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physics.cc
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// #include "DirectXMath.h"
/* #include "PhysX/physx/include/geometry/PxMeshQuery.h"
#include "geometry/PxCapsuleGeometry.h"
#include "foundation/PxTransform.h"
*/
#include "physics.h"
#include <string>
#include <iostream>
using namespace physx;
SimulationEventCallback2::SimulationEventCallback2() {}
SimulationEventCallback2::~SimulationEventCallback2() {}
void SimulationEventCallback2::onConstraintBreak(PxConstraintInfo *constraints, PxU32 count) {}
void SimulationEventCallback2::onWake(PxActor **actors, PxU32 count) {}
void SimulationEventCallback2::onSleep(PxActor **actors, PxU32 count) {}
void SimulationEventCallback2::onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs) {
PxActor *actor1 = pairHeader.actors[0];
PxActor *actor2 = pairHeader.actors[1];
unsigned int actor1Id = (unsigned int)actor1->userData;
unsigned int actor2Id = (unsigned int)actor2->userData;
stateBitfields[actor1Id] |= STATE_BITFIELD::STATE_BITFIELD_COLLIDED;
stateBitfields[actor2Id] |= STATE_BITFIELD::STATE_BITFIELD_COLLIDED;
for (uint32_t i = 0; i < nbPairs; i++) {
const PxContactPair &pair = pairs[i];
PxContactPairPoint contactPairPoints[32];
uint32_t numPoints = pair.extractContacts(contactPairPoints, sizeof(contactPairPoints) / sizeof(contactPairPoints[0]));
for (uint32_t j = 0; j < numPoints; j++) {
PxContactPairPoint &contactPairPoint = contactPairPoints[j];
if (contactPairPoint.normal.y >= 0.0001) { // from B to A is up
stateBitfields[actor1Id] |= STATE_BITFIELD::STATE_BITFIELD_GROUNDED;
}
if (contactPairPoint.normal.y <= -0.0001) { // from B to A is down
stateBitfields[actor2Id] |= STATE_BITFIELD::STATE_BITFIELD_GROUNDED;
}
}
}
/* PxContactPairPoint contactPoints[32];
auto numPoints = pairs->extractContacts(contactPoints, sizeof(contactPoints)/sizeof(contactPoints[0]));
for (auto i = 0; i < numPoints; i++) {
const PxContactPairPoint &contactPint = contactPoints[i];
} */
// std::cerr << "on contact" << std::endl;
}
void SimulationEventCallback2::onTrigger(PxTriggerPair *pairs, PxU32 count) {
this->triggerCount = count;
for (unsigned int i = 0; i < count; i++) {
TriggerEventInfo triggerEventInfo;
triggerEventInfo.status = pairs[i].status;
triggerEventInfo.triggerActorId = (unsigned int)pairs[i].triggerActor->userData;
triggerEventInfo.otherActorId = (unsigned int)pairs[i].otherActor->userData;
triggerEventInfos[i] = triggerEventInfo;
}
}
void SimulationEventCallback2::onAdvance(const PxRigidBody *const *bodyBuffer, const PxTransform *poseBuffer, const PxU32 count) {}
/*
CharacterControllerFilterCallback
This filters collisions for the character capsule and character skeletons
*/
CharacterControllerFilterCallback::CharacterControllerFilterCallback() {}
CharacterControllerFilterCallback::~CharacterControllerFilterCallback() {}
PxQueryHitType::Enum CharacterControllerFilterCallback::preFilter(
const PxFilterData &filterData,
const PxShape *shape,
const PxRigidActor *actor,
PxHitFlags &queryFlags
) {
const PxFilterData &filterDataShape = shape->getSimulationFilterData();
if (
(filterDataShape.word2 == 2) || // this is an avatar capsule
(filterDataShape.word3 == 3) // this is a skeleton bone
) {
return PxQueryHitType::eNONE; // do not collide
} else {
return PxQueryHitType::eBLOCK; // maybe collide
}
}
PxQueryHitType::Enum CharacterControllerFilterCallback::postFilter(const PxFilterData &filterData, const PxQueryHit &hit) {
// should never hit this since we are not using the postFilter flag
std::cerr << "CharacterControllerFilterCallback::postFilter not implemented!" << std::endl;
