Makes vehicles work with the physics plugins.

Makes vehicles create a basic physics body when using one of the physics plugins so that they can collide with other physics-enabled objects.

Based on @rextimmy 's work.

Engine/source/T3D/physics/bullet/btBody.cpp

@@ -378,3 +378,25 @@ void BtBody::setSimulationEnabled( bool enabled )
 
    mIsEnabled = enabled;
 }
+
+void BtBody::moveKinematicTo(const MatrixF &transform)
+{
+   AssertFatal(mActor, "BtBody::moveKinematicTo - The actor is null!");
+
+   U32 bodyflags = mActor->getCollisionFlags();
+   const bool isKinematic = bodyflags & BF_KINEMATIC;
+   if (!isKinematic)
+   {
+      Con::errorf("BtBody::moveKinematicTo is only for kinematic bodies.");
+      return;
+   }
+
+   if (mCenterOfMass)
+   {
+      MatrixF xfm;
+      xfm.mul(transform, *mCenterOfMass);
+      mActor->setCenterOfMassTransform(btCast<btTransform>(xfm));
+   }
+   else
+      mActor->setCenterOfMassTransform(btCast<btTransform>(transform));
+}

Engine/source/T3D/physics/bullet/btBody.h

@@ -111,6 +111,8 @@ public:
                               F32 staticFriction );
    virtual void applyCorrection( const MatrixF &xfm );
    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
+   virtual void moveKinematicTo(const MatrixF &xfm);
+
 };
 
 #endif // _T3D_PHYSICS_BTBODY_H_

Engine/source/T3D/physics/physicsBody.h

@@ -113,6 +113,10 @@ public:
 
    ///
    virtual void applyImpulse( const Point3F &origin, const Point3F &force ) = 0;
+
+   ///
+   virtual void moveKinematicTo(const MatrixF &xfm) = 0;
+
 };
 
 

Engine/source/T3D/physics/physx3/px3Body.cpp

@@ -417,3 +417,22 @@ void Px3Body::applyImpulse( const Point3F &origin, const Point3F &force )
 
 }
 
+void Px3Body::moveKinematicTo(const MatrixF &transform)
+{
+   AssertFatal(mActor, "Px3Body::moveKinematicTo - The actor is null!");
+
+   const bool isKinematic = mBodyFlags & BF_KINEMATIC;
+   if (!isKinematic)
+   {
+      Con::errorf("Px3Body::moveKinematicTo is only for kinematic bodies.");
+      return;
+   }
+
+   mWorld->lockScene();
+
+   physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
+   actor->setKinematicTarget(px3Cast<physx::PxTransform>(transform));
+
+   mWorld->unlockScene();
+}
+

Engine/source/T3D/physics/physx3/px3Body.h

@@ -117,6 +117,8 @@ public:
                               F32 staticFriction );
    virtual void applyCorrection( const MatrixF &xfm );
    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
+   virtual void moveKinematicTo(const MatrixF &xfm);
+
 };
 
 #endif // _PX3BODY_H_

Engine/source/T3D/physics/physx3/px3World.cpp

@@ -62,7 +62,8 @@ Px3World::Px3World(): mScene( NULL ),
    mIsEnabled( false ),
    mEditorTimeScale( 1.0f ),
    mAccumulator( 0 ),
-   mControllerManager( NULL )
+   mControllerManager(NULL),
+   mIsSceneLocked(false)
 {
 }
 
@@ -335,6 +336,62 @@ void Px3World::releaseWriteLock()
 	//AssertFatal( mScene->isWritable(), "PhysX3World::releaseWriteLock() - We should have been writable now!" );
 }
 
