void Controller::move(SweptVolume& volume, const NxVec3& disp, NxU32 activeGroups, NxF32 minDist, NxU32& collisionFlags, NxF32 sharpness, const NxGroupsMask* groupsMask, bool constrainedClimbingMode)
{
// Dynamic-load the utility library
if(!gUtilLib)
gUtilLib = NxGetUtilLib();
assert(gUtilLib);
if(!gUtilLib) return;
SweepTest* ST = &cctModule;
// Init CCT with per-controller settings
ST->debugData = manager->debugData;
ST->mSkinWidth = skinWidth;
ST->mStepOffset = stepOffset;
ST->mUpDirection = upDirection;
ST->mHandleSlope = handleSlope;
ST->mSlopeLimit = slopeLimit;
ST->mFirstUpdate = true;
///////////
Controller** boxUserData = NULL;
NxExtendedBounds3* boxes = NULL;
NxU32 nbBoxes = 0;
Controller** capsuleUserData = NULL;
NxExtendedCapsule* capsules = NULL;
NxU32 nbCapsules = 0;
if(1)
{
// Experiment - to do better
NxU32 nbControllers = manager->getNbControllers();
Controller** controllers = manager->getControllers();
boxes = (NxExtendedBounds3*)NxAlloca(nbControllers*sizeof(NxExtendedBounds3));
capsules = (NxExtendedCapsule*)NxAlloca(nbControllers*sizeof(NxExtendedCapsule)); // It's evil to waste that ram
boxUserData = (Controller**)NxAlloca(nbControllers*sizeof(Controller*));
capsuleUserData = (Controller**)NxAlloca(nbControllers*sizeof(Controller*));
while(nbControllers--)
{
Controller* currentController = *controllers++;
if(currentController==this) continue;
NxActor* pActor = currentController->getActor();
int nbShapes = pActor->getNbShapes();
NX_ASSERT( nbShapes == 1 );
NxShape* pCurrentShape= pActor->getShapes()[0];
// Depending on user settings the current controller can be:
// - discarded
// - always kept
// - or tested against filtering flags
NxCCTInteractionFlag interactionFlag = currentController->getInteraction();
bool keepController = true;
if(interactionFlag==NXIF_INTERACTION_EXCLUDE) keepController = false;
else if(interactionFlag==NXIF_INTERACTION_USE_FILTER) keepController = (activeGroups & ( 1 << pCurrentShape->getGroup()))!=0;
if(keepController)
{
if(currentController->type==NX_CONTROLLER_BOX)
{
currentController->getWorldBox(boxes[nbBoxes]);
boxUserData[nbBoxes++] = currentController;
}
else if(currentController->type==NX_CONTROLLER_CAPSULE)
{
CapsuleController* CC = static_cast<CapsuleController*>(currentController);
NxExtendedVec3 p0 = CC->position;
NxExtendedVec3 p1 = CC->position;
p0[ST->mUpDirection] -= CC->height*0.5f;
p1[ST->mUpDirection] += CC->height*0.5f;
capsules[nbCapsules].p0 = p0;
capsules[nbCapsules].p1 = p1;
capsules[nbCapsules].radius = CC->radius;
capsuleUserData[nbCapsules++] = currentController;
}
else ASSERT(0);
}
}
}
///////////
ST->mWalkExperiment = false;
NxExtendedVec3 Backup = volume.mCenter;
ST->MoveCharacter(scene,
(Controller*)this,
volume, disp,
nbBoxes, nbBoxes ? boxes : NULL, nbBoxes ? (const void**)boxUserData : NULL,
nbCapsules, nbCapsules ? capsules : NULL, nbCapsules ? (const void**)capsuleUserData : NULL,
activeGroups, minDist, collisionFlags, groupsMask, constrainedClimbingMode);
if(ST->mHitNonWalkable)
{
// A bit slow, but everything else I tried was less convincing...