abort();
return PxQueryHitType::eNONE;
}
PxFilterFlags ccdFilterShader(
PxFilterObjectAttributes attributes0,
PxFilterData filterData0,
PxFilterObjectAttributes attributes1,
PxFilterData filterData1,
PxPairFlags& pairFlags,
const void* constantBlock,
PxU32 constantBlockSize
) {
PxFilterFlags result = physx::PxDefaultSimulationFilterShader(
attributes0,
filterData0,
attributes1,
filterData1,
pairFlags,
constantBlock,
constantBlockSize
);
if (
(filterData0.word2 == 2 || filterData1.word2 == 2) && // one of the objects is an avatar capsule
(filterData0.word3 == 3 || filterData1.word3 == 3) // one of the objects is a skeleton bone
) {
// do not colide
pairFlags &= ~PxPairFlag::eSOLVE_CONTACT;
pairFlags &= ~PxPairFlag::eNOTIFY_TOUCH_FOUND;
pairFlags &= ~PxPairFlag::eDETECT_DISCRETE_CONTACT;
pairFlags &= ~PxPairFlag::eDETECT_CCD_CONTACT;
} else {
// maybe colide
pairFlags |= PxPairFlag::eSOLVE_CONTACT;
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
pairFlags |= PxPairFlag::eDETECT_DISCRETE_CONTACT;
pairFlags |= PxPairFlag::eDETECT_CCD_CONTACT;
}
/* if (filterData0.word1 == TYPE::TYPE_CAPSULE || filterData1.word1 == TYPE::TYPE_CAPSULE) {
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_FOUND;
pairFlags |= PxPairFlag::eNOTIFY_TOUCH_PERSISTS;
pairFlags |= PxPairFlag::eNOTIFY_CONTACT_POINTS;
} */
return result;
}
enum PhysicsObjectFlags {
NONE = 0,
ENABLE_PHYSICS = 1,
ENABLE_CCD = 2,
};
//
constexpr size_t maxNumTouches = 32;
class OverlapCallback : public PxOverlapCallback {
public:
PxOverlapHit touches[maxNumTouches];
std::deque<PxOverlapHit> hits;
OverlapCallback() :
PxOverlapCallback(touches, maxNumTouches)
{
// hits.reserve(maxNumTouches);
}
PxAgain processTouches(const PxOverlapHit *buffer, PxU32 nbHits) {
for (PxU32 i = 0; i < nbHits; i++) {
hits.push_back(buffer[i]);
}
return hits.size() < maxNumTouches;
// return true;
// return false; // do not continue
}
};
class PenetrationDepth {
public:
PxRigidActor *actor;
PxVec3 direction;
float depth;
};
//
PScene::PScene() {
// tolerancesScale.length = 0.01;
{
// PxTolerancesScale tolerancesScale;
physics = PxCreatePhysics(PX_PHYSICS_VERSION, *(physicsBase->foundation), physicsBase->tolerancesScale);
}
{
simulationEventCallback = new SimulationEventCallback2();
}
{
// PxTolerancesScale tolerancesScale;
PxSceneDesc sceneDesc = PxSceneDesc(physicsBase->tolerancesScale);
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);
sceneDesc.flags |= PxSceneFlag::eENABLE_ACTIVE_ACTORS;
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
sceneDesc.broadPhaseType = PxBroadPhaseType::eABP;
sceneDesc.simulationEventCallback = simulationEventCallback;
if (!sceneDesc.cpuDispatcher) {
physx::PxDefaultCpuDispatcher* mCpuDispatcher = physx::PxDefaultCpuDispatcherCreate(0);
if (!mCpuDispatcher) {
std::cerr << "PxDefaultCpuDispatcherCreate failed!" << std::endl;
}
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
sceneDesc.filterShader = ccdFilterShader;
scene = physics->createScene(sceneDesc);
controllerManager = PxCreateControllerManager(*scene);
controllerManager->setOverlapRecoveryModule(true);
}
/* {
PxMaterial *material = physics->createMaterial(0.5f, 0.5f, 0.1f);
PxTransform transform(PxVec3(0, -10, 0));
PxCapsuleGeometry geometry(1, 1);
PxRigidDynamic *capsule = PxCreateDynamic(*physics, transform, geometry, *material, 1);
capsule->userData = (void *)0x1;
// capsule->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
PxRigidBodyExt::updateMassAndInertia(*capsule, 1.0f);
scene->addActor(*capsule);
actors.push_back(capsule);
} */
/* {
PxMaterial *material = physics->createMaterial(0.5f, 0.5f, 0.1f);
PxTransform transform(PxVec3(0, -1, 0));