+void Px3World::lockScenes()
+{
+   Px3World *world = dynamic_cast<Px3World*>(PHYSICSMGR->getWorld("server"));
+
+   if (world)
+      world->lockScene();
+
+   world = dynamic_cast<Px3World*>(PHYSICSMGR->getWorld("client"));
+
+   if (world)
+      world->lockScene();
+}
+
+void Px3World::unlockScenes()
+{
+   Px3World *world = dynamic_cast<Px3World*>(PHYSICSMGR->getWorld("server"));
+
+   if (world)
+      world->unlockScene();
+
+   world = dynamic_cast<Px3World*>(PHYSICSMGR->getWorld("client"));
+
+   if (world)
+      world->unlockScene();
+}
+
+void Px3World::lockScene()
+{
+   if (!mScene)
+      return;
+
+   if (mIsSceneLocked)
+   {
+      Con::printf("Px3World: Attempting to lock a scene that is already locked.");
+      return;
+   }
+
+   mScene->lockWrite();
+   mIsSceneLocked = true;
+}
+
+void Px3World::unlockScene()
+{
+   if (!mScene)
+      return;
+
+   if (!mIsSceneLocked)
+   {
+      Con::printf("Px3World: Attempting to unlock a scene that is not locked.");
+      return;
+   }
+
+   mScene->unlockWrite();
+   mIsSceneLocked = false;
+}
+
 bool Px3World::castRay( const Point3F &startPnt, const Point3F &endPnt, RayInfo *ri, const Point3F &impulse )
 {
     

Engine/source/T3D/physics/physx3/px3World.h

@@ -56,6 +56,7 @@ protected:
 	bool mIsEnabled;
 	bool mIsSimulating;
 	bool mIsServer;
+   bool mIsSceneLocked;
 	U32 mTickCount;
 	ProcessList *mProcessList;
 	F32 mEditorTimeScale;
@@ -96,11 +97,15 @@ public:
 	void releaseWriteLock();
 	bool isServer(){return mIsServer;}
 	physx::PxController* createController( physx::PxControllerDesc &desc );
+   void lockScene();
+   void unlockScene();
 	//static
 	static bool restartSDK( bool destroyOnly = false, Px3World *clientWorld = NULL, Px3World *serverWorld = NULL );
 	static void releaseWriteLocks();
 	static physx::PxCooking *getCooking();
    static void setTiming(F32 stepTime,U32 maxIterations);
+   static void lockScenes();
+   static void unlockScenes();
 };
 
 #endif // _PX3WORLD_H_

Engine/source/T3D/vehicles/vehicle.cpp

@@ -46,6 +46,9 @@
 #include "gfx/primBuilder.h"
 #include "gfx/gfxDrawUtil.h"
 #include "materials/materialDefinition.h"
+#include "T3D/physics/physicsPlugin.h"
+#include "T3D/physics/physicsBody.h"
+#include "T3D/physics/physicsCollision.h"
 
 
 namespace {
@@ -203,7 +206,8 @@ VehicleData::VehicleData()
    dMemset(waterSound, 0, sizeof(waterSound));
 
    collDamageThresholdVel = 20;
-   collDamageMultiplier   = 0.05f;
+   collDamageMultiplier = 0.05f;
+   enablePhysicsRep = true;
 }
 
 
@@ -315,6 +319,7 @@ void VehicleData::packData(BitStream* stream)
    stream->write(softSplashSoundVel);
    stream->write(medSplashSoundVel);
    stream->write(hardSplashSoundVel);
+   stream->write(enablePhysicsRep);
 
    // write the water sound profiles
    for(i = 0; i < MaxSounds; i++)
@@ -411,6 +416,7 @@ void VehicleData::unpackData(BitStream* stream)
    stream->read(&softSplashSoundVel);
    stream->read(&medSplashSoundVel);
    stream->read(&hardSplashSoundVel);
+   stream->read(&enablePhysicsRep);
 
