void USkeletalMeshComponent::UpdateKinematicBonesToAnim(const TArray<FTransform>& InSpaceBases, ETeleportType Teleport, bool bNeedsSkinning, EAllowKinematicDeferral DeferralAllowed)
{
SCOPE_CYCLE_COUNTER(STAT_UpdateRBBones);
// This below code produces some interesting result here
// - below codes update physics data, so if you don't update pose, the physics won't have the right result
// - but if we just update physics bone without update current pose, it will have stale data
// If desired, pass the animation data to the physics joints so they can be used by motors.
// See if we are going to need to update kinematics
const bool bUpdateKinematics = (KinematicBonesUpdateType != EKinematicBonesUpdateToPhysics::SkipAllBones);
const bool bTeleport = Teleport == ETeleportType::TeleportPhysics;
// If desired, update physics bodies associated with skeletal mesh component to match.
if(!bUpdateKinematics && !(bTeleport && IsAnySimulatingPhysics()))
{
// nothing to do
return;
}
// Get the scene, and do nothing if we can't get one.
FPhysScene* PhysScene = nullptr;
if (GetWorld() != nullptr)
{
PhysScene = GetWorld()->GetPhysicsScene();
}
if(PhysScene == nullptr)
{
return;
}
const FTransform& CurrentLocalToWorld = ComponentToWorld;
// Gracefully handle NaN
if(CurrentLocalToWorld.ContainsNaN())
{
return;
}
// If we are only using bodies for physics, don't need to move them right away, can defer until simulation (unless told not to)
if(BodyInstance.GetCollisionEnabled() == ECollisionEnabled::PhysicsOnly && DeferralAllowed == EAllowKinematicDeferral::AllowDeferral)
{
PhysScene->MarkForPreSimKinematicUpdate(this, Teleport, bNeedsSkinning);
return;
}
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
// If desired, draw the skeleton at the point where we pass it to the physics.
if (bShowPrePhysBones && SkeletalMesh && InSpaceBases.Num() == SkeletalMesh->RefSkeleton.GetNum())
{
for (int32 i = 1; i<InSpaceBases.Num(); i++)
{
FVector ThisPos = CurrentLocalToWorld.TransformPosition(InSpaceBases[i].GetLocation());
int32 ParentIndex = SkeletalMesh->RefSkeleton.GetParentIndex(i);
FVector ParentPos = CurrentLocalToWorld.TransformPosition(InSpaceBases[ParentIndex].GetLocation());
GetWorld()->LineBatcher->DrawLine(ThisPos, ParentPos, AnimSkelDrawColor, SDPG_Foreground);
}
}
#endif
// warn if it has non-uniform scale
const FVector& MeshScale3D = CurrentLocalToWorld.GetScale3D();
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if( !MeshScale3D.IsUniform() )
{
UE_LOG(LogPhysics, Log, TEXT("USkeletalMeshComponent::UpdateKinematicBonesToAnim : Non-uniform scale factor (%s) can cause physics to mismatch for %s SkelMesh: %s"), *MeshScale3D.ToString(), *GetFullName(), SkeletalMesh ? *SkeletalMesh->GetFullName() : TEXT("NULL"));
}
#endif
if (bEnablePerPolyCollision == false)
{
const UPhysicsAsset* const PhysicsAsset = GetPhysicsAsset();
if (PhysicsAsset && SkeletalMesh && Bodies.Num() > 0)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (!ensure(PhysicsAsset->BodySetup.Num() == Bodies.Num()))
{
// related to TTP 280315
UE_LOG(LogPhysics, Warning, TEXT("Mesh (%s) has PhysicsAsset(%s), and BodySetup(%d) and Bodies(%d) don't match"),
*SkeletalMesh->GetName(), *PhysicsAsset->GetName(), PhysicsAsset->BodySetup.Num(), Bodies.Num());
return;
}
#endif
#if WITH_PHYSX
// Lock the scenes we need (flags set in InitArticulated)
if(bHasBodiesInSyncScene)
{
SCENE_LOCK_WRITE(PhysScene->GetPhysXScene(PST_Sync))
}
if (bHasBodiesInAsyncScene)
{
SCENE_LOCK_WRITE(PhysScene->GetPhysXScene(PST_Async))
}
#endif
// Iterate over each body
for (int32 i = 0; i < Bodies.Num(); i++)
{
// If we have a physics body, and its kinematic...
