void SweepTest::FindTouchedCCTs( NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
const NxExtendedBounds3& world_box)
{
NxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
world_box.getCenter(Origin);
// Find touched boxes, i.e. other box controllers
for(NxU32 i=0;i<nb_boxes;i++)
{
if(!world_box.intersect(boxes[i]))
continue;
TouchedUserBox* UserBox = (TouchedUserBox*)reserve(mGeomStream, sizeof(TouchedUserBox)/sizeof(NxU32));
UserBox->mType = TOUCHED_USER_BOX;
UserBox->mUserData = box_user_data[i];
UserBox->mOffset = Origin;
UserBox->mBox = boxes[i];
}
// Find touched capsules, i.e. other capsule controllers
NxExtendedVec3 Center;
NxVec3 Extents;
world_box.getCenter(Center);
world_box.getExtents(Extents);
NxMat33 Idt;
Idt.id();
for(NxU32 i=0;i<nb_capsules;i++)
{
// Do a quick AABB check first, to avoid calling the SDK too much
const NxF32 r = capsules[i].radius;
if((capsules[i].p0.x - r > world_box.max.x) || (world_box.min.x > capsules[i].p1.x + r)) continue;
if((capsules[i].p0.y - r > world_box.max.y) || (world_box.min.y > capsules[i].p1.y + r)) continue;
if((capsules[i].p0.z - r > world_box.max.z) || (world_box.min.z > capsules[i].p1.z + r)) continue;
// Do a box-capsule intersect, or skip it? => better to skip it, not really useful now
/* NxCapsule tmp;
tmp.radius = capsules[i].radius;
tmp.p0.x = float(capsules[i].p0.x);
tmp.p0.y = float(capsules[i].p0.y);
tmp.p0.z = float(capsules[i].p0.z);
tmp.p1.x = float(capsules[i].p1.x);
tmp.p1.y = float(capsules[i].p1.y);
tmp.p1.z = float(capsules[i].p1.z);
float d2 = gUtilLib->NxSegmentOBBSqrDist(tmp, NxVec3(float(Center.x), float(Center.y), float(Center.z)),
Extents,
Idt, NULL, NULL);
if(d2<capsules[i].radius*capsules[i].radius)*/
{
TouchedUserCapsule* UserCapsule = (TouchedUserCapsule*)reserve(mGeomStream, sizeof(TouchedUserCapsule)/sizeof(NxU32));
UserCapsule->mType = TOUCHED_USER_CAPSULE;
UserCapsule->mUserData = capsule_user_data[i];
UserCapsule->mOffset = Origin;
UserCapsule->mCapsule = capsules[i];
}
}
}
void CCTDebugData::addAABB(const NxExtendedBounds3& bounds, NxU32 color)
{
NxExtendedVec3 center;
NxVec3 extents;
bounds.getCenter(center);
bounds.getExtents(extents);
NxBounds3 tmp;
tmp.setCenterExtents(NxVec3((float)center.x, (float)center.y, (float)center.z), extents);
addAABB(tmp, color, false);
}
bool FindTouchedGeometry(
void* user_data,
const NxExtendedBounds3& worldBounds, // ### we should also accept other volumes
TriArray& world_triangles,
TriArray* world_edge_normals,
IntArray& edge_flags,
IntArray& geom_stream,
NxU32 group_flags,
bool static_shapes, bool dynamic_shapes, const NxGroupsMask* groupsMask)
{
NX_ASSERT(user_data);
NxScene* scene = (NxScene*)user_data;
NxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
worldBounds.getCenter(Origin);
// Reserve a stack buffer big enough to hold all shapes in the world. This is a lazy approach that is
// acceptable here since the total number of shapes is limited to 64K anyway, which would "only" consume
// 256 Kb on the stack (hence, stack overflow is unlikely).
// ### TODO: the new callback mechanism would allow us to use less memory here
// NxU32 total = scene->getNbStaticShapes() + scene->getNbDynamicShapes();
NxU32 total = scene->getTotalNbShapes();
NxShape** buffer = (NxShape**)NxAlloca(total*sizeof(NxShape*));
// Find touched *boxes* i.e. touched objects' AABBs in the world
// We collide against dynamic shapes too, to get back dynamic boxes/etc
// TODO: add active groups in interface!
NxU32 Flags = 0;
if(static_shapes) Flags |= NX_STATIC_SHAPES;
if(dynamic_shapes) Flags |= NX_DYNAMIC_SHAPES;
// ### this one is dangerous
NxBounds3 tmpBounds; // LOSS OF ACCURACY
tmpBounds.min.x = (float)worldBounds.min.x;
tmpBounds.min.y = (float)worldBounds.min.y;
tmpBounds.min.z = (float)worldBounds.min.z;
tmpBounds.max.x = (float)worldBounds.max.x;
tmpBounds.max.y = (float)worldBounds.max.y;
tmpBounds.max.z = (float)worldBounds.max.z;
NxU32 nbTouchedBoxes = scene->overlapAABBShapes(tmpBounds, NxShapesType(Flags), total, buffer, NULL, group_flags, groupsMask);
// Early exit if no AABBs found
if(!nbTouchedBoxes) return false;
NX_ASSERT(nbTouchedBoxes<=total); // Else we just trashed some stack memory
// Loop through touched world AABBs
NxShape** touched = buffer;
while(nbTouchedBoxes--)
{
// Get current shape
NxShape* shape = *touched++;
// Filtering
// Discard all CCT shapes, i.e. kinematic actors we created ourselves. We don't need to collide with them since they're surrounded
// by the real CCT volume - and collisions with those are handled elsewhere. We use the userData field for filtering because that's
// really our only valid option (filtering groups are already used by clients and we don't have control over them, clients might
// create other kinematic actors that we may want to keep here, etc, etc)
if(size_t(shape->userData)=='CCTS')
continue;
// Discard if not collidable
// PT: this shouldn't be possible at this point since:
// - the SF flag is only used for compounds
// - the AF flag is already tested in scene query
// - we shouldn't get compound shapes here
if(shape->getFlag(NX_SF_DISABLE_COLLISION))
continue;
// Ubi (EA) : Discarding Triggers :
if ( shape->getFlag(NX_TRIGGER_ENABLE) )
continue;
// PT: here you might want to disable kinematic objects.
// Output shape to stream
NxShapeType type = shape->getType();
if(type==NX_SHAPE_SPHERE) outputSphereToStream((NxSphereShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_CAPSULE) outputCapsuleToStream((NxCapsuleShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_BOX) outputBoxToStream((NxBoxShape*)shape, shape, geom_stream, Origin);
else if(type==NX_SHAPE_MESH) outputMeshToStream((NxTriangleMeshShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
else if(type==NX_SHAPE_HEIGHTFIELD) outputHeightFieldToStream((NxHeightFieldShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
else if(type==NX_SHAPE_CONVEX) outputConvexToStream((NxConvexShape*)shape, shape, geom_stream, world_triangles, world_edge_normals, edge_flags, Origin, tmpBounds);
}
return true;
}