    // write the water sound profiles
    for(i = 0; i < MaxSounds; i++)
@@ -465,6 +471,11 @@ void VehicleData::unpackData(BitStream* stream)
 
 void VehicleData::initPersistFields()
 {
+   addGroup("Physics");
+   addField("enablePhysicsRep", TypeBool, Offset(enablePhysicsRep, VehicleData),
+      "@brief Creates a representation of the object in the physics plugin.\n");
+   endGroup("Physics");
+
    addField( "jetForce", TypeF32, Offset(jetForce, VehicleData),
       "@brief Additional force applied to the vehicle when it is jetting.\n\n"
       "For WheeledVehicles, the force is applied in the forward direction. For "
@@ -682,6 +693,8 @@ Vehicle::Vehicle()
    mWorkingQueryBox.minExtents.set(-1e9f, -1e9f, -1e9f);
    mWorkingQueryBox.maxExtents.set(-1e9f, -1e9f, -1e9f);
    mWorkingQueryBoxCountDown = sWorkingQueryBoxStaleThreshold;
+
+   mPhysicsRep = NULL;
 }
 
 U32 Vehicle::getCollisionMask()
@@ -695,6 +708,25 @@ Point3F Vehicle::getVelocity() const
    return mRigid.linVelocity;
 }
 
+void Vehicle::_createPhysics()
+{
+   SAFE_DELETE(mPhysicsRep);
+
+   if (!PHYSICSMGR || !mDataBlock->enablePhysicsRep)
+      return;
+
+   TSShape *shape = mShapeInstance->getShape();
+   PhysicsCollision *colShape = NULL;
+   colShape = shape->buildColShape(false, getScale());
+
+   if (colShape)
+   {
+      PhysicsWorld *world = PHYSICSMGR->getWorld(isServerObject() ? "server" : "client");
+      mPhysicsRep = PHYSICSMGR->createBody();
+      mPhysicsRep->init(colShape, 0, PhysicsBody::BF_KINEMATIC, this, world);
+      mPhysicsRep->setTransform(getTransform());
+   }
+}
 //----------------------------------------------------------------------------
 
 bool Vehicle::onAdd()
@@ -776,11 +808,15 @@ bool Vehicle::onAdd()
    mConvex.box.maxExtents.convolve(mObjScale);
    mConvex.findNodeTransform();
 
+   _createPhysics();
+
    return true;
 }
 
 void Vehicle::onRemove()
 {
+   SAFE_DELETE(mPhysicsRep);
+
    U32 i=0;
    for( i=0; i<VehicleData::VC_NUM_DUST_EMITTERS; i++ )
    {
@@ -880,6 +916,11 @@ void Vehicle::processTick(const Move* move)
       setPosition(mRigid.linPosition, mRigid.angPosition);
       setMaskBits(PositionMask);
       updateContainer();
+
+      //TODO: Only update when position has actually changed
+      //no need to check if mDataBlock->enablePhysicsRep is false as mPhysicsRep will be NULL if it is
+      if (mPhysicsRep)
+         mPhysicsRep->moveKinematicTo(getTransform());
    }
 }
 

Engine/source/T3D/vehicles/vehicle.h

@@ -127,6 +127,8 @@ struct VehicleData: public ShapeBaseData
    F32 splashFreqMod;
    F32 splashVelEpsilon;
 
+   bool enablePhysicsRep;
+
    //
    VehicleData();
    bool preload(bool server, String &errorStr);
@@ -142,6 +144,7 @@ struct VehicleData: public ShapeBaseData
 
 
 //----------------------------------------------------------------------------
+class PhysicsBody;
 
 class Vehicle: public ShapeBase
 {
@@ -177,6 +180,8 @@ class Vehicle: public ShapeBase
       Point3F cameraRotVec;
    };
 
+   PhysicsBody *mPhysicsRep;
+
    StateDelta mDelta;
    S32 mPredictionCount;            ///< Number of ticks to predict
    VehicleData* mDataBlock;
@@ -262,6 +267,8 @@ public:
    bool onAdd();
    void onRemove();
 
+   void _createPhysics();
+
    /// Interpolates between move ticks @see processTick
    /// @param   dt   Change in time between the last call and this call to the function
    void interpolateTick(F32 dt);