void Sc::ShapeSim::getFilterInfo(PxFilterObjectAttributes& filterAttr, PxFilterData& filterData) const
{
filterAttr = 0;
const PxShapeFlags flags = mCore.getFlags();
if (hasTriggerFlags(flags))
filterAttr |= PxFilterObjectFlag::eTRIGGER;
BodySim* b = getBodySim();
if (b)
{
if (!b->isArticulationLink())
{
if (b->isKinematic())
filterAttr |= PxFilterObjectFlag::eKINEMATIC;
setFilterObjectAttributeType(filterAttr, PxFilterObjectType::eRIGID_DYNAMIC);
}
else
setFilterObjectAttributeType(filterAttr, PxFilterObjectType::eARTICULATION);
}
else
{
setFilterObjectAttributeType(filterAttr, PxFilterObjectType::eRIGID_STATIC);
}
filterData = mCore.getSimulationFilterData();
}
void Sc::ConstraintProjectionTree::rankConstraint(ConstraintSim& c, BodyRank& br, PxU32& dominanceTracking, PxU32& constraintsToProjectCount)
{
PxU32 projectToBody, projectToOtherBody;
BodySim* otherB;
getConstraintStatus(c, br.startingNode->body, otherB, projectToBody, projectToOtherBody);
if (isFixedBody(otherB)) // joint to fixed anchor
{
PxU32 rank;
if (projectToOtherBody)
{
dominanceTracking = 0; // makes sure that the flags below will never get raised again for the body
br.rank &= ~(BodyRank::sAllDominantDynamic | BodyRank::sDominantDynamic);
rank = BodyRank::sOneWayProjection; //we should prefer picking projected constraints as the root over non-projected ones.
constraintsToProjectCount++;
}
else
rank = 0;
if (!otherB)
rank |= BodyRank::sAttachedToStatic;
else
{
PX_ASSERT(otherB->isKinematic());
rank |= BodyRank::sAttachedToKinematic;
}
// the highest ranked fixed anchor constraint should get tracked
if ((!br.constraintToFixedAnchor) || (rank > br.rank))
br.constraintToFixedAnchor = &c;
br.rank |= rank;
}
else
{
if (projectToBody && projectToOtherBody)
{
dominanceTracking &= ~BodyRank::sAllDominantDynamic; // makes sure that from now on this will never get raised again for the body
br.rank &= ~BodyRank::sAllDominantDynamic;
constraintsToProjectCount++;
}
else if (projectToOtherBody)
{
dominanceTracking &= ~(BodyRank::sAllDominantDynamic | BodyRank::sDominantDynamic); // makes sure that from now on these will never get raised again for the body
br.rank &= ~(BodyRank::sAllDominantDynamic | BodyRank::sDominantDynamic);
constraintsToProjectCount++;
}
else if (projectToBody)
{
br.rank |= BodyRank::sOneWayProjection | (dominanceTracking & (BodyRank::sAllDominantDynamic | BodyRank::sDominantDynamic));
constraintsToProjectCount++;
}
br.rank += BodyRank::sAttachedToDynamic;
}
}