ST->mWalkExperiment = true;
volume.mCenter = Backup;
ST->MoveCharacter(scene,
(Controller*)this,
volume, disp,
nbBoxes, nbBoxes ? boxes : NULL, nbBoxes ? (const void**)boxUserData : NULL,
nbCapsules, nbCapsules ? capsules : NULL, nbCapsules ? (const void**)capsuleUserData : NULL,
activeGroups, minDist, collisionFlags, groupsMask, constrainedClimbingMode);
ST->mWalkExperiment = false;
}
if(sharpness<0.0f)
volume.mCenter = Backup;
// Copy results back
position = volume.mCenter;
NxVec3 Delta = Backup - volume.mCenter;
NxF32 deltaM2 = Delta.magnitudeSquared();
if(deltaM2!=0.0f)
{
// Update kinematic actor
if(kineActor)
kineActor->moveGlobalPosition(NxVec3((float)position.x, (float)position.y, (float)position.z));
}
filteredPosition = position;
sharpness = fabsf(sharpness);
// Apply feedback filter if needed
if(sharpness<1.0f)
filteredPosition[upDirection] = feedbackFilter(position[upDirection], memory, sharpness);
// if(manager->debugData)
// manager->debugData->addAABB(cctModule.mCachedTBV, NX_ARGB_YELLOW);
}
int pWorld::overlapSphereShapes(const VxSphere& worldSphere,CK3dEntity*shapeReference,pShapesType shapeType,CKGroup*shapes,int activeGroups/* =0xffffffff */, const pGroupsMask* groupsMask/* =NULL */, bool accurateCollision/* =false */)
{
int result=0;
NxSphere sphere;
if (shapeReference)
{
NxShape *shape = getShapeByEntityID(shapeReference->GetID());
if (shape)
{
//shape->checkOverlapAABB()
NxSphereShape *sphereShape = static_cast<NxSphereShape*>(shape->isSphere());
if (sphereShape)
{
sphere.radius = sphereShape->getRadius() + worldSphere.Radius();
//ori :
VxVector ori = worldSphere.Center();
VxVector oriOut = ori;
if (shapeReference)
{
shapeReference->Transform(&oriOut,&ori);
}
sphere.center = getFrom(oriOut);
}
}
}else{
sphere.center = getFrom(worldSphere.Center());
sphere.radius = worldSphere.Radius();
}
int total = 0;
if (shapeType & ST_Dynamic )
{
total+=getScene()->getNbDynamicShapes();
}
if (shapeType & ST_Static)
{
total+=getScene()->getNbStaticShapes();
}
NxShape** _shapes = (NxShape**)NxAlloca(total*sizeof(NxShape*));
for (NxU32 i = 0; i < total; i++) _shapes[i] = NULL;
NxGroupsMask mask;
if (groupsMask)
{
mask.bits0 = groupsMask->bits0;
mask.bits1 = groupsMask->bits1;
mask.bits2 = groupsMask->bits2;
mask.bits3 = groupsMask->bits3;
}else{
mask.bits0 = 0;
mask.bits1 = 0;
mask.bits2 = 0;
mask.bits3 = 0;
}
result = getScene()->overlapSphereShapes(sphere,(NxShapesType)shapeType,total,_shapes,NULL,activeGroups,&mask,accurateCollision);
if (_shapes && shapes )
{
for (int i = 0 ; i < result ; i++)
{
NxShape *s = _shapes[i];
if (s)
{
const char* name =s->getName();
pSubMeshInfo *sInfo = static_cast<pSubMeshInfo*>(s->userData);
if (sInfo->entID)
{
CKObject *obj = (CKObject*)GetPMan()->m_Context->GetObject(sInfo->entID);
if (obj)
{
shapes->AddObject((CKBeObject*)obj);
}
}
}
}
}
int op=2;
return result;
}
void Update()
{
NxMat34 mat34;
NxMat33 mat;
NxQuat quat(0.0f,NxVec3(0,1,0));
mat.fromQuat(quat);
NxBox worldBox;
worldBox.extents = NxVec3(2, 2, 2);
