bool CapsuleController::setRadius(NxF32 r)
{
radius = r;
if(kineActor)
{
NxShape* S = *kineActor->getShapes();
NX_ASSERT(S && static_cast<NxCapsuleShape*>(S));
NxCapsuleShape* CS = static_cast<NxCapsuleShape*>(S);
CS->setRadius(r * 0.8f);
}
return true;
}
bool CapsuleController::setHeight(NxF32 h)
{
height = h;
if(kineActor)
{
NxShape* S = *kineActor->getShapes();
NX_ASSERT(S && static_cast<NxCapsuleShape*>(S));
NxCapsuleShape* CS = static_cast<NxCapsuleShape*>(S);
CS->setHeight(h * 0.8f);
}
return true;
}
void plPXPhysicalControllerCore::GetWorldSpaceCapsule(NxCapsule& cap) const
{
if(this->fKinematicActor)
{
int numshapes=fKinematicActor->getNbShapes();
if (numshapes==1)
{
//there should only be one shape on a controller
NxShape* const *shapes=fKinematicActor->getShapes();
//and since it is a capsule controller it better be a capsule;
NxCapsuleShape *capShape = shapes[0]->isCapsule();
if(capShape) capShape->getWorldCapsule(cap);
}
}
}
float NxPhysicsCapsuleShape::GetHeight()
{
NxCapsuleShape * CapsuleShape = static_cast<NxCapsuleShape *>( mShape );
return CapsuleShape->getHeight();
}
void CPhysicsActor::SetScale( Vec3& scale )
{
// do not scale if scale is currently 1:1 or if the scale
// has not changed
if( scale.x == 1 && scale.y == 1 && scale.z == 1 ||
scale == m_CurrentScale )
{
return;
}
// make sure the scale is valid
// No 0 scales or negative scales!
if( scale.x <= 0 && scale.y <= 0 && scale.z <= 0 )
{
m_ToolBox->Log( LOGWARNING, _T("CPhysicsActor::SetScale() Invalid scale!\n" ) );
return;
}
NxVec3 newScale( scale.x, scale.y, scale.z );
// unscale the old scale
// Loop through shapes in the actor
unsigned int numShapes = m_Actor->getNbShapes();
NxShape*const* shapes = m_Actor->getShapes();
NxShape* currentShape;
NxVec3 shapeLocalPosition;
// for each shape type scale its dimensions
while( numShapes-- >= 1 )
{
currentShape = shapes[numShapes];
// get the shape's type
NxShapeType type = currentShape->getType();
switch( type )
{
case NX_SHAPE_BOX:
{
// do something
NxBoxShape* shape = (NxBoxShape*)currentShape;
// rescale box dimensions
NxVec3 dimensions = shape->getDimensions();
Vec3 newDimensions(dimensions.x, dimensions.y, dimensions.z);
RescaleVector( newDimensions, scale );
// set the shape data with the newly rescaled dimensions
shape->setDimensions( NxVec3(newDimensions.x, newDimensions.y, newDimensions.z) );
break;
}
case NX_SHAPE_SPHERE:
{
// do something
NxSphereShape* shape = (NxSphereShape*)currentShape;
float radius = shape->getRadius();
radius /= m_CurrentScale.x;
radius *= newScale.x;
// set the shape data with the newly rescaled dimensions
shape->setRadius( radius );
break;
}
case NX_SHAPE_CAPSULE:
{
// do something
NxCapsuleShape* shape;
shape = (NxCapsuleShape*)currentShape;
// rescale radius
float radius = shape->getRadius();
radius /= m_CurrentScale.x;
radius *= newScale.x;
// rescale height
float height = shape->getHeight();
height /= m_CurrentScale.z;
height *= newScale.z;
// set the shape data with the newly rescaled dimensions
shape->setRadius( radius );
shape->setHeight( height );
break;
}
default:
