/** Interpolates kinematic actor transform - Assumes caller has obtained writer lock */
void FPhysSubstepTask::InterpolateKinematicActor(const FPhysTarget & PhysTarget, FBodyInstance * BodyInstance, float Alpha)
{
#if WITH_PHYSX
PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic();
Alpha = FMath::Clamp(Alpha, 0.f, 1.f);
/** Interpolate kinematic actors */
if (PhysTarget.bKinematicTarget)
{
//We should only be interpolating kinematic actors
check(!IsRigidDynamicNonKinematic(PRigidDynamic));
const FKinematicTarget & KinematicTarget = PhysTarget.KinematicTarget;
const FTransform & TargetTM = KinematicTarget.TargetTM;
const FTransform & StartTM = KinematicTarget.OriginalTM;
FTransform InterTM = FTransform::Identity;
InterTM.SetLocation(FMath::Lerp(StartTM.GetLocation(), TargetTM.GetLocation(), Alpha));
InterTM.SetRotation(FMath::Lerp(StartTM.GetRotation(), TargetTM.GetRotation(), Alpha));
const PxTransform PNewPose = U2PTransform(InterTM);
check(PNewPose.isValid());
PRigidDynamic->setKinematicTarget(PNewPose);
}
#endif
}
/** Interpolates kinematic actor transform - Assumes caller has obtained writer lock */
void FPhysSubstepTask::InterpolateKinematicActor(const FPhysTarget& PhysTarget, FBodyInstance* BodyInstance, float InAlpha)
{
#if WITH_PHYSX
PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic();
InAlpha = FMath::Clamp(InAlpha, 0.f, 1.f);
/** Interpolate kinematic actors */
if (PhysTarget.bKinematicTarget)
{
//It's possible that the actor is no longer kinematic and is now simulating. In that case do nothing
if (!IsRigidDynamicNonKinematic(PRigidDynamic))
{
const FKinematicTarget& KinematicTarget = PhysTarget.KinematicTarget;
const FTransform& TargetTM = KinematicTarget.TargetTM;
const FTransform& StartTM = KinematicTarget.OriginalTM;
FTransform InterTM = FTransform::Identity;
InterTM.SetLocation(FMath::Lerp(StartTM.GetLocation(), TargetTM.GetLocation(), InAlpha));
InterTM.SetRotation(FMath::Lerp(StartTM.GetRotation(), TargetTM.GetRotation(), InAlpha));
const PxTransform PNewPose = U2PTransform(InterTM);
check(PNewPose.isValid());
PRigidDynamic->setKinematicTarget(PNewPose);
}
}
#endif
}
void FPhysSubstepTask::AddTorque(FBodyInstance * Body, const FVector & Torque)
{
check(Body);
PxRigidDynamic * PRigidDynamic = Body->GetPxRigidDynamic();
SCOPED_SCENE_READ_LOCK(PRigidDynamic->getScene());
//We should only apply torque on non kinematic actors
if (IsRigidDynamicNonKinematic(PRigidDynamic))
{
FTorqueTarget TorqueTarget;
TorqueTarget.Torque = Torque;
FPhysTarget & TargetState = PhysTargetBuffers[External].FindOrAdd(Body);
TargetState.Torques.Add(TorqueTarget);
}
}
void FPhysSubstepTask::AddForce(FBodyInstance * Body, const FVector & Force)
{
check(Body);
PxRigidDynamic * PRigidDynamic = Body->GetPxRigidDynamic();
SCOPED_SCENE_READ_LOCK(PRigidDynamic->getScene());
//We should only apply forces on non kinematic actors
if (IsRigidDynamicNonKinematic(PRigidDynamic))
{
FForceTarget ForceTarget;
ForceTarget.bPosition = false;
ForceTarget.Force = Force;
FPhysTarget & TargetState = PhysTargetBuffers[External].FindOrAdd(Body);
TargetState.Forces.Add(ForceTarget);
}
}
void FPhysSubstepTask::SetKinematicTarget(FBodyInstance * Body, const FTransform & TM)
{
check(Body);
TM.DiagnosticCheckNaN_All();
PxRigidDynamic * PRigidDynamic = Body->GetPxRigidDynamic();
SCOPED_SCENE_READ_LOCK(PRigidDynamic->getScene());
//We only interpolate kinematic actors
if (!IsRigidDynamicNonKinematic(PRigidDynamic))
{
FKinematicTarget KinmaticTarget(Body, TM);
FPhysTarget & TargetState = PhysTargetBuffers[External].FindOrAdd(Body);
TargetState.bKinematicTarget = true;
TargetState.KinematicTarget = KinmaticTarget;
}
}