worldBox.rot = mat;
NxSphere worldSphere;
NxBounds3 worldBounds;
NxCapsule worldCapsule;
worldCapsule.radius = 2.0f;
NxU32 nbPlanes = 2;
NxPlane worldPlanes[2];
worldPlanes[0].set(NxVec3(-2,0,2), NxVec3(0,0,1));
worldPlanes[1].set(NxVec3(-2,0,2), NxVec3(1,0,0));
NxU32 nbDynamicShapes = gScene->getNbDynamicShapes();
NxU32 nbStaticShapes = gScene->getNbStaticShapes();
NxU32 nbShapes = 0;
NxShapesType type;
int i = 0;
for (i = 0; i < 3; ++ i)
{
if (i == 0)
{
nbShapes = nbDynamicShapes;
type = NX_DYNAMIC_SHAPES;
switch(gOverlapType)
{
case OVERLAP_AABB:
case OVERLAP_CHECK_AABB:
worldBounds.set(gMIN, gMAX);
break;
case OVERLAP_OBB:
case OVERLAP_CHECK_OBB:
worldBox.center = gBoxCenter;
break;
case OVERLAP_CAPSULE:
case OVERLAP_CHECK_CAPSULE:
worldCapsule = NxCapsule(gCapsuleSegment, gCapsuleRadius);
break;
case OVERLAP_SPHERE:
case OVERLAP_CHECK_SPHERE:
worldSphere = NxSphere(gSphereCenter, gSphereRadius);
break;
}
}
else if (i == 1)
{
nbShapes = nbStaticShapes;
type = NX_STATIC_SHAPES;
switch(gOverlapType)
{
case OVERLAP_AABB:
case OVERLAP_CHECK_AABB:
worldBounds.set(gMIN+NxVec3(-6.0f,0,0),gMAX+NxVec3(-6.0f,0,0));
break;
case OVERLAP_OBB:
case OVERLAP_CHECK_OBB:
worldBox.center = gBoxCenter+NxVec3(-6,0,0);
break;
case OVERLAP_CAPSULE:
case OVERLAP_CHECK_CAPSULE:
worldCapsule.p0.x = gCapsuleSegment.p0.x - 6.0f;
worldCapsule.p1.x = gCapsuleSegment.p1.x - 6.0f;
break;
case OVERLAP_SPHERE:
case OVERLAP_CHECK_SPHERE:
worldSphere = NxSphere(gSphereCenter + NxVec3(-6,0,0), gSphereRadius);
break;
}
}
else if (i == 2)
{
nbShapes = nbStaticShapes + nbDynamicShapes;
type = NX_ALL_SHAPES;
switch(gOverlapType)
{
case OVERLAP_AABB:
case OVERLAP_CHECK_AABB:
worldBounds.set(gMIN+NxVec3(6.0f,0,0),gMAX+NxVec3(6.0f,0,0));
break;
case OVERLAP_OBB:
case OVERLAP_CHECK_OBB:
worldBox.center = gBoxCenter+NxVec3(6,0,0);
break;
case OVERLAP_CAPSULE:
case OVERLAP_CHECK_CAPSULE:
worldCapsule.p0.x = gCapsuleSegment.p0.x + 6.0f;
worldCapsule.p1.x = gCapsuleSegment.p1.x + 6.0f;
break;
case OVERLAP_SPHERE:
case OVERLAP_CHECK_SPHERE:
worldSphere = NxSphere(gSphereCenter + NxVec3(6,0,0), gSphereRadius);
break;
}
}
NxShape** shapes = (NxShape**)NxAlloca(nbShapes*sizeof(NxShape*));
for (NxU32 j = 0; j < nbShapes; j++) shapes[j] = NULL;
NxU32 activeGroups = 0xffffffff;
NxGroupsMask* groupsMask = NULL;
bool bResult = true;
float linewidth = 1.0f;
switch(gOverlapType)
{
case OVERLAP_AABB:
gScene->overlapAABBShapes(worldBounds, type, nbShapes, shapes, &gShapeReport, activeGroups, groupsMask, true);
NxCreateBox(worldBox, worldBounds, mat34);
DrawWireBox(worldBox, NxVec3(1,0,0), linewidth);
break;
case OVERLAP_CHECK_AABB:
bResult = gScene->checkOverlapAABB(worldBounds, type, activeGroups, groupsMask);
NxCreateBox(worldBox, worldBounds, mat34);
if (bResult == true)
DrawWireBox(worldBox, NxVec3(1,0,0), linewidth);
else
DrawWireBox(worldBox, NxVec3(0,1,0), linewidth);
break;
case OVERLAP_OBB:
gScene->overlapOBBShapes(worldBox, type, nbShapes, shapes, &gShapeReport, activeGroups, groupsMask);
