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Engine directory for ticket #1
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DavidWyand-GG
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3795 changed files with 1363358 additions and 0 deletions
291
Engine/source/T3D/physics/physx/pxCollision.cpp
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Engine/source/T3D/physics/physx/pxCollision.cpp
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//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#include "platform/platform.h"
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#include "T3D/physics/physX/pxCollision.h"
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#include "math/mPoint3.h"
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#include "math/mMatrix.h"
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#include "T3D/physics/physX/px.h"
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#include "T3D/physics/physX/pxCasts.h"
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#include "T3D/physics/physX/pxWorld.h"
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#include "T3D/physics/physX/pxStream.h"
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PxCollision::PxCollision()
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{
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}
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PxCollision::~PxCollision()
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{
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// We may be deleteting SDK data... so make
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// sure we have the the scene write lock.
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PxWorld::releaseWriteLocks();
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for ( U32 i=0; i < mColShapes.size(); i++ )
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{
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// Check for special types which need cleanup.
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NxShapeDesc *desc = mColShapes[i];
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if ( desc->getType() == NX_SHAPE_CONVEX )
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gPhysicsSDK->releaseConvexMesh( *((NxConvexShapeDesc*)desc)->meshData );
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else if ( desc->getType() == NX_SHAPE_MESH )
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gPhysicsSDK->releaseTriangleMesh( *((NxTriangleMeshShapeDesc*)desc)->meshData );
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else if ( desc->getType() == NX_SHAPE_HEIGHTFIELD )
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gPhysicsSDK->releaseHeightField( *((NxHeightFieldShapeDesc*)desc)->heightField );
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// Delete the descriptor.
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delete desc;
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}
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mColShapes.clear();
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}
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void PxCollision::addPlane( const PlaneF &plane )
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{
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NxBoxShapeDesc *desc = new NxBoxShapeDesc;
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desc->skinWidth = 0.01f;
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desc->dimensions.set( 10000.0f, 10000.0f, 100.0f );
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desc->localPose.t.z = -100.0f;
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// TODO: Fix rotation to match plane normal!
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//boxDesc->localPose.M.setColumn( 0, NxVec3( plane.x, plane.y, plane.z ) );
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//boxDesc->localPose.M.setColumn( 1, NxVec3( plane.x, plane.y, plane.z ) );
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//boxDesc->localPose.M.setColumn( 2, NxVec3( plane.x, plane.y, plane.z ) );
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mColShapes.push_back( desc );
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}
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void PxCollision::addBox( const Point3F &halfWidth,
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const MatrixF &localXfm )
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{
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NxBoxShapeDesc *desc = new NxBoxShapeDesc;
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desc->skinWidth = 0.01f;
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desc->dimensions.set( halfWidth.x, halfWidth.y, halfWidth.z );
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desc->localPose.setRowMajor44( localXfm );
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mColShapes.push_back( desc );
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}
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void PxCollision::addSphere( F32 radius,
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const MatrixF &localXfm )
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{
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NxSphereShapeDesc *desc = new NxSphereShapeDesc;
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desc->skinWidth = 0.01f;
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desc->radius = radius;
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desc->localPose.setRowMajor44( localXfm );
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mColShapes.push_back( desc );
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}
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void PxCollision::addCapsule( F32 radius,
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F32 height,
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const MatrixF &localXfm )
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{
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NxCapsuleShapeDesc *desc = new NxCapsuleShapeDesc;
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desc->skinWidth = 0.01f;
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desc->radius = radius;
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desc->height = height;
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desc->localPose.setRowMajor44( localXfm );
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mColShapes.push_back( desc );
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}
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bool PxCollision::addConvex( const Point3F *points,
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U32 count,
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const MatrixF &localXfm )
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{
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// Mesh cooking requires that both
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// scenes not be write locked!
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PxWorld::releaseWriteLocks();
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NxCookingInterface *cooker = PxWorld::getCooking();
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cooker->NxInitCooking();
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NxConvexMeshDesc meshDesc;
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meshDesc.numVertices = count;
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meshDesc.pointStrideBytes = sizeof(Point3F);
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meshDesc.points = points;
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meshDesc.flags = NX_CF_COMPUTE_CONVEX | NX_CF_INFLATE_CONVEX;
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// Cook it!
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NxCookingParams params;
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#ifdef TORQUE_OS_XENON
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params.targetPlatform = PLATFORM_XENON;
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#else
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params.targetPlatform = PLATFORM_PC;
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#endif
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params.skinWidth = 0.01f;
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params.hintCollisionSpeed = true;
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cooker->NxSetCookingParams( params );
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PxMemStream stream;
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bool cooked = cooker->NxCookConvexMesh( meshDesc, stream );
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cooker->NxCloseCooking();
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if ( !cooked )
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return false;
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stream.resetPosition();
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NxConvexMesh *meshData = gPhysicsSDK->createConvexMesh( stream );
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if ( !meshData )
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return false;
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NxConvexShapeDesc *desc = new NxConvexShapeDesc;
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desc->skinWidth = 0.01f;
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desc->meshData = meshData;
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desc->localPose.setRowMajor44( localXfm );
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mColShapes.push_back( desc );
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return true;
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}
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bool PxCollision::addTriangleMesh( const Point3F *vert,
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U32 vertCount,
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const U32 *index,
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U32 triCount,
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const MatrixF &localXfm )
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{
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// Mesh cooking requires that both
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// scenes not be write locked!
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PxWorld::releaseWriteLocks();
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NxCookingInterface *cooker = PxWorld::getCooking();
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cooker->NxInitCooking();
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NxTriangleMeshDesc meshDesc;
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meshDesc.numVertices = vertCount;
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meshDesc.numTriangles = triCount;
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meshDesc.pointStrideBytes = sizeof(Point3F);
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meshDesc.triangleStrideBytes = 3*sizeof(U32);
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meshDesc.points = vert;
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meshDesc.triangles = index;
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meshDesc.flags = NX_MF_FLIPNORMALS;
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// Cook it!
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NxCookingParams params;
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#ifdef TORQUE_OS_XENON
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params.targetPlatform = PLATFORM_XENON;
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#else
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params.targetPlatform = PLATFORM_PC;
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#endif
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params.skinWidth = 0.01f;
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params.hintCollisionSpeed = true;
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cooker->NxSetCookingParams( params );
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PxMemStream stream;
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bool cooked = cooker->NxCookTriangleMesh( meshDesc, stream );
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cooker->NxCloseCooking();
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if ( !cooked )
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return false;
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stream.resetPosition();
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NxTriangleMesh *meshData = gPhysicsSDK->createTriangleMesh( stream );
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if ( !meshData )
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return false;
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NxTriangleMeshShapeDesc *desc = new NxTriangleMeshShapeDesc;
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desc->skinWidth = 0.01f;
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desc->meshData = meshData;
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desc->localPose.setRowMajor44( localXfm );
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mColShapes.push_back( desc );
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return true;
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}
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bool PxCollision::addHeightfield( const U16 *heights,
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const bool *holes,
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U32 blockSize,
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F32 metersPerSample,
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const MatrixF &localXfm )
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{
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// Since we're creating SDK level data we
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// have to have access to all active worlds.
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PxWorld::releaseWriteLocks();
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// Init the heightfield description.
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NxHeightFieldDesc heightFieldDesc;
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heightFieldDesc.nbColumns = blockSize;
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