//=================================================================================
// Single closest hit compound sweep
bool PxRigidBodyExt::linearSweepSingle(
PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
PxHitFlags outputFlags, PxSweepHit& closestHit, PxU32& shapeIndex,
const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache, const PxReal inflation)
{
shapeIndex = 0xFFFFffff;
PxReal closestDist = distance;
PxU32 nbShapes = body.getNbShapes();
for(PxU32 i=0; i < nbShapes; i++)
{
PxShape* shape = NULL;
body.getShapes(&shape, 1, i);
PX_ASSERT(shape != NULL);
PxTransform pose = PxShapeExt::getGlobalPose(*shape, body);
PxQueryFilterData fd;
fd.flags = filterData.flags;
PxU32 or4 = (filterData.data.word0 | filterData.data.word1 | filterData.data.word2 | filterData.data.word3);
fd.data = or4 ? filterData.data : shape->getSimulationFilterData();
PxGeometryHolder anyGeom = shape->getGeometry();
PxSweepBuffer subHit; // touching hits are not allowed to be returned from the filters
scene.sweep(anyGeom.any(), pose, unitDir, distance, subHit, outputFlags, fd, filterCall, cache, inflation);
if (subHit.hasBlock && subHit.block.distance < closestDist)
{
closestDist = subHit.block.distance;
closestHit = subHit.block;
shapeIndex = i;
}
}
return (shapeIndex != 0xFFFFffff);
}
void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
PX_CHECK_AND_RETURN(scale > 0,
"PxScaleRigidActor requires that the scale parameter is greater than zero");
Ps::InlineArray<PxShape*, 64> shapes;
shapes.resize(actor.getNbShapes());
actor.getShapes(shapes.begin(), shapes.size());
for(PxU32 i=0;i<shapes.size();i++)
{
shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));
PxGeometryHolder h = shapes[i]->getGeometry();
switch(h.getType())
{
case PxGeometryType::eSPHERE:
h.sphere().radius *= scale;
break;
case PxGeometryType::ePLANE:
break;
case PxGeometryType::eCAPSULE:
h.capsule().halfHeight *= scale;
h.capsule().radius *= scale;
break;
case PxGeometryType::eBOX:
h.box().halfExtents *= scale;
break;
case PxGeometryType::eCONVEXMESH:
h.convexMesh().scale.scale *= scale;
break;
case PxGeometryType::eTRIANGLEMESH:
h.triangleMesh().scale.scale *= scale;
break;
case PxGeometryType::eHEIGHTFIELD:
h.heightField().heightScale *= scale;
h.heightField().rowScale *= scale;
h.heightField().columnScale *= scale;
break;
case PxGeometryType::eINVALID:
case PxGeometryType::eGEOMETRY_COUNT:
default:
PX_ASSERT(0);
}
shapes[i]->setGeometry(h.any());
}
if(!scaleMassProps)
return;
PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
if(!dynamic)
return;
PxReal scale3 = scale*scale*scale;
dynamic->setMass(dynamic->getMass()*scale3);
dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
void SampleSubmarine::explode(PxRigidActor* actor, const PxVec3& explosionPos, const PxReal explosionStrength)
{
size_t numRenderActors = mRenderActors.size();
for(PxU32 i = 0; i < numRenderActors; i++)
{
if(&(mRenderActors[i]->getPhysicsShape()->getActor()) == actor)
{
PxShape* shape = mRenderActors[i]->getPhysicsShape();
PxTransform pose = PxShapeExt::getGlobalPose(*shape);
PxGeometryHolder geom = shape->getGeometry();
// create new actor from shape (to split compound)
PxRigidDynamic* newActor = mPhysics->createRigidDynamic(pose);
if(!newActor) fatalError("createRigidDynamic failed!");
PxShape* newShape = newActor->createShape(geom.any(), *mMaterial);
newShape->userData = mRenderActors[i];
mRenderActors[i]->setPhysicsShape(newShape);
newActor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
newActor->setLinearDamping(10.5f);
newActor->setAngularDamping(0.5f);
PxRigidBodyExt::updateMassAndInertia(*newActor, 1.0f);
mScene->addActor(*newActor);
mPhysicsActors.push_back(newActor);
PxVec3 explosion = pose.p - explosionPos;
PxReal len = explosion.normalize();
explosion *= (explosionStrength / len);
newActor->setLinearVelocity(explosion);
newActor->setAngularVelocity(PxVec3(1,2,3));
}
}
removeActor(actor);
}
void GLUTGame::RenderGeometry(PxGeometryHolder h, bool textured)
{
switch (h.getType())
{
case PxGeometryType::eBOX:
glScalef(h.box().halfExtents.x, h.box().halfExtents.y, h.box().halfExtents.z);
if (textured)
RenderTexturedCube(2.0f);
else
glutSolidCube(2.0f);
break;
case PxGeometryType::eSPHERE:
glutSolidSphere(h.sphere().radius, RENDER_DETAIL, RENDER_DETAIL);
break;
case PxGeometryType::eCONVEXMESH:
PxConvexMesh* mesh = h.convexMesh().convexMesh;