DrawWireBox(worldBox, NxVec3(1,0,0), linewidth);
break;
case OVERLAP_CHECK_OBB:
if (gScene->checkOverlapOBB(worldBox, type, activeGroups, groupsMask) == true)
DrawWireBox(worldBox, NxVec3(1,0,0), linewidth);
else
DrawWireBox(worldBox, NxVec3(0,1,0), linewidth);
break;
case OVERLAP_CAPSULE:
gScene->overlapCapsuleShapes(worldCapsule, type, nbShapes, shapes, &gShapeReport, activeGroups, groupsMask);
DrawWireCapsule(worldCapsule, NxVec3(1,0,0));
break;
case OVERLAP_CHECK_CAPSULE:
if (gScene->checkOverlapCapsule(worldCapsule, type,activeGroups, groupsMask) == true)
DrawWireCapsule(worldCapsule, NxVec3(1,0,0));
else
DrawWireCapsule(worldCapsule, NxVec3(0,1,0));
break;
case OVERLAP_SPHERE:
gScene->overlapSphereShapes(worldSphere, type, nbShapes, shapes, &gShapeReport, activeGroups, groupsMask);
DrawWireSphere(&worldSphere, NxVec3(1,0,0));
break;
case OVERLAP_CHECK_SPHERE:
if (gScene->checkOverlapSphere(worldSphere, type,activeGroups, groupsMask) == true)
DrawWireSphere(&worldSphere, NxVec3(1,0,0));
else
DrawWireSphere(&worldSphere, NxVec3(0,1,0));
break;
case OVERLAP_CULL:
gScene->cullShapes(nbPlanes, worldPlanes, type, nbShapes, shapes, &gShapeReport, activeGroups, groupsMask);
DrawLine(NxVec3(-20,0,2), NxVec3(-2,0,2),NxVec3(1,0,0), linewidth);
DrawLine(NxVec3(-2,0,-20), NxVec3(-2,0,2),NxVec3(1,0,0), linewidth);
break;
}
}
}
int pWorld::overlapOBBShapes(const VxBbox& worldBounds, CK3dEntity*shapeReference, pShapesType shapeType,CKGroup *shapes,int activeGroups/* =0xffffffff */, const pGroupsMask* groupsMask/* =NULL */, bool accurateCollision/* =false */)
{
int result=0;
NxBox box;
if (shapeReference)
{
NxShape *shape = getShapeByEntityID(shapeReference->GetID());
if (shape)
{
//shape->checkOverlapAABB()
NxBoxShape*boxShape = static_cast<NxBoxShape*>(shape->isBox());
if (boxShape)
{
boxShape->getWorldOBB(box);
}
}
}else{
box.center = getFrom(worldBounds.GetCenter());
box.extents = getFrom(worldBounds.GetSize());
}
int total = 0;
if (shapeType & ST_Dynamic )
{
total+=getScene()->getNbDynamicShapes();
}
if (shapeType & ST_Static)
{
total+=getScene()->getNbStaticShapes();
}
NxShape** _shapes = (NxShape**)NxAlloca(total*sizeof(NxShape*));
for (NxU32 i = 0; i < total; i++) _shapes[i] = NULL;
NxGroupsMask mask;
if (groupsMask)
{
mask.bits0 = groupsMask->bits0;
mask.bits1 = groupsMask->bits1;
mask.bits2 = groupsMask->bits2;
mask.bits3 = groupsMask->bits3;
}else{
mask.bits0 = 0;
mask.bits1 = 0;
mask.bits2 = 0;
mask.bits3 = 0;
}
result = getScene()->overlapOBBShapes(box,(NxShapesType)shapeType,total,_shapes,NULL,activeGroups,&mask,accurateCollision);
if (_shapes && shapes )
{
for (int i = 0 ; i < result ; i++)
{
NxShape *s = _shapes[i];
if (s)
{
const char* name =s->getName();
pSubMeshInfo *sInfo = static_cast<pSubMeshInfo*>(s->userData);
if (sInfo->entID)
{
CKObject *obj = (CKObject*)GetPMan()->m_Context->GetObject(sInfo->entID);
if (obj)
{
shapes->AddObject((CKBeObject*)obj);
}
}
}
}
}
int op=2;
return result;
}
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;
}
