PxTransform Sq::getGlobalPose(const NpShape& shape, const PxRigidActor& actor)
{
const Scb::Actor& scbActor = NpActor::getScbFromPxActor(actor);
const Scb::Shape& scbShape = shape.getScbShape();
return getGlobalPose(scbShape, scbActor);
}
// PT: this is really the same as Sq::getGlobalPose() specialized for dynamic shapes
static PX_INLINE void getGlobalPose(PxTransform& transform, const NpShape& shape, const NpRigidDynamic& npRigidDynamic)
{
// Same as:
// transform = npRigidDynamic.getGlobalPoseFast() * shape.getLocalPose();
// Same as:
// transform = npRigidDynamic.getGlobalPoseFast() * npRigidDynamic.getCMassLocalPoseFast() * shape.getScbShape().getShape2Body();
// Same as:
transform = npRigidDynamic.getScbBodyFast().getBody2World() * shape.getScbShape().getShape2Body();
}
// PT: this is really the same as Sq::getGlobalPose() specialized for static shapes
static PX_INLINE void getGlobalPose(PxTransform& transform, const NpShape& shape, const NpRigidStatic& npRigidStatic)
{
// Same as:
// transform = npRigidStatic.getGlobalPoseFast() * shape.getLocalPose();
// Same as:
// const PxTransform& globalPose = npRigidStatic.getGlobalPoseFast();
// const PxTransform localPose = globalPose.transformInv(shape.getScbShape().getShape2Body());
// transform = globalPose * localPose;
// Same as:
transform = shape.getScbShape().getShape2Body();
}
void NpShapeManager::attachShape(NpShape& shape, PxRigidActor& actor)
{
PX_ASSERT(!mPruningStructure);
Cm::PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
const PxU32 index = getNbShapes();
mShapes.add(&shape, sm);
mSceneQueryData.add(reinterpret_cast<void*>(size_t(SQ_INVALID_PRUNER_DATA)), sm);
NpScene* scene = NpActor::getAPIScene(actor);
if(scene && isSceneQuery(shape))
setupSceneQuery(scene->getSceneQueryManagerFast(), actor, index);
Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
ro.onShapeAttach(shape.getScbShape());
PX_ASSERT(!shape.isExclusive() || shape.getActor()==NULL);
shape.onActorAttach(actor);
}
void NpShapeManager::detachShape(NpShape& s, PxRigidActor& actor, bool wakeOnLostTouch)
{
PX_ASSERT(!mPruningStructure);
Cm::PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
const PxU32 index = mShapes.find(&s);
PX_ASSERT(index!=0xffffffff);
Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
NpScene* scene = NpActor::getAPIScene(actor);
if(scene && isSceneQuery(s))
scene->getSceneQueryManagerFast().removePrunerShape(getPrunerData(index));
Scb::Shape& scbShape = s.getScbShape();
ro.onShapeDetach(scbShape, wakeOnLostTouch, (s.getRefCount() == 1));
mShapes.replaceWithLast(index, sm);
mSceneQueryData.replaceWithLast(index, sm);
s.onActorDetach();
}
PrunerData SceneQueryManager::addPrunerShape(const NpShape& shape, const PxRigidActor& actor, bool dynamic, const PxBounds3* bounds, bool hasPrunerStructure)
{
PrunerPayload pp;
const Scb::Shape& scbShape = shape.getScbShape();
const Scb::Actor& scbActor = gOffsetTable.convertPxActor2Scb(actor);
pp.data[0] = size_t(&scbShape);
pp.data[1] = size_t(&scbActor);
PxBounds3 b;
if(bounds)
inflateBounds(b, *bounds);
else
(gComputeBoundsTable[dynamic])(b, scbShape, scbActor);
const PxU32 index = PxU32(dynamic);
PrunerHandle handle;
PX_ASSERT(mPrunerExt[index].pruner());
mPrunerExt[index].pruner()->addObjects(&handle, &b, &pp, 1, hasPrunerStructure);
mPrunerExt[index].invalidateTimestamp();
mPrunerExt[index].growDirtyList(handle);
return createPrunerData(index, handle);
}