FBodyInstance* BodyInst = Bodies[i];
check(BodyInst);
if (BodyInst->IsValidBodyInstance() && (bTeleport || !BodyInst->IsInstanceSimulatingPhysics()))
{
const int32 BoneIndex = BodyInst->InstanceBoneIndex;
// If we could not find it - warn.
if (BoneIndex == INDEX_NONE || BoneIndex >= GetNumSpaceBases())
{
const FName BodyName = PhysicsAsset->BodySetup[i]->BoneName;
UE_LOG(LogPhysics, Log, TEXT("UpdateRBBones: WARNING: Failed to find bone '%s' need by PhysicsAsset '%s' in SkeletalMesh '%s'."), *BodyName.ToString(), *PhysicsAsset->GetName(), *SkeletalMesh->GetName());
}
else
{
#if WITH_PHYSX
// update bone transform to world
const FTransform BoneTransform = InSpaceBases[BoneIndex] * CurrentLocalToWorld;
if(!BoneTransform.IsValid())
{
const FName BodyName = PhysicsAsset->BodySetup[i]->BoneName;
UE_LOG(LogPhysics, Warning, TEXT("UpdateKinematicBonesToAnim: Trying to set transform with bad data %s on PhysicsAsset '%s' in SkeletalMesh '%s' for bone '%s'"), *BoneTransform.ToHumanReadableString(), *PhysicsAsset->GetName(), *SkeletalMesh->GetName(), *BodyName.ToString());
BoneTransform.DiagnosticCheck_IsValid(); //In special nan mode we want to actually ensure
continue;
}
// If kinematic and not teleporting, set kinematic target
if (!BodyInst->IsInstanceSimulatingPhysics() && !bTeleport)
{
PhysScene->SetKinematicTarget_AssumesLocked(BodyInst, BoneTransform, true);
}
// Otherwise, set global pose
else
{
const PxTransform PNewPose = U2PTransform(BoneTransform);
ensure(PNewPose.isValid());
PxRigidActor* RigidActor = BodyInst->GetPxRigidActor_AssumesLocked(); // This should never fail because IsValidBodyInstance() passed above
RigidActor->setGlobalPose(PNewPose);
}
#endif
// now update scale
// if uniform, we'll use BoneTranform
if (MeshScale3D.IsUniform())
{
// @todo UE4 should we update scale when it's simulated?
BodyInst->UpdateBodyScale(BoneTransform.GetScale3D());
}
else
{
// @note When you have non-uniform scale on mesh base,
// hierarchical bone transform can update scale too often causing performance issue
// So we just use mesh scale for all bodies when non-uniform
// This means physics representation won't be accurate, but
// it is performance friendly by preventing too frequent physics update
BodyInst->UpdateBodyScale(MeshScale3D);
}
}
}
else
{
//make sure you have physics weight or blendphysics on, otherwise, you'll have inconsistent representation of bodies
// @todo make this to be kismet log? But can be too intrusive
if (!bBlendPhysics && BodyInst->PhysicsBlendWeight <= 0.f && BodyInst->BodySetup.IsValid())
{
//It's not clear whether this should be a warning. There are certainly cases where you interpolate the blend weight towards 0. The blend feature needs some work which will probably change this in the future.
//Making it Verbose for now
UE_LOG(LogPhysics, Verbose, TEXT("%s(Mesh %s, PhysicsAsset %s, Bone %s) is simulating, but no blending. "),
*GetName(), *GetNameSafe(SkeletalMesh), *GetNameSafe(PhysicsAsset), *BodyInst->BodySetup.Get()->BoneName.ToString());
}
}
}
#if WITH_PHYSX
// Unlock the scenes
if (bHasBodiesInSyncScene)
{
SCENE_UNLOCK_WRITE(PhysScene->GetPhysXScene(PST_Sync))
}
if (bHasBodiesInAsyncScene)
{
SCENE_UNLOCK_WRITE(PhysScene->GetPhysXScene(PST_Async))
}
#endif
}
}
else
{
//per poly update requires us to update all vertex positions
if (MeshObject)