void NpRigidDynamic::setGlobalPose(const PxTransform& pose, bool autowake)
{
NpScene* scene = NpActor::getAPIScene(*this);
#ifdef PX_CHECKED
if(scene)
scene->checkPositionSanity(*this, pose, "PxRigidDynamic::setGlobalPose");
#endif
PX_CHECK_AND_RETURN(pose.isSane(), "NpRigidDynamic::setGlobalPose: pose is not valid.");
NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
PxTransform p = pose.getNormalized();
if(scene)
{
updateDynamicSceneQueryShapes(mShapeManager, scene->getSceneQueryManagerFast());
}
PxTransform newPose = p;
newPose.q.normalize(); //AM: added to fix 1461 where users read and write orientations for no reason.
Scb::Body& b = getScbBodyFast();
PxTransform body2World = newPose * b.getBody2Actor();
b.setBody2World(body2World, false);
if(scene && autowake && !(b.getActorFlags() & PxActorFlag::eDISABLE_SIMULATION))
wakeUpInternal();
}
PX_FORCE_INLINE void NpRigidDynamic::setKinematicTargetInternal(const PxTransform& targetPose)
{
// The target is actor related. Transform to body related target
PxTransform bodyTarget = targetPose * getScbBodyFast().getBody2Actor();
Scb::Body& b = getScbBodyFast();
b.setKinematicTarget(bodyTarget);
NpScene* scene = NpActor::getAPIScene(*this);
if ((b.getFlags() & PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES) && scene)
{
updateDynamicSceneQueryShapes(mShapeManager, scene->getSceneQueryManagerFast());
}
}
void NpShapeManager::attachShape(NpShape& shape, PxRigidActor& actor)
{
PX_ASSERT(!mPruningStructure);
Cm::PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
const PxU32 index = getNbShapes();
mShapes.add(&shape, sm);
mSceneQueryData.add(reinterpret_cast<void*>(size_t(SQ_INVALID_PRUNER_DATA)), sm);
NpScene* scene = NpActor::getAPIScene(actor);
if(scene && isSceneQuery(shape))
setupSceneQuery(scene->getSceneQueryManagerFast(), actor, index);
Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
ro.onShapeAttach(shape.getScbShape());
PX_ASSERT(!shape.isExclusive() || shape.getActor()==NULL);
shape.onActorAttach(actor);
}
void NpShapeManager::detachShape(NpShape& s, PxRigidActor& actor, bool wakeOnLostTouch)
{
PX_ASSERT(!mPruningStructure);
Cm::PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
const PxU32 index = mShapes.find(&s);
PX_ASSERT(index!=0xffffffff);
Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
NpScene* scene = NpActor::getAPIScene(actor);
if(scene && isSceneQuery(s))
scene->getSceneQueryManagerFast().removePrunerShape(getPrunerData(index));
Scb::Shape& scbShape = s.getScbShape();
ro.onShapeDetach(scbShape, wakeOnLostTouch, (s.getRefCount() == 1));
mShapes.replaceWithLast(index, sm);
mSceneQueryData.replaceWithLast(index, sm);
s.onActorDetach();
}