void Picking::grabActor(const PxVec3& worldImpact, const PxVec3& rayOrigin)
{
if(!mSelectedActor
|| (mSelectedActor->getType() != PxActorType::eRIGID_DYNAMIC
&& mSelectedActor->getType() != PxActorType::eARTICULATION_LINK))
return;
PxScene& scene = mFrame.getActiveScene();
PxPhysics& physics = scene.getPhysics();
//create a shape less actor for the mouse
{
mMouseActor = physics.createRigidDynamic(PxTransform(worldImpact, PxQuat::createIdentity()));
mMouseActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
mMouseActor->setMass(1.0f);
mMouseActor->setMassSpaceInertiaTensor(PxVec3(1.0f, 1.0f, 1.0f));
scene.addActor(*mMouseActor);
mFrame.addPhysicsActors(mMouseActor);
}
PxRigidActor* pickedActor = static_cast<PxRigidActor*>(mSelectedActor);
#if USE_D6_JOINT_FOR_MOUSE
mMouseJoint = PxD6JointCreate( physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
#elif USE_SPHERICAL_JOINT_FOR_MOUSE
mMouseJoint = PxSphericalJointCreate(physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
#else
mMouseJoint = PxDistanceJointCreate(physics,
mMouseActor,
PxTransform::createIdentity(),
pickedActor,
PxTransform(pickedActor->getGlobalPose().transformInv(worldImpact)));
mMouseJoint->setMaxDistance(0.0f);
mMouseJoint->setMinDistance(0.0f);
mMouseJoint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED);
#endif
mDistanceToPicked = (worldImpact - rayOrigin).magnitude();
}
osg::Matrix PhysXInterface::getMatrix( int id )
{
PxRigidActor* actor = _actors[id];
if ( actor )
{
float m[16];
PxMat44 pxMat( actor->getGlobalPose() );
for ( int i=0; i<16; ++i ) m[i] = *(pxMat.front() + i);
return osg::Matrix(&m[0]);
}
return osg::Matrix();
}
PxBounds3 NpShapeManager::getWorldBounds(const PxRigidActor& actor) const
{
PxBounds3 bounds(PxBounds3::empty());
const PxU32 nbShapes = getNbShapes();
PxTransform actorPose = actor.getGlobalPose();
NpShape*const* PX_RESTRICT shapes = getShapes();
for(PxU32 i=0;i<nbShapes;i++)
bounds.include(Gu::computeBounds(shapes[i]->getScbShape().getGeometry(), actorPose * shapes[i]->getLocalPoseFast(), !physx::gUnifiedHeightfieldCollision));
return bounds;
}
bool Picking::pick(int x, int y)
{
PxScene& scene = mFrame.getActiveScene();
PxVec3 rayOrig, rayDir, pickOrig;
computeCameraRay(rayOrig, rayDir, pickOrig, x, y);
// raycast rigid bodies in scene
PxRaycastHit hit; hit.shape = NULL;
PxRaycastBuffer hit1;
scene.raycast(rayOrig, rayDir, PX_MAX_F32, hit1, PxHitFlag::ePOSITION);
hit = hit1.block;
if(hit.shape)
{
const char* shapeName = hit.shape->getName();
if(shapeName)
printf("Picked shape name: %s\n", shapeName);
PxRigidActor* actor = hit.actor;
PX_ASSERT(actor);
mSelectedActor = static_cast<PxRigidActor*>(actor->is<PxRigidDynamic>());
if(!mSelectedActor)
mSelectedActor = static_cast<PxRigidActor*>(actor->is<PxArticulationLink>());
//ML::this is very useful to debug some collision problem
PxTransform t = actor->getGlobalPose();
// printf("id = %i\n PxTransform transform(PxVec3(%f, %f, %f), PxQuat(%f, %f, %f, %f))\n", (int)actor->userData, t.p.x, t.p.y, t.p.z, t.q.x, t.q.y, t.q.z, t.q.w);
}
else
{
mSelectedActor = 0;
}
if(mSelectedActor)
{
printf("Actor '%s' picked! (userData: %p)\n", mSelectedActor->getName(), mSelectedActor->userData);
//if its a dynamic rigid body, joint it for dragging purposes:
grabActor(hit.position, rayOrig);
}
#ifdef VISUALIZE_PICKING_RAYS
Ray ray;
ray.origin = rayOrig;
ray.dir = rayDir;
mRays.push_back(ray);
#endif
return true;
}
bool CreateGeometryFromPhysxActor(PxActor *a, LevelGeometry::Mesh &mesh)
{
bool rv = false;
if (!a)
return rv;
PxRigidActor *ra = a->isRigidActor();
if (!ra)
return rv;
GameObject* gameObj = NULL;
PhysicsCallbackObject* userData = static_cast<PhysicsCallbackObject*>(ra->userData);
if(userData) gameObj = userData->isGameObject();
r3dCSHolder block(g_pPhysicsWorld->GetConcurrencyGuard());
PxU32 nbShapes = ra->getNbShapes();
for (PxU32 i = 0; i < nbShapes; ++i)
{
PxShape *s = 0;
ra->getShapes(&s, 1, i);
PxGeometryType::Enum gt = s->getGeometryType();
switch(gt)
{
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry g;
s->getTriangleMeshGeometry(g);
PxTransform t = s->getLocalPose().transform(ra->getGlobalPose());
rv = CreateGeometryFromPhysxGeometry(g, t, mesh);
break;
}
default:
r3dArtBug("buildNavigation: Unsupported physx mesh type %d, obj: %s\n", gt, gameObj ? gameObj->Name.c_str() : "<unknown>");
}
}
return rv;
}
void NpShapeManager::visualize(Cm::RenderOutput& out, NpScene* scene, const PxRigidActor& actor)
{
const PxU32 nbShapes = getNbShapes();
NpShape*const* PX_RESTRICT shapes = getShapes();
PxTransform actorPose = actor.getGlobalPose();
const bool visualizeCompounds = (nbShapes>1) && scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS)!=0.0f;
PxBounds3 compoundBounds(PxBounds3::empty());
for(PxU32 i=0;i<nbShapes;i++)
{
Scb::Shape& shape = shapes[i]->getScbShape();
if(shape.getFlags() & PxShapeFlag::eVISUALIZATION)
{
shapes[i]->visualize(out, actor);
if(visualizeCompounds)
compoundBounds.include(Gu::computeBounds(shape.getGeometry(), actorPose*shapes[i]->getLocalPose(), !physx::gUnifiedHeightfieldCollision));
}
}
if(visualizeCompounds && !compoundBounds.isEmpty())
out << PxU32(PxDebugColor::eARGB_MAGENTA) << PxMat44(PxIdentity) << Cm::DebugBox(compoundBounds);
}
PR PhysX3::GetWorldTransform(PintObjectHandle handle)
{
PxTransform Pose;
PxRigidActor* RigidActor = GetActorFromHandle(handle);
if(RigidActor)
{
Pose = RigidActor->getGlobalPose();
}
else
{
PxShape* Shape = GetShapeFromHandle(handle);
ASSERT(Shape);
#ifdef SUPPORT_SHARED_SHAPES
ASSERT(Shape->getActor());
Pose = PxShapeExt::getGlobalPose(*Shape, *Shape->getActor());
#else
Pose = PxShapeExt::getGlobalPose(*Shape);
#endif
}
return PR(ToPoint(Pose.p), ToQuat(Pose.q));
}