PxBoxGeometry geometry(30, 1, 30);
PxRigidStatic *floor = PxCreateStatic(*physics, transform, geometry, *material);
floor->userData = (void *)0x2;
scene->addActor(*floor);
actors.push_back(floor);
}
{
PxMaterial *material = physics->createMaterial(0.5f, 0.5f, 0.1f);
PxTransform transform(PxVec3(0, 5, 0));
PxBoxGeometry geometry(0.5, 0.5, 0.5);
PxRigidDynamic *box = PxCreateDynamic(*physics, transform, geometry, *material, 1);
box->userData = (void *)0x3;
PxRigidBodyExt::updateMassAndInertia(*box, 1.0f);
scene->addActor(*box);
actors.push_back(box);
} */
}
PScene::~PScene() {
std::cout << "scene destructor" << std::endl;
abort();
}
PxD6Joint *PScene::addJoint(unsigned int id1, unsigned int id2, float *position1, float *position2, float *quaternion1, float *quaternion2) {
PxRigidActor *actor1;
PxRigidActor *actor2;
PxRigidDynamic *body1;
PxRigidDynamic *body2;
auto actorIter1 = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id1;
});
if (actorIter1 != actors.end()) {
actor1 = *actorIter1;
body1 = dynamic_cast<PxRigidDynamic *>(actor1);
// std::cout << "add joint got id a" << id1 << std::endl;
} else {
std::cerr << "add joint unknown actor id a" << id1 << std::endl;
}
auto actorIter2 = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id2;
});
if (actorIter2 != actors.end()) {
actor2 = *actorIter2;
body2 = dynamic_cast<PxRigidDynamic *>(actor2);
// std::cout << "add joint got id b" << id2 << std::endl;
} else {
std::cerr << "add joint unknown actor id b" << id2 << std::endl;
}
// if (fixBody1) {
// body1->setRigidDynamicLockFlags(
// PxRigidDynamicLockFlag::eLOCK_LINEAR_X |
// PxRigidDynamicLockFlag::eLOCK_LINEAR_Y |
// PxRigidDynamicLockFlag::eLOCK_LINEAR_Z |
// PxRigidDynamicLockFlag::eLOCK_ANGULAR_X |
// PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y |
// PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z
// );
// }
PxTransform transform1(
PxVec3{position1[0], position1[1], position1[2]},
PxQuat{quaternion1[0], quaternion1[1], quaternion1[2], quaternion1[3]}
);
PxTransform transform2(
PxVec3{position2[0], position2[1], position2[2]},
PxQuat{quaternion2[0], quaternion2[1], quaternion2[2], quaternion2[3]}
);
PxD6Joint *joint = PxD6JointCreate(
*physics,
body1, transform1,
body2, transform2
);
return joint;
}
void PScene::setJointMotion(PxD6Joint *joint, PxD6Axis::Enum axis, PxD6Motion::Enum motion) {
joint->setMotion(axis, motion);
}
void PScene::setJointTwistLimit(PxD6Joint *joint, float lowerLimit, float upperLimit, float contactDist) {
joint->setTwistLimit(physx::PxJointAngularLimitPair(lowerLimit, upperLimit, contactDist));
}
void PScene::setJointSwingLimit(PxD6Joint *joint, float yLimitAngle, float zLimitAngle, float contactDist) {
joint->setSwingLimit(physx::PxJointLimitCone(yLimitAngle, zLimitAngle, contactDist));
}
bool PScene::updateMassAndInertia(unsigned int id, float shapeDensities) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
return PxRigidBodyExt::updateMassAndInertia(*(dynamic_cast<PxRigidBody *>(actor)), shapeDensities);
} else {
std::cerr << "updateMassAndInertia unknown actor id " << id << std::endl;
return false;
}
}
float PScene::getBodyMass(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
return (dynamic_cast<PxRigidBody *>(actor))->getMass();
} else {
std::cerr << "getBodyMass unknown actor id " << id << std::endl;
return -1;
}
}
unsigned int PScene::simulate(unsigned int *ids, float *positions, float *quaternions, float *scales, unsigned int *stateBitfields, unsigned int numIds, float elapsedTime, float *velocities) {
for (unsigned int i = 0; i < numIds; i++) {
unsigned int id = ids[i];
