector3(-halfSize, -halfSize, 0.0f);
Entity* pFragment3 = CreateWallBlock(fragment3Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment3RigidBody = pFragment3->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment3RigidBody->setAngularVelocity(angularVelocity);
pFragment3RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment3Transform = transform;
fragment3Transform.p += PxVec3(-halfSize, -halfSize, 0.0f);
pFragment3RigidBody->setGlobalPose(fragment3Transform);
}
