bool FPhysScene::GetKinematicTarget_AssumesLocked(const FBodyInstance* BodyInstance, FTransform& OutTM) const
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic_AssumesLocked())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
return PhysSubStepper->GetKinematicTarget_AssumesLocked(BodyInstance, OutTM);
}
else
#endif
{
PxTransform POutTM;
bool validTM = PRigidDynamic->getKinematicTarget(POutTM);
if (validTM)
{
OutTM = P2UTransform(POutTM);
return true;
}
}
}
#endif
return false;
}
void FPhysScene::SetKinematicTarget(FBodyInstance * BodyInstance, const FTransform & TargetTransform)
{
TargetTransform.DiagnosticCheckNaN_All();
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->SetKinematicTarget(BodyInstance, TargetTransform);
}
else
#endif
{
const PxTransform PNewPose = U2PTransform(TargetTransform);
check(PNewPose.isValid());
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PRigidDynamic->setKinematicTarget(PNewPose);
}
}
#endif
}
void FPhysScene::AddCustomPhysics_AssumesLocked(FBodyInstance* BodyInstance, FCalculateCustomPhysics& CalculateCustomPhysics)
{
#if WITH_PHYSX
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType_AssumesLocked(BodyInstance)];
PhysSubStepper->AddCustomPhysics_AssumesLocked(BodyInstance, CalculateCustomPhysics);
}
else
#endif
{
// Since physics frame is set up before "pre-physics" tick group is called, can just fetch delta time from there
CalculateCustomPhysics.ExecuteIfBound(this->DeltaSeconds, BodyInstance);
}
#endif
}
void FPhysScene::AddTorque_AssumesLocked(FBodyInstance* BodyInstance, const FVector& Torque, bool bAllowSubstepping, bool bAccelChange)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody_AssumesLocked())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddTorque_AssumesLocked(BodyInstance, Torque, bAccelChange);
}
else
#endif
{
PRigidBody->addTorque(U2PVector(Torque), bAccelChange ? PxForceMode::eACCELERATION : PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddRadialForceToBody_AssumesLocked(FBodyInstance* BodyInstance, const FVector& Origin, const float Radius, const float Strength, const uint8 Falloff, bool bAccelChange, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody_AssumesLocked())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddRadialForceToBody_AssumesLocked(BodyInstance, Origin, Radius, Strength, Falloff, bAccelChange);
}
else
#endif
{
AddRadialForceToPxRigidBody_AssumesLocked(*PRigidBody, Origin, Radius, Strength, Falloff, bAccelChange);
}
}
#endif
}
void FPhysScene::AddForceAtPosition_AssumesLocked(FBodyInstance* BodyInstance, const FVector& Force, const FVector& Position, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody_AssumesLocked())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddForceAtPosition_AssumesLocked(BodyInstance, Force, Position);
}
else
#endif
{
PxRigidBodyExt::addForceAtPos(*PRigidBody, U2PVector(Force), U2PVector(Position), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddTorque(FBodyInstance * BodyInstance, const FVector & Torque)
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->AddTorque(BodyInstance, Torque);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PRigidDynamic->addTorque(U2PVector(Torque), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddForceAtPosition(FBodyInstance * BodyInstance, const FVector & Force, const FVector & Position)
{
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic())
{
#if WITH_SUBSTEPPING
if (IsSubstepping())
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[SceneType(BodyInstance)];
PhysSubStepper->AddForceAtPosition(BodyInstance, Force, Position);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidDynamic->getScene());
PxRigidBodyExt::addForceAtPos(*PRigidDynamic, U2PVector(Force), U2PVector(Position), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddTorque(FBodyInstance* BodyInstance, const FVector& Torque, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddTorque(BodyInstance, Torque);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidBody->getScene());
PRigidBody->addTorque(U2PVector(Torque), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::AddForceAtPosition(FBodyInstance* BodyInstance, const FVector& Force, const FVector& Position, bool bAllowSubstepping)
{
#if WITH_PHYSX
if (PxRigidBody * PRigidBody = BodyInstance->GetPxRigidBody())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->AddForceAtPosition(BodyInstance, Force, Position);
}
else
#endif
{
SCOPED_SCENE_WRITE_LOCK(PRigidBody->getScene());
PxRigidBodyExt::addForceAtPos(*PRigidBody, U2PVector(Force), U2PVector(Position), PxForceMode::eFORCE, true);
}
}
#endif
}
void FPhysScene::SetKinematicTarget_AssumesLocked(FBodyInstance* BodyInstance, const FTransform& TargetTransform, bool bAllowSubstepping)
{
TargetTransform.DiagnosticCheckNaN_All();
#if WITH_PHYSX
if (PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic_AssumesLocked())
{
#if WITH_SUBSTEPPING
uint32 BodySceneType = SceneType_AssumesLocked(BodyInstance);
if (bAllowSubstepping && IsSubstepping(BodySceneType))
{
FPhysSubstepTask * PhysSubStepper = PhysSubSteppers[BodySceneType];
PhysSubStepper->SetKinematicTarget_AssumesLocked(BodyInstance, TargetTransform);
}
else
#endif
{
const PxTransform PNewPose = U2PTransform(TargetTransform);
check(PNewPose.isValid());
PRigidDynamic->setKinematicTarget(PNewPose);
}
}
#endif
}
/** Exposes ticking of physics-engine scene outside Engine. */
void FPhysScene::TickPhysScene(uint32 SceneType, FGraphEventRef& InOutCompletionEvent)
{
SCOPE_CYCLE_COUNTER(STAT_TotalPhysicsTime);
SCOPE_CYCLE_COUNTER(STAT_PhysicsKickOffDynamicsTime);
check(SceneType < NumPhysScenes);
if (bPhysXSceneExecuting[SceneType] != 0)
{
// Already executing this scene, must call WaitPhysScene before calling this function again.
