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PhysX 3.4 implementation

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This commit is contained in:
rextimmy 2018-01-19 22:34:26 +10:00
parent 463cd50d0a
commit 3bbdd9b155
15 changed files with 527 additions and 418 deletions
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67
Engine/source/T3D/physics/physx3/px3Body.cpp
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@ -52,12 +52,9 @@ void Px3Body::_releaseActor()
if ( !mActor )
return;
mWorld->releaseWriteLock();
mActor->userData = NULL;
mActor->release();
mActor = NULL;
SafeReleasePhysx(mActor);
mBodyFlags = 0;
if ( mMaterial )
@ -80,7 +77,7 @@ bool Px3Body::init( PhysicsCollision *shape,
AssertFatal( shape, "Px3Body::init - Got a null collision shape!" );
AssertFatal( dynamic_cast<Px3Collision*>( shape ), "Px3Body::init - The collision shape is the wrong type!" );
AssertFatal( !((Px3Collision*)shape)->getShapes().empty(), "Px3Body::init - Got empty collision shape!" );
// Cleanup any previous actor.
_releaseActor();
@ -96,18 +93,20 @@ bool Px3Body::init( PhysicsCollision *shape,
{
mActor = gPhysics3SDK->createRigidDynamic(physx::PxTransform(physx::PxIDENTITY()));
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
actor->setRigidDynamicFlag(physx::PxRigidDynamicFlag::eKINEMATIC, true);
actor->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, true);
actor->setMass(getMax( mass, 1.0f ));
}
else if ( mass > 0.0f )
{
mActor = gPhysics3SDK->createRigidDynamic(physx::PxTransform(physx::PxIDENTITY()));
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
actor->setMaxAngularVelocity(80.f);
}
else
{
mActor = gPhysics3SDK->createRigidStatic(physx::PxTransform(physx::PxIDENTITY()));
mIsStatic = true;
}
}
mMaterial = gPhysics3SDK->createMaterial(0.6f,0.4f,0.1f);
@ -123,12 +122,13 @@ bool Px3Body::init( PhysicsCollision *shape,
Con::errorf("PhysX3 Dynamic Triangle Mesh is not supported.");
}
}
physx::PxShape * pShape = mActor->createShape(*desc->pGeometry,*mMaterial);
physx::PxShape * pShape = physx::PxRigidActorExt::createExclusiveShape(*mActor, *desc->pGeometry, *mMaterial);
physx::PxFilterData colData;
if(isDebris)
colData.word0 = PX3_DEBRIS;
else if(isTrigger)
colData.word0 = PX3_TRIGGER;
colData.word0 = PX3_TRIGGER;
else
colData.word0 = PX3_DEFAULT;
@ -149,10 +149,6 @@ bool Px3Body::init( PhysicsCollision *shape,
physx::PxRigidBodyExt::setMassAndUpdateInertia(*actor,mass);
}
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
mWorld->getScene()->addActor(*mActor);
mIsEnabled = true;
@ -178,9 +174,9 @@ void Px3Body::setMaterial( F32 restitution,
actor->wakeUp();
}
mMaterial->setRestitution(restitution);
mMaterial->setStaticFriction(staticFriction);
mMaterial->setDynamicFriction(friction);
mMaterial->setRestitution(restitution);
mMaterial->setStaticFriction(staticFriction);
mMaterial->setDynamicFriction(friction);
}
@ -322,15 +318,14 @@ Box3F Px3Body::getWorldBounds()
physx::PxBounds3 bounds;
bounds.setEmpty();
physx::PxBounds3 shapeBounds;
physx::PxBounds3 shapeBounds;
U32 shapeCount = mActor->getNbShapes();
physx::PxShape **shapes = new physx::PxShape*[shapeCount];
mActor->getShapes(shapes, shapeCount);
for ( U32 i = 0; i < shapeCount; i++ )
{
// Get the shape's bounds.
// Get the shape's bounds.
shapeBounds = physx::PxShapeExt::getWorldBounds(*shapes[i],*mActor);
// Combine them into the total bounds.
bounds.include( shapeBounds );
@ -350,10 +345,6 @@ void Px3Body::setSimulationEnabled( bool enabled )
if(mBodyFlags & BF_TRIGGER)
return;
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
U32 shapeCount = mActor->getNbShapes();
physx::PxShape **shapes = new physx::PxShape*[shapeCount];
mActor->getShapes(shapes, shapeCount);
@ -367,12 +358,6 @@ void Px3Body::setSimulationEnabled( bool enabled )
void Px3Body::setTransform( const MatrixF &transform )
{
AssertFatal( mActor, "Px3Body::setTransform - The actor is null!" );
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
mActor->setGlobalPose(px3Cast<physx::PxTransform>(transform),false);
@ -380,7 +365,7 @@ void Px3Body::setTransform( const MatrixF &transform )
return;
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
bool kinematic = actor->getRigidDynamicFlags() & physx::PxRigidDynamicFlag::eKINEMATIC;
bool kinematic = actor->getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC;
// If its dynamic we have more to do.
if ( isDynamic() && !kinematic )
{
@ -395,10 +380,6 @@ void Px3Body::applyCorrection( const MatrixF &transform )
AssertFatal( mActor, "Px3Body::applyCorrection - The actor is null!" );
AssertFatal( isDynamic(), "Px3Body::applyCorrection - This call is only for dynamics!" );
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
mActor->setGlobalPose( px3Cast<physx::PxTransform>(transform) );
}
@ -406,35 +387,27 @@ void Px3Body::applyImpulse( const Point3F &origin, const Point3F &force )
{
AssertFatal( mActor, "Px3Body::applyImpulse - The actor is null!" );
// This sucks, but it has to happen if we want
// to avoid write lock errors from PhysX right now.
mWorld->releaseWriteLock();
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
if ( mIsEnabled && isDynamic() )
physx::PxRigidBodyExt::addForceAtPos(*actor,px3Cast<physx::PxVec3>(force),
px3Cast<physx::PxVec3>(origin),
physx::PxForceMode::eIMPULSE);
physx::PxRigidBodyExt::addForceAtPos( *actor,px3Cast<physx::PxVec3>(force), px3Cast<physx::PxVec3>(origin), physx::PxForceMode::eIMPULSE );
}
void Px3Body::applyTorque( const Point3F &torque )
void Px3Body::applyTorque(const Point3F &torque)
{
AssertFatal(mActor, "Px3Body::applyImpulse - The actor is null!");
mWorld->releaseWriteLock();
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
if (mIsEnabled && isDynamic())
actor->addTorque( px3Cast<physx::PxVec3>(torque), physx::PxForceMode::eFORCE, true);
actor->addTorque(px3Cast<physx::PxVec3>(torque), physx::PxForceMode::eFORCE, true);
}
void Px3Body::applyForce( const Point3F &force )
void Px3Body::applyForce(const Point3F &force)
{
AssertFatal(mActor, "Px3Body::applyTorque - The actor is null!");
mWorld->releaseWriteLock();
physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
if (mIsEnabled && isDynamic())
actor->addForce( px3Cast<physx::PxVec3>(force), physx::PxForceMode::eFORCE, true);
actor->addForce(px3Cast<physx::PxVec3>(force), physx::PxForceMode::eFORCE, true);
}
void Px3Body::findContact(SceneObject **contactObject,