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);
}
}
}
}
//=================================================================================
// Single closest hit compound sweep
bool PxRigidBodyExt::linearSweepSingle(
PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
PxHitFlags outputFlags, PxSweepHit& closestHit, PxU32& shapeIndex,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache, const PxReal inflation)
{
shapeIndex = 0xFFFFffff;
PxReal closestDist = distance;
PxU32 nbShapes = body.getNbShapes();
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();
PxSweepBuffer subHit; // touching hits are not allowed to be returned from the filters
scene.sweep(anyGeom.any(), pose, unitDir, distance, subHit, outputFlags, fd, filterCall, cache, inflation);
if (subHit.hasBlock && subHit.block.distance < closestDist)
{
closestDist = subHit.block.distance;
closestHit = subHit.block;
shapeIndex = i;
}
}
return (shapeIndex != 0xFFFFffff);
}
void SampleNorthPole::setCCDActive(PxShape& shape)
{
shape.setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS,true);
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= CCD_FLAG;
shape.setSimulationFilterData(fd);
}
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;
}
void SampleNorthPole::onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs)
{
for(PxU32 i=0; i < nbPairs; i++)
{
PxU32 n = 2;
const PxContactPairFlag::Enum delShapeFlags[] = { PxContactPairFlag::eDELETED_SHAPE_0, PxContactPairFlag::eDELETED_SHAPE_1 };
const PxContactPair& cp = pairs[i];
while(n--)
{
if(!(cp.flags & delShapeFlags[n]))
{
PxShape* shape = cp.shapes[n];
PxFilterData fd = shape->getSimulationFilterData();
if(isDetachable(fd))
{
mDetaching.push_back(shape);
}
}
}
}
}
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 SampleNorthPole::setDetachable(PxShape& shape)
{
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= PxU32(DETACHABLE_FLAG);
shape.setSimulationFilterData(fd);
}
void SampleNorthPole::setSnowball(PxShape& shape)
{
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= SNOWBALL_FLAG;
shape.setSimulationFilterData(fd);
}
//=================================================================================
// 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;
}