//PxTransform transform(PxVec3(positions[i*3], positions[i*3+1], positions[i*3+2]), PxQuat(quaternions[i*4], quaternions[i*4+1], quaternions[i*4+2], quaternions[i*4+3]));
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
//actor->setGlobalPose(transform, true);
PxRigidDynamic *body = dynamic_cast<PxRigidDynamic *>(actor);
if (body) {
// std::cout << "reset" << std::endl;
body->setLinearVelocity(PxVec3(velocities[i*3], velocities[i*3+1], velocities[i*3+2]), true);
//body->setAngularVelocity(PxVec3(0, 0, 0), true);
// actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
}
// actor->wakeUp();
} else {
std::cerr << "simulate unknown actor id " << id << std::endl;
}
}
simulationEventCallback->stateBitfields.clear();
scene->simulate(elapsedTime);
PxU32 error;
scene->fetchResults(true, &error);
if (error) {
std::cout << "scene simulate error " << error << std::endl;
}
PxU32 numActors;
PxRigidActor **actors = (PxRigidActor **)scene->getActiveActors(numActors);
for (unsigned int i = 0; i < numActors; i++) {
PxRigidActor *actor = actors[i];
const PxTransform &actor2World = actor->getGlobalPose();
const PxVec3 &p = actor2World.p;
const PxQuat &q = actor2World.q;
const unsigned int id = (unsigned int)actors[i]->userData;
ids[i] = id;
positions[i*3] = p.x;
positions[i*3+1] = p.y;
positions[i*3+2] = p.z;
quaternions[i*4] = q.x;
quaternions[i*4+1] = q.y;
quaternions[i*4+2] = q.z;
quaternions[i*4+3] = q.w;
{
PxVec3 s(1, 1, 1);
unsigned int numShapes = actor->getNbShapes();
if (numShapes == 1) {
PxShape *shapes[1];
actor->getShapes(shapes, sizeof(shapes)/sizeof(shapes[0]), 0);
PxShape *shape = shapes[0];
PxGeometryHolder geometryHolder = shape->getGeometry();
PxGeometryType::Enum geometryType = geometryHolder.getType();
switch (geometryType) {
case PxGeometryType::Enum::eBOX: {
const PxBoxGeometry &geometry = geometryHolder.box();
const PxVec3 &halfExtents = geometry.halfExtents;
s = halfExtents * 2;
break;
}
case PxGeometryType::Enum::eCONVEXMESH: {
PxConvexMeshGeometry &geometry = geometryHolder.convexMesh();
s = geometry.scale.scale;
break;
}
case PxGeometryType::Enum::eTRIANGLEMESH: {
PxTriangleMeshGeometry &geometry = geometryHolder.triangleMesh();
s = geometry.scale.scale;
break;
}
case PxGeometryType::Enum::eCAPSULE: {
PxCapsuleGeometry &geometry = geometryHolder.capsule();
s = PxVec3(geometry.radius * 2.0);
break;
}
default: {
std::cerr << "unknown geometry type for actor id " << id << " : " << (unsigned int)geometryType << std::endl;
break;
}
}
} else {
std::cerr << "no shapes for actor id " << id << " : " << numShapes << std::endl;
}
scales[i*3] = s.x;
scales[i*3+1] = s.y;
scales[i*3+2] = s.z;
// std::cout << "check bitfields 1" << std::endl;
stateBitfields[i] = simulationEventCallback->stateBitfields[id];
// std::cout << "check bitfields 2" << std::endl;
}
}
return numActors;
}
float PScene::setTrigger(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxShape* shape;
actor->getShapes(&shape, 1);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
return 1;
} else {
std::cerr << "setTrigger unknown actor id " << id << std::endl;
return -1;
}
}
unsigned int PScene::getTriggerEvents(unsigned int *scratchStack) {
unsigned int triggerCount = this->simulationEventCallback->triggerCount;
for (unsigned int i = 0; i < triggerCount; i++) {
scratchStack[i * 3 + 0] = this->simulationEventCallback->triggerEventInfos[i].status;
scratchStack[i * 3 + 1] = this->simulationEventCallback->triggerEventInfos[i].triggerActorId;
scratchStack[i * 3 + 2] = this->simulationEventCallback->triggerEventInfos[i].otherActorId;
}
// reset
this->simulationEventCallback->triggerCount = 0;
return triggerCount;
}
void PScene::addCapsuleGeometry(