m_ToolBox->Log( LOGWARNING, _T("CPhysicsObject::SetScale() Attempting to scale on unsupported shape!\n" ) );
return;
}
// get the shape's local position and rescale it
shapeLocalPosition = currentShape->getLocalPosition();
Vec3 newShapeLocalPosition(shapeLocalPosition.x, shapeLocalPosition.y, shapeLocalPosition.z);
RescaleVector( newShapeLocalPosition, scale );
currentShape->setLocalPosition( NxVec3(newShapeLocalPosition.x, newShapeLocalPosition.y, newShapeLocalPosition.z) );
}
// Set the current scale to the new scale so we can unscale the scale
m_CurrentScale = scale;
}
void CPhysicsActor::AddVisualization()
{
// get the CPhysicsObject's name
PHYSICSUSERDATA* userData = (PHYSICSUSERDATA*)m_Actor->userData;
if( userData == NULL )
return;
CPhysicsObject* physObj = userData->physObj;
IHashString* cpoName = physObj->GetParentName();
// Loop through shapes in the actor
unsigned int numShapes = m_Actor->getNbShapes();
NxShape*const* shapes = m_Actor->getShapes();
NxShape* shape;
// we need to unscale before feeding it to the shape objects since they
// get the scale from the parent
Vec3 invScale;
invScale.x = 1.0f / m_CurrentScale.x;
invScale.y = 1.0f / m_CurrentScale.y;
invScale.z = 1.0f / m_CurrentScale.z;
// Add visualizations for each shape
while( numShapes-- )
{
shape = shapes[numShapes];
// Add shape to be rendered
if( shape->isBox() )
{
NxBoxShape* boxShape = (NxBoxShape*)shape;
Matrix4x4 localTransform;
localTransform.SetIdentity();
float tempRot[9];
boxShape->getLocalOrientation().getColumnMajor( tempRot );
localTransform.SetFrom3x3( tempRot );
NxVec3 tempPos = boxShape->getLocalPosition();
tempPos.x *= invScale.x;
tempPos.y *= invScale.y;
tempPos.z *= invScale.z;
localTransform.SetTranslation( Vec3(tempPos.x, tempPos.y, tempPos.z) );
NxVec3 boxDimensions = boxShape->getDimensions();
float halfXDimension = boxDimensions.x * invScale.x;
float halfYDimension = boxDimensions.y * invScale.y;
float halfZDimension = boxDimensions.z * invScale.z;
// Add a debug render object to visualize the object
ADDOBJECTORIENTEDBOXPARAMS oobbParams;
oobbParams.name = cpoName;
oobbParams.min = Vec3( -halfXDimension, -halfYDimension, -halfZDimension );
oobbParams.max = Vec3( halfXDimension, halfYDimension, halfZDimension );
oobbParams.localTransform = localTransform;
static DWORD msgHash_AddObjectOrientedBox = CHashString(_T("AddObjectOrientedBox")).GetUniqueID();
m_ToolBox->SendMessage(msgHash_AddObjectOrientedBox, sizeof(ADDOBJECTORIENTEDBOXPARAMS), &oobbParams );
}
if( shape->isSphere() )
{
NxSphereShape* sphereShape = (NxSphereShape*)shape;
float radius = sphereShape->getRadius();
// Add a debug render object to visualize the object
ADDSPHEREPARAMS sphereParams;
sphereParams.name = cpoName;
sphereParams.radius = radius * invScale.x;
sphereParams.red = 0;
sphereParams.green = 255; // making the sphere green to distinguish it from AABBs
sphereParams.blue = 0;
static DWORD msgHash_AddSphere = CHashString(_T("AddSphere")).GetUniqueID();
m_ToolBox->SendMessage(msgHash_AddSphere, sizeof(ADDSPHEREPARAMS), &sphereParams );
}
if( shape->isCapsule() )
{
// Draw as a red box for now
NxCapsuleShape* capsuleShape = (NxCapsuleShape*)shape;
