PxTransform Sq::getGlobalPose(const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
PxActorType::Enum actorType = scbActor.getActorType();
if(actorType==PxActorType::eRIGID_STATIC)
{
return static_cast<const Scb::RigidStatic&>(scbActor).getActor2World() * scbShape.getShape2Actor();
}
else
{
PX_ASSERT(actorType==PxActorType::eRIGID_DYNAMIC || actorType == PxActorType::eARTICULATION_LINK);
PxTransform body2World;
const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
if (!(body.getFlags() & PxRigidBodyFlag::eKINEMATIC))
body2World = body.getBody2World();
else
{
PxTransform bodyTarget;
if (!body.getKinematicTarget(bodyTarget) || (!(body.getFlags() & PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES)))
body2World = body.getBody2World();
else
body2World = bodyTarget;
}
return body2World * body.getBody2Actor().getInverse() * scbShape.getShape2Actor();
}
}
static PxBounds3 computeWorldAABB(const Scb::Shape& scbShape, const Sc::BodyCore& bodyCore)
{
const Gu::GeometryUnion& geom = scbShape.getGeometryUnion();
const PxTransform& shape2Actor = scbShape.getShape2Actor();
PX_ALIGN(16, PxTransform) globalPose;
PX_ALIGN(16, PxTransform) kinematicTarget;
PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC | PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
bool useTarget = (PxU16(bodyCore.getFlags()) & sqktFlags) == sqktFlags;
const PxTransform& body2World = (useTarget && bodyCore.getKinematicTarget(kinematicTarget)) ? kinematicTarget : bodyCore.getBody2World();
Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, bodyCore.getBody2Actor(), globalPose);
PxBounds3 tmp;
inflateBounds(tmp, Gu::computeBounds(geom.getGeometry(), globalPose, false));
return tmp;
}
PxBounds3 Sq::computeWorldAABB(const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
PxActorType::Enum actorType = scbActor.getActorType();
const Gu::GeometryUnion& geom = scbShape.getGeometryUnion();
const PxTransform& shape2Actor = scbShape.getShape2Actor();
PX_ALIGN(16, PxTransform) globalPose;
if(actorType==PxActorType::eRIGID_STATIC)
Cm::getStaticGlobalPoseAligned(static_cast<const Scb::RigidStatic&>(scbActor).getActor2World(), shape2Actor, globalPose);
else
{
const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
PX_ALIGN(16, PxTransform) kinematicTarget;
PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC|PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
bool useTarget = (PxU16(body.getFlags()) & sqktFlags) == sqktFlags;
const PxTransform& body2World = (useTarget && body.getKinematicTarget(kinematicTarget)) ? kinematicTarget : body.getBody2World();
Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, body.getBody2Actor(), globalPose);
}
return inflateBounds(geom.computeBounds(globalPose));
}
