int32 GenerateBoxAsSimpleCollision(UStaticMesh* StaticMesh)
{
if (!PromptToRemoveExistingCollision(StaticMesh))
{
return INDEX_NONE;
}
UBodySetup* bs = StaticMesh->BodySetup;
// Calculate bounding Box.
FRawMesh RawMesh;
FStaticMeshSourceModel& SrcModel = StaticMesh->SourceModels[0];
SrcModel.RawMeshBulkData->LoadRawMesh(RawMesh);
FVector unitVec = bs->BuildScale3D;
FVector Center, Extents;
CalcBoundingBox(RawMesh, Center, Extents, unitVec);
bs->Modify();
// Create new GUID
bs->InvalidatePhysicsData();
FKBoxElem BoxElem;
BoxElem.Center = Center;
BoxElem.X = Extents.X * 2.0f;
BoxElem.Y = Extents.Y * 2.0f;
BoxElem.Z = Extents.Z * 2.0f;
bs->AggGeom.BoxElems.Add(BoxElem);
// refresh collision change back to staticmesh components
RefreshCollisionChange(StaticMesh);
// Mark staticmesh as dirty, to help make sure it gets saved.
StaticMesh->MarkPackageDirty();
StaticMesh->bCustomizedCollision = true; //mark the static mesh for collision customization
return bs->AggGeom.BoxElems.Num() - 1;
}
void AddConvexElemsToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
for (int32 i = 0; i < BodySetup->AggGeom.ConvexElems.Num(); i++)
{
const FKConvexElem& ConvexElem = BodySetup->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(BodySetup->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());
{
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PBoundsExtents.minElement());
AttachShape_AssumesLocked(PConvexGeom, PLocalPose, ContactOffset);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] invalid"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: [%s] ConvexElem[%d] has invalid transform"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddConvexElemsToRigidActor: ConvexElem is missing ConvexMesh (%d: %s)"), i, *BodySetup->GetPathName());
}
}
}
void AddSphylsToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
float ScaleRadius = FMath::Max(Scale3DAbs.X, Scale3DAbs.Y);
float ScaleLength = Scale3DAbs.Z;
for (int32 i = 0; i < BodySetup->AggGeom.SphylElems.Num(); i++)
{
const FKSphylElem& SphylElem = BodySetup->AggGeom.SphylElems[i];
// this is a bit confusing since radius and height is scaled
// first apply the scale first
float Radius = FMath::Max(SphylElem.Radius * ScaleRadius, 0.1f);
float Length = SphylElem.Length + SphylElem.Radius * 2.f;
float HalfLength = Length * ScaleLength * 0.5f;
Radius = FMath::Clamp(Radius, 0.1f, HalfLength); //radius is capped by half length
float HalfHeight = HalfLength - Radius;
HalfHeight = FMath::Max(0.1f, HalfHeight);
PxCapsuleGeometry PCapsuleGeom;
PCapsuleGeom.halfHeight = HalfHeight;
PCapsuleGeom.radius = Radius;
if (PCapsuleGeom.isValid())
{
// The stored sphyl transform assumes the sphyl axis is down Z. In PhysX, it points down X, so we twiddle the matrix a bit here (swap X and Z and negate Y).