Matrix4x4 localTransform;
localTransform.SetIdentity();
float tempRot[9];
capsuleShape->getLocalOrientation().getColumnMajor( tempRot );
localTransform.SetFrom3x3( tempRot );
NxVec3 tempPos = capsuleShape->getLocalPosition();
tempPos.x *= invScale.x;
tempPos.y *= invScale.y;
tempPos.z *= invScale.z;
localTransform.SetTranslation( Vec3(tempPos.x, tempPos.y, tempPos.z) );
float halfXDimension = capsuleShape->getRadius();
float halfYDimension = capsuleShape->getHeight() - capsuleShape->getRadius();
float halfZDimension = capsuleShape->getRadius();
// Add a debug render object to visualize the object
ADDOBJECTORIENTEDBOXPARAMS oobbParams;
oobbParams.name = cpoName;
oobbParams.min = Vec3( -halfXDimension, -halfYDimension, -halfZDimension );
oobbParams.max = Vec3( halfXDimension, halfYDimension, halfZDimension );
oobbParams.localTransform = localTransform;
oobbParams.red = 255;
oobbParams.green = 0;
oobbParams.blue = 0;
static DWORD msgHash_AddObjectOrientedBox = CHashString(_T("AddObjectOrientedBox")).GetUniqueID();
m_ToolBox->SendMessage(msgHash_AddObjectOrientedBox, sizeof(ADDOBJECTORIENTEDBOXPARAMS), &oobbParams );
}
if( shape->isConvexMesh() )
{
// not yet implemented
}
}
}
void drawActor( NxActor *inActor )
{
GFXDrawUtil *drawer = GFX->getDrawUtil();
//drawer->setZRead( false );
// Determine alpha we render shapes with.
const U8 enabledAlpha = 255;
const U8 disabledAlpha = 100;
U8 renderAlpha = inActor->readActorFlag( NX_AF_DISABLE_COLLISION ) ? disabledAlpha : enabledAlpha;
// Determine color we render actors and shapes with.
ColorI actorColor( 0, 0, 255, 200 );
ColorI shapeColor = ( inActor->isSleeping() ? ColorI( 0, 0, 255, renderAlpha ) : ColorI( 255, 0, 255, renderAlpha ) );
MatrixF actorMat(true);
inActor->getGlobalPose().getRowMajor44( actorMat );
GFXStateBlockDesc desc;
desc.setBlend( true );
desc.setZReadWrite( true, false );
desc.setCullMode( GFXCullNone );
// Draw an xfm gizmo for the actor's globalPose...
//drawer->drawTransform( desc, actorMat, Point3F::One, actorColor );
// Loop through and render all the actor's shapes....
NxShape *const*pShapeArray = inActor->getShapes();
U32 numShapes = inActor->getNbShapes();
for ( U32 i = 0; i < numShapes; i++ )
{
const NxShape *shape = pShapeArray[i];
Point3F shapePos = pxCast<Point3F>( shape->getGlobalPosition() );
MatrixF shapeMat(true);
shape->getGlobalPose().getRowMajor44(shapeMat);
shapeMat.setPosition( Point3F::Zero );
switch ( shape->getType() )
{
case NX_SHAPE_SPHERE:
{
NxSphereShape *sphere = (NxSphereShape*)shape;
drawer->drawSphere( desc, sphere->getRadius(), shapePos, shapeColor );
break;
}
case NX_SHAPE_BOX:
{
NxBoxShape *box = (NxBoxShape*)shape;
Point3F size = pxCast<Point3F>( box->getDimensions() );
drawer->drawCube( desc, size*2, shapePos, shapeColor, &shapeMat );
break;
}
case NX_SHAPE_CAPSULE:
{
shapeMat.mul( MatrixF( EulerF( mDegToRad(90.0f), mDegToRad(90.0f), 0 ) ) );
NxCapsuleShape *capsule = (NxCapsuleShape*)shape;
drawer->drawCapsule( desc, shapePos, capsule->getRadius(), capsule->getHeight(), shapeColor, &shapeMat );
break;
}
default:
{
break;
}
}
}
//drawer->clearZDefined();
}