float *position,
float *quaternion,
float radius,
float halfHeight,
unsigned int id,
PxMaterial *material,
unsigned int dynamic,
unsigned int flags
) {
PxTransform transform(PxVec3(position[0], position[1], position[2]), PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3]));
PxTransform relativePose(PxQuat(PxHalfPi, PxVec3(0,0,1)));
PxCapsuleGeometry geometry(radius, halfHeight);
// const bool physicsEnabled = (bool)(flags & PhysicsObjectFlags::ENABLE_PHYSICS);
const bool ccdEnabled = (bool)(flags & PhysicsObjectFlags::ENABLE_CCD);
PxRigidActor *actor;
if (dynamic) {
PxRigidDynamic *body = PxCreateDynamic(*physics, transform, geometry, *material, 1);
PxRigidBodyExt::updateMassAndInertia(*body, 1.0f);
if (ccdEnabled) {
body->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
}
actor = body;
} else {
PxRigidStatic *body = PxCreateStatic(*physics, transform, geometry, *material);
actor = body;
}
actor->userData = (void *)id;
scene->addActor(*actor);
actors.push_back(actor);
}
void PScene::addPlaneGeometry(float *position, float *quaternion, unsigned int id, PxMaterial *material, unsigned int dynamic, int groupId) {
PxTransform transform(PxVec3(position[0], position[1], position[2]), PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3]));
PxPlaneGeometry geometry;
PxRigidActor *actor;
if (dynamic) {
PxRigidDynamic *plane = PxCreateDynamic(*physics, transform, geometry, *material, 1);
actor = plane;
} else {
PxRigidStatic *plane = PxCreateStatic(*physics, transform, geometry, *material);
actor = plane;
}
if (groupId != -1) {
// collision filter
unsigned int numShapes = actor->getNbShapes();
if (numShapes == 1) {
PxShape *shapes[1];
actor->getShapes(shapes, sizeof(shapes)/sizeof(shapes[0]), 0);
PxShape *shape = shapes[0];
PxFilterData filterData{};
filterData.word0 = groupId; // character id
filterData.word1 = groupId; // the unique bone id in the character
filterData.word3 = 3; // signal this is a character skeleton bone; used during filtering
shape->setSimulationFilterData(filterData);
} else {
std::cerr << "unexpected number of shapes: " << numShapes << std::endl;
}
}
actor->userData = (void *)id;
scene->addActor(*actor);
actors.push_back(actor);
}
void PScene::addBoxGeometry(float *position, float *quaternion, float *size, unsigned int id, PxMaterial *material, unsigned int dynamic, int groupId) {
PxTransform transform(PxVec3(position[0], position[1], position[2]), PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3]));
PxBoxGeometry geometry(size[0], size[1], size[2]);
PxRigidActor *actor;
if (dynamic) {
PxRigidDynamic *box = PxCreateDynamic(*physics, transform, geometry, *material, 1);
PxRigidBodyExt::updateMassAndInertia(*box, 1.0f);
actor = box;
if (groupId != -1) {
// collision filter
unsigned int numShapes = box->getNbShapes();
if (numShapes == 1) {
PxShape *shapes[1];
box->getShapes(shapes, sizeof(shapes)/sizeof(shapes[0]), 0);
PxShape *shape = shapes[0];
PxFilterData filterData{};
filterData.word0 = groupId; // character id
filterData.word1 = groupId; // the unique bone id in the character
filterData.word3 = 3; // signal this is a character skeleton bone; used during filtering
shape->setSimulationFilterData(filterData);
} else {
std::cerr << "unexpected number of shapes: " << numShapes << std::endl;
}
}
} else {
PxRigidStatic *box = PxCreateStatic(*physics, transform, geometry, *material);
actor = box;
}
actor->userData = (void *)id;
scene->addActor(*actor);
actors.push_back(actor);
}
PxTriangleMesh *PScene::createShape(uint8_t *data, unsigned int length, PxDefaultMemoryOutputStream *releaseWriteStream) {
PxDefaultMemoryInputData readBuffer(data, length);