PxTransform PLocalPose(U2PVector(RelativeTM.TransformPosition(SphylElem.Center)), U2PQuat(SphylElem.Orientation) * U2PSphylBasis);
PLocalPose.p.x *= Scale3D.X;
PLocalPose.p.y *= Scale3D.Y;
PLocalPose.p.z *= Scale3D.Z;
ensure(PLocalPose.isValid());
{
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PCapsuleGeom.radius);
AttachShape_AssumesLocked(PCapsuleGeom, PLocalPose, ContactOffset);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddSphylsToRigidActor: [%s] SphylElems[%d] invalid"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
}
void AddBoxesToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
for (int32 i = 0; i < BodySetup->AggGeom.BoxElems.Num(); i++)
{
const FKBoxElem& BoxElem = BodySetup->AggGeom.BoxElems[i];
PxBoxGeometry PBoxGeom;
PBoxGeom.halfExtents.x = (0.5f * BoxElem.X * Scale3DAbs.X);
PBoxGeom.halfExtents.y = (0.5f * BoxElem.Y * Scale3DAbs.Y);
PBoxGeom.halfExtents.z = (0.5f * BoxElem.Z * Scale3DAbs.Z);
FTransform BoxTransform = BoxElem.GetTransform() * RelativeTM;
if (PBoxGeom.isValid() && BoxTransform.IsValid())
{
PxTransform PLocalPose(U2PTransform(BoxTransform));
PLocalPose.p.x *= Scale3D.X;
PLocalPose.p.y *= Scale3D.Y;
PLocalPose.p.z *= Scale3D.Z;
ensure(PLocalPose.isValid());
{
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PBoxGeom.halfExtents.minElement());
AttachShape_AssumesLocked(PBoxGeom, PLocalPose, ContactOffset);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddBoxesToRigidActor: [%s] BoxElems[%d] invalid or has invalid transform"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
}
void AddSpheresToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
for (int32 i = 0; i < BodySetup->AggGeom.SphereElems.Num(); i++)
{
const FKSphereElem& SphereElem = BodySetup->AggGeom.SphereElems[i];
PxSphereGeometry PSphereGeom;
PSphereGeom.radius = (SphereElem.Radius * MinScaleAbs);
if (ensure(PSphereGeom.isValid()))
{
FVector LocalOrigin = RelativeTM.TransformPosition(SphereElem.Center);
PxTransform PLocalPose(U2PVector(LocalOrigin));
PLocalPose.p *= MinScale;
ensure(PLocalPose.isValid());
{
const float ContactOffset = FMath::Min(MaxContactOffset, ContactOffsetFactor * PSphereGeom.radius);
AttachShape_AssumesLocked(PSphereGeom, PLocalPose, ContactOffset);
}
}
else
{
UE_LOG(LogPhysics, Warning, TEXT("AddSpheresToRigidActor: [%s] SphereElem[%d] invalid"), *GetPathNameSafe(BodySetup->GetOuter()), i);
}
}
}
int32 GenerateKDopAsSimpleCollision(UStaticMesh* StaticMesh, const TArray<FVector> &Dirs)
{
// Make sure rendering is done - so we are not changing data being used by collision drawing.
FlushRenderingCommands();
if (!PromptToRemoveExistingCollision(StaticMesh))
{
return INDEX_NONE;
}
UBodySetup* bs = StaticMesh->BodySetup;
// Do k- specific stuff.
int32 kCount = Dirs.Num();
TArray<float> maxDist;
for(int32 i=0; i<kCount; i++)
maxDist.Add(-MY_FLTMAX);
// Construct temporary UModel for kdop creation. We keep no refs to it, so it can be GC'd.
auto TempModel = NewObject<UModel>();
TempModel->Initialize(nullptr, 1);
// For each vertex, project along each kdop direction, to find the max in that direction.
const FStaticMeshLODResources& RenderData = StaticMesh->RenderData->LODResources[0];
for(int32 i=0; i<RenderData.GetNumVertices(); i++)
{
for(int32 j=0; j<kCount; j++)
{
float dist = RenderData.PositionVertexBuffer.VertexPosition(i) | Dirs[j];
maxDist[j] = FMath::Max(dist, maxDist[j]);
}
}
// Inflate kdop to ensure it is no degenerate
const float MinSize = 0.1f;
for(int32 i=0; i<kCount; i++)
{
maxDist[i] += MinSize;
}
// Now we have the planes of the kdop, we work out the face polygons.