const PxU32 nbPolys = mesh->getNbPolygons();
const PxU8* polygons = mesh->getIndexBuffer();
const PxVec3* verts = mesh->getVertices();
PxU32 numTotalTriangles = 0;
for (PxU32 i = 0; i < nbPolys; i++)
{
PxHullPolygon data;
mesh->getPolygonData(i, data);
const PxU32 nbTris = data.mNbVerts - 2;
const PxU8 vref0 = polygons[data.mIndexBase + 0];
for (PxU32 j = 0; j < nbTris; j++)
{
const PxU32 vref1 = polygons[data.mIndexBase + 0 + j + 1];
const PxU32 vref2 = polygons[data.mIndexBase + 0 + j + 2];
if (numTotalTriangles < MAX_NUM_CONVEXMESH_TRIANGLES)
{
gConvexMeshTriIndices[3 * numTotalTriangles + 0] = vref0;
gConvexMeshTriIndices[3 * numTotalTriangles + 1] = vref1;
gConvexMeshTriIndices[3 * numTotalTriangles + 2] = vref2;
numTotalTriangles++;
}
}
}
if (numTotalTriangles < MAX_NUM_CONVEXMESH_TRIANGLES)
{
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, verts);
glDrawElements(GL_TRIANGLES, numTotalTriangles * 3, GL_UNSIGNED_INT, gConvexMeshTriIndices);
glDisableClientState(GL_VERTEX_ARRAY);
}
}
}
//=================================================================================
// Multiple hits compound sweep
// AP: we might be able to improve the return results API but no time for it in 3.3
PxU32 PxRigidBodyExt::linearSweepMultiple(
PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance, PxHitFlags outputFlags,
PxSweepHit* hitBuffer, PxU32* hitShapeIndices, PxU32 hitBufferSize, PxSweepHit& block, PxI32& blockingHitShapeIndex,
bool& overflow, const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
const PxQueryCache* cache, const PxReal inflation)
{
overflow = false;
blockingHitShapeIndex = -1;
for (PxU32 i = 0; i < hitBufferSize; i++)
hitShapeIndices[i] = 0xFFFFffff;
PxI32 sumNbResults = 0;
PxU32 nbShapes = body.getNbShapes();
PxF32 shrunkMaxDistance = distance;
for(PxU32 i=0; i < nbShapes; i++)
{
PxShape* shape = NULL;
body.getShapes(&shape, 1, i);
PX_ASSERT(shape != NULL);
PxTransform pose = PxShapeExt::getGlobalPose(*shape, body);
PxQueryFilterData fd;
fd.flags = filterData.flags;
PxU32 or4 = (filterData.data.word0 | filterData.data.word1 | filterData.data.word2 | filterData.data.word3);
fd.data = or4 ? filterData.data : shape->getSimulationFilterData();
PxGeometryHolder anyGeom = shape->getGeometry();
PxU32 bufSizeLeft = hitBufferSize-sumNbResults;
PxSweepHit extraHit;
PxSweepBuffer buffer(bufSizeLeft == 0 ? &extraHit : hitBuffer+sumNbResults, bufSizeLeft == 0 ? 1 : hitBufferSize-sumNbResults);
scene.sweep(anyGeom.any(), pose, unitDir, shrunkMaxDistance, buffer, outputFlags, fd, filterCall, cache, inflation);
// Check and abort on overflow. Assume overflow if result count is bufSize.
PxU32 nbNewResults = buffer.getNbTouches();
overflow |= (nbNewResults >= bufSizeLeft);
if (bufSizeLeft == 0) // this is for when we used the extraHit buffer
nbNewResults = 0;
// set hitShapeIndices for each new non-blocking hit
for (PxU32 j = 0; j < nbNewResults; j++)
if (sumNbResults + PxU32(j) < hitBufferSize)
hitShapeIndices[sumNbResults+j] = i;
if (buffer.hasBlock) // there's a blocking hit in the most recent sweepMultiple results
{
// overwrite the return result blocking hit with the new blocking hit if under
if (blockingHitShapeIndex == -1 || buffer.block.distance < block.distance)
{
blockingHitShapeIndex = (PxI32)i;
block = buffer.block;
}
// Remove all the old touching hits below the new maxDist
// sumNbResults is not updated yet at this point
// and represents the count accumulated so far excluding the very last query
PxI32 nbNewResultsSigned = PxI32(nbNewResults); // need a signed version, see nbNewResultsSigned-- below
for (PxI32 j = sumNbResults-1; j >= 0; j--) // iterate over "old" hits (up to shapeIndex-1)
if (buffer.block.distance < hitBuffer[j].distance)
{
// overwrite with last "new" hit
PxI32 sourceIndex = PxI32(sumNbResults)+nbNewResultsSigned-1; PX_ASSERT(sourceIndex >= j);
hitBuffer[j] = hitBuffer[sourceIndex];
hitShapeIndices[j] = hitShapeIndices[sourceIndex];
nbNewResultsSigned--; // can get negative, that means we are shifting the last results array
}
sumNbResults += nbNewResultsSigned;
} else // if there was no new blocking hit we don't need to do anything special, simply append all results to touch array
sumNbResults += nbNewResults;
PX_ASSERT(sumNbResults >= 0 && sumNbResults <= PxI32(hitBufferSize));
}
return (PxU32)sumNbResults;
}