PxTriangleMesh *triangleMesh = physics->createTriangleMesh(readBuffer);
if (releaseWriteStream) {
delete releaseWriteStream;
}
return triangleMesh;
}
void PScene::destroyShape(PxTriangleMesh *triangleMesh) {
triangleMesh->release();
}
PxConvexMesh *PScene::createConvexShape(uint8_t *data, unsigned int length, PxDefaultMemoryOutputStream *releaseWriteStream) {
PxDefaultMemoryInputData readBuffer(data, length);
PxConvexMesh *convexMesh = physics->createConvexMesh(readBuffer);
if (releaseWriteStream) {
delete releaseWriteStream;
}
return convexMesh;
}
void PScene::destroyConvexShape(PxConvexMesh *convexMesh) {
convexMesh->release();
}
PxHeightField *PScene::createHeightField(uint8_t *data, unsigned int length, PxDefaultMemoryOutputStream *releaseWriteStream) {
PxDefaultMemoryInputData readBuffer(data, length);
PxHeightField *heightfield = physics->createHeightField(readBuffer);
if (releaseWriteStream) {
delete releaseWriteStream;
}
return heightfield;
}
PxMaterial *PScene::createMaterial(float *mat) {
PxMaterial *material = physics->createMaterial(mat[0], mat[1], mat[2]);
return material;
}
void PScene::destroyMaterial(PxMaterial *material) {
material->release();
}
void PScene::addGeometry(PxTriangleMesh *triangleMesh, float *position, float *quaternion, float *scale, unsigned int id, PxMaterial *material, unsigned int external, PxTriangleMesh *relaseTriangleMesh) {
// have acquire and unacquire arg here to avoid the memory leak
// the argument can be called "external" because it is not owned by the scene
PxTransform transform(PxVec3(position[0], position[1], position[2]), PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3]));
PxMeshScale scaleObject(PxVec3(scale[0], scale[1], scale[2]));
if (external != 0) {
triangleMesh->acquireReference();
}
PxTriangleMeshGeometry geometry(triangleMesh, scaleObject);
PxRigidStatic *mesh = PxCreateStatic(*physics, transform, geometry, *material);
mesh->userData = (void *)id;
scene->addActor(*mesh);
actors.push_back(mesh);
if (relaseTriangleMesh != nullptr) {
relaseTriangleMesh->release();
}
}
void PScene::addConvexGeometry(PxConvexMesh *convexMesh, float *position, float *quaternion, float *scale, unsigned int id, PxMaterial *material, unsigned int dynamic, unsigned int external, PxConvexMesh *releaseConvexMesh) {
PxTransform transform(PxVec3(position[0], position[1], position[2]), PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3]));
PxMeshScale scaleObject(PxVec3(scale[0], scale[1], scale[2]));
if (external != 0) {
convexMesh->acquireReference();
}
PxConvexMeshGeometry geometry(convexMesh, scaleObject);
PxRigidActor *mesh;
if (dynamic) {
mesh = PxCreateDynamic(*physics, transform, geometry, *material, 1);
} else {
mesh = PxCreateStatic(*physics, transform, geometry, *material);
}
mesh->userData = (void *)id;
scene->addActor(*mesh);
actors.push_back(mesh);
if (releaseConvexMesh != nullptr) {
releaseConvexMesh->release();
}
}
void PScene::addHeightFieldGeometry(
PxHeightField *heightField,
float *position,
float *quaternion,
float *scale,
float heightScale,
float rowScale,
float columnScale,
unsigned int id,
PxMaterial *material,
unsigned int dynamic,
unsigned int external,
PxHeightField *releaseHeightField
) {
PxTransform transform(
PxVec3(position[0], position[1], position[2]),
PxQuat(quaternion[0], quaternion[1], quaternion[2], quaternion[3])
);
PxHeightFieldGeometry geometry(
heightField,
PxMeshGeometryFlags(),
heightScale * scale[1],
rowScale * scale[0],
columnScale * scale[2]
);
PxRigidActor *mesh;
if (dynamic) {
mesh = PxCreateDynamic(*physics, transform, geometry, *material, 1);
} else {
mesh = PxCreateStatic(*physics, transform, geometry, *material);