TArray<FPlane> planes;
for(int32 i=0; i<kCount; i++)
planes.Add( FPlane(Dirs[i], maxDist[i]) );
for(int32 i=0; i<planes.Num(); i++)
{
FPoly* Polygon = new(TempModel->Polys->Element) FPoly();
FVector Base, AxisX, AxisY;
Polygon->Init();
Polygon->Normal = planes[i];
Polygon->Normal.FindBestAxisVectors(AxisX,AxisY);
Base = planes[i] * planes[i].W;
new(Polygon->Vertices) FVector(Base + AxisX * HALF_WORLD_MAX + AxisY * HALF_WORLD_MAX);
new(Polygon->Vertices) FVector(Base + AxisX * HALF_WORLD_MAX - AxisY * HALF_WORLD_MAX);
new(Polygon->Vertices) FVector(Base - AxisX * HALF_WORLD_MAX - AxisY * HALF_WORLD_MAX);
new(Polygon->Vertices) FVector(Base - AxisX * HALF_WORLD_MAX + AxisY * HALF_WORLD_MAX);
for(int32 j=0; j<planes.Num(); j++)
{
if(i != j)
{
if(!Polygon->Split(-FVector(planes[j]), planes[j] * planes[j].W))
{
Polygon->Vertices.Empty();
break;
}
}
}
if(Polygon->Vertices.Num() < 3)
{
// If poly resulted in no verts, remove from array
TempModel->Polys->Element.RemoveAt(TempModel->Polys->Element.Num()-1);
}
else
{
// Other stuff...
Polygon->iLink = i;
Polygon->CalcNormal(1);
}
}
if(TempModel->Polys->Element.Num() < 4)
{
TempModel = NULL;
return INDEX_NONE;
}
// Build bounding box.
TempModel->BuildBound();
// Build BSP for the brush.
FBSPOps::bspBuild(TempModel,FBSPOps::BSP_Good,15,70,1,0);
FBSPOps::bspRefresh(TempModel,1);
FBSPOps::bspBuildBounds(TempModel);
bs->Modify();
bs->CreateFromModel(TempModel, false);
// create all body instances
RefreshCollisionChange(StaticMesh);
// Mark staticmesh as dirty, to help make sure it gets saved.
StaticMesh->MarkPackageDirty();
return bs->AggGeom.ConvexElems.Num() - 1;
}
void AddTriMeshToRigidActor_AssumesLocked() const
{
float ContactOffsetFactor, MaxContactOffset;
GetContactOffsetParams(ContactOffsetFactor, MaxContactOffset);
if (BodySetup->TriMesh || BodySetup->TriMeshNegX)
{
PxTransform PLocalPose;
bool bUseNegX = CalcMeshNegScaleCompensation(Scale3D, PLocalPose);
// Only case where TriMeshNegX should be null is BSP, which should not require negX version
if (bUseNegX && BodySetup->TriMeshNegX == NULL)
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: Want to use NegX but it doesn't exist! %s"), *BodySetup->GetPathName());
}
PxTriangleMesh* UseTriMesh = bUseNegX ? BodySetup->TriMeshNegX : BodySetup->TriMesh;
if (UseTriMesh != NULL)
{
PxTriangleMeshGeometry PTriMeshGeom;
PTriMeshGeom.triangleMesh = bUseNegX ? BodySetup->TriMeshNegX : BodySetup->TriMesh;
PTriMeshGeom.scale.scale = U2PVector(Scale3DAbs);
if (BodySetup->bDoubleSidedGeometry)
{
PTriMeshGeom.meshFlags |= PxMeshGeometryFlag::eDOUBLE_SIDED;
}
if (PTriMeshGeom.isValid())
{
ensure(PLocalPose.isValid());
// Create without 'sim shape' flag, problematic if it's kinematic, and it gets set later anyway.
{
if (!AttachShape_AssumesLocked(PTriMeshGeom, PLocalPose, MaxContactOffset, PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eVISUALIZATION))
{
UE_LOG(LogPhysics, Log, TEXT("Can't create new mesh shape in AddShapesToRigidActor"));
}
}
}
else
{
UE_LOG(LogPhysics, Log, TEXT("AddTriMeshToRigidActor: TriMesh invalid"));
}
}
}
}