UE_LOG(LogPhysics, Log, TEXT("TickPhysScene: Already executing scene (%d) - aborting."), SceneType);
return;
}
#if WITH_SUBSTEPPING
if (IsSubstepping(SceneType)) //we don't bother sub-stepping cloth
{
//We're about to start stepping so swap buffers. Might want to find a better place for this?
PhysSubSteppers[SceneType]->SwapBuffers();
}
#endif
/**
* clamp down... if this happens we are simming physics slower than real-time, so be careful with it.
* it can improve framerate dramatically (really, it is the same as scaling all velocities down and
* enlarging all timesteps) but at the same time, it will screw with networking (client and server will
* diverge a lot more.)
*/
float UseDelta = FMath::Min(UseSyncTime(SceneType) ? SyncDeltaSeconds : DeltaSeconds, MaxPhysicsDeltaTime);
// Only simulate a positive time step.
if (UseDelta <= 0.f)
{
if (UseDelta < 0.f)
{
// only do this if negative. Otherwise, whenever we pause, this will come up
UE_LOG(LogPhysics, Warning, TEXT("TickPhysScene: Negative timestep (%f) - aborting."), UseDelta);
}
return;
}
#if WITH_PHYSX
GatherPhysXStats(GetPhysXScene(SceneType), SceneType);
#endif
/**
* Weight frame time according to PhysScene settings.
*/
AveragedFrameTime[SceneType] *= FrameTimeSmoothingFactor[SceneType];
AveragedFrameTime[SceneType] += (1.0f - FrameTimeSmoothingFactor[SceneType])*UseDelta;
// Set execution flag
bPhysXSceneExecuting[SceneType] = true;
check(!InOutCompletionEvent.GetReference()); // these should be gone because nothing is outstanding
InOutCompletionEvent = FGraphEvent::CreateGraphEvent();
bool bTaskOutstanding = false;
#if WITH_PHYSX
#if WITH_VEHICLE
if (VehicleManager && SceneType == PST_Sync)
{
float TickTime = AveragedFrameTime[SceneType];
#if WITH_SUBSTEPPING
if (IsSubstepping(SceneType))
{
TickTime = UseSyncTime(SceneType) ? SyncDeltaSeconds : DeltaSeconds;
}
#endif
VehicleManager->PreTick(TickTime);
#if WITH_SUBSTEPPING
if (IsSubstepping(SceneType) == false)
#endif
{
VehicleManager->Update(AveragedFrameTime[SceneType]);
}
}
#endif
#if !WITH_APEX
PxScene* PScene = GetPhysXScene(SceneType);
if (PScene && (UseDelta > 0.f))
{
PhysXCompletionTask* Task = new PhysXCompletionTask(InOutCompletionEvent, PScene->getTaskManager());
PScene->lockWrite();
PScene->simulate(AveragedFrameTime[SceneType], Task);
PScene->unlockWrite();
Task->removeReference();
bTaskOutstanding = true;
}
#else // #if !WITH_APEX
// The APEX scene calls the simulate function for the PhysX scene, so we only call ApexScene->simulate().
NxApexScene* ApexScene = GetApexScene(SceneType);
if(ApexScene && UseDelta > 0.f)
{
#if WITH_SUBSTEPPING
if (IsSubstepping(SceneType)) //we don't bother sub-stepping cloth
{
bTaskOutstanding = SubstepSimulation(SceneType, InOutCompletionEvent);
}else
#endif
{
PhysXCompletionTask* Task = new PhysXCompletionTask(InOutCompletionEvent, ApexScene->getTaskManager());
ApexScene->simulate(AveragedFrameTime[SceneType], true, Task);
Task->removeReference();
bTaskOutstanding = true;
}
}
#endif // #if !WITH_APEX
#endif // WITH_PHYSX
if (!bTaskOutstanding)
{
InOutCompletionEvent->DispatchSubsequents(); // nothing to do, so nothing to wait for
}
#if WITH_SUBSTEPPING
bSubstepping = UPhysicsSettings::Get()->bSubstepping;
bSubsteppingAsync = UPhysicsSettings::Get()->bSubsteppingAsync;
#endif
}