}
mesh->userData = (void *)id;
scene->addActor(*mesh);
actors.push_back(mesh);
}
void PScene::enableActor(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxScene *actorScene = actor->getScene();
if (actorScene == nullptr) {
scene->addActor(*actor);
} else {
std::cerr << "enable physics actor already had a scene " << id << std::endl;
}
} else {
std::cerr << "enable unknown actor id " << id << std::endl;
}
}
void PScene::disableActor(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxScene *actorScene = actor->getScene();
if (actorScene != nullptr) {
actorScene->removeActor(*actor);
} else {
std::cerr << "disable physics actor id had no scene " << id << std::endl;
}
} else {
std::cerr << "disable physics actor id " << id << std::endl;
}
}
void PScene::disableGeometry(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
// actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
PxRigidBody *body = dynamic_cast<PxRigidBody *>(actor);
/* if (body) {
body->setLinearVelocity(PxVec3(0, 0, 0), false);
body->setAngularVelocity(PxVec3(0, 0, 0), false);
} */
PxShape *shapes[32];
for (int j = 0;; j++) {
memset(shapes, 0, sizeof(shapes));
if (actor->getShapes(shapes, 32, j * 32) == 0) {
break;
}
for (int i = 0; i < 32; ++i) {
if (shapes[i] == nullptr) {
break;
}
PxShape *rigidShape = shapes[i];
rigidShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
}
}
} else {
std::cerr << "disable unknown actor id " << id << std::endl;
}
}
void PScene::enableGeometry(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
// actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, false);
PxShape *shapes[32];
for (int j = 0; ; j++) {
memset(shapes, 0, sizeof(shapes));
if (actor->getShapes(shapes, 32, j * 32) == 0) {
break;
}
for (int i = 0; i < 32; ++i) {
if (shapes[i] == nullptr) {
break;
}
PxShape *rigidShape = shapes[i];
rigidShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
}
}
} else {
std::cerr << "enable unknown actor id " << id << std::endl;
}
}
void PScene::disableGeometryQueries(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
constexpr int numShapes = 32;
PxShape *shapes[numShapes];
for (int j = 0; ; j++) {
memset(shapes, 0, sizeof(shapes));
if (actor->getShapes(shapes, numShapes, j * numShapes) == 0) {
break;
}
for (int i = 0; i < numShapes; ++i) {
if (shapes[i] == nullptr) {
break;
}
PxShape *rigidShape = shapes[i];
rigidShape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
// std::cout << "disable queries for shape " << (unsigned int)actor->userData << " " << (uint32_t)rigidShape << " " << rigidShape->getFlags().isSet(PxShapeFlag::eSCENE_QUERY_SHAPE) << std::endl; // XXX
}
}
} else {
std::cerr << "disable queries unknown actor id " << id << std::endl;
}
}
void PScene::enableGeometryQueries(unsigned int id) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
constexpr int numShapes = 32;
PxShape *shapes[numShapes];
for (int j = 0; ; j++) {
memset(shapes, 0, sizeof(shapes));
if (actor->getShapes(shapes, numShapes, j * numShapes) == 0) {
break;
}
for (int i = 0; i < numShapes; ++i) {
if (shapes[i] == nullptr) {
break;
}
PxShape *rigidShape = shapes[i];
rigidShape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, true);
}
}
} else {
std::cerr << "enable queries unknown actor id " << id << std::endl;
}
}
void PScene::setTransform(unsigned int id, float *positions, float *quaternions, float *scales, bool autoWake) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxTransform transform(
PxVec3(positions[0], positions[1], positions[2]),
PxQuat(quaternions[0], quaternions[1], quaternions[2], quaternions[3])
);
actor->setGlobalPose(transform, autoWake);
} else {
std::cerr << "set transform unknown actor id " << id << std::endl;
}
}
void PScene::setGeometryScale(unsigned int id, float *scale, PxDefaultMemoryOutputStream *writeStream) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxShape *shape;
actor->getShapes(&shape, 1);
if (shape->getFlags().isSet(PxShapeFlag::eSCENE_QUERY_SHAPE)) {
PxGeometryHolder geometryHolder = shape->getGeometry();
PxGeometryType::Enum geometryType = geometryHolder.getType();
switch (geometryType) {
case PxGeometryType::Enum::eBOX: {
PxBoxGeometry &geometry = geometryHolder.box();
geometry.halfExtents = PxVec3( scale[0], scale[1], scale[2] ) / 2;
shape->setGeometry( geometryHolder.any() );
break;
}
case PxGeometryType::Enum::eCAPSULE: {
PxCapsuleGeometry &geometry = geometryHolder.capsule();
geometry.radius = (std::max)( (std::max)( scale[0], scale[1] ), scale[2] ) / 2;
shape->setGeometry( geometryHolder.any() );
break;
}
case PxGeometryType::Enum::eCONVEXMESH: {
PxConvexMeshGeometry &geometry = geometryHolder.convexMesh();
geometry.scale.scale = PxVec3( scale[0], scale[1], scale[2] );
shape->setGeometry( geometryHolder.any() );
break;
}
case PxGeometryType::Enum::eTRIANGLEMESH: {
geometryHolder.triangleMesh().triangleMesh->acquireReference();
geometryHolder.triangleMesh().scale.scale = PxVec3( scale[0], scale[1], scale[2] );
shape->setGeometry( geometryHolder.any() );
geometryHolder.triangleMesh().triangleMesh->release();
break;
}
case PxGeometryType::Enum::eINVALID:
case PxGeometryType::Enum::eSPHERE:
case PxGeometryType::Enum::ePLANE:
case PxGeometryType::Enum::eHEIGHTFIELD:
case PxGeometryType::Enum::eGEOMETRY_COUNT:
case PxGeometryType::Enum::ePARTICLESYSTEM:
case PxGeometryType::Enum::eTETRAHEDRONMESH:
case PxGeometryType::Enum::eHAIRSYSTEM:
case PxGeometryType::Enum::eCUSTOM:
{
break;
}
}
}
}
if (writeStream) {
delete writeStream;
}
}
void PScene::getGlobalPosition(unsigned int id, float *positions) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxRigidBody *body = dynamic_cast<PxRigidBody *>(actor);
if (body) {
PxVec3 position = actor->getGlobalPose().p;
positions[0] = position[0];
positions[1] = position[1];
positions[2] = position[2];
}
} else {
std::cerr << "get position unknown actor id " << id << std::endl;
positions[0] = 0;
positions[1] = 0;
positions[2] = 0;
}
}
void PScene::getLinearVelocity(unsigned int id, float *velocities) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxRigidBody *body = dynamic_cast<PxRigidBody *>(actor);
if (body) {
PxVec3 linearVelocity = body->getLinearVelocity();
velocities[0] = linearVelocity.x;
velocities[1] = linearVelocity.y;
velocities[2] = linearVelocity.z;
}
} else {
std::cerr << "get linearVelocity unknown actor id " << id << std::endl;
velocities[0] = 0;
velocities[1] = 0;
velocities[2] = 0;
}
}
void PScene::getAngularVelocity(unsigned int id, float *velocities) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxRigidBody *body = dynamic_cast<PxRigidBody *>(actor);
if (body) {
PxVec3 angularVelocity = body->getAngularVelocity();
velocities[0] = angularVelocity.x;
velocities[1] = angularVelocity.y;
velocities[2] = angularVelocity.z;
}
} else {
std::cerr << "get angularVelocity unknown actor id " << id << std::endl;
velocities[0] = 0;
velocities[1] = 0;
velocities[2] = 0;
}
}
void PScene::addForceAtPos(unsigned int id, float *velocity, float *position, bool autoWake) {
auto actorIter = std::find_if(actors.begin(), actors.end(), [&](PxRigidActor *actor) -> bool {
return (unsigned int)actor->userData == id;
});
if (actorIter != actors.end()) {
PxRigidActor *actor = *actorIter;
PxRigidBody *body = dynamic_cast<PxRigidBody *>(actor);
if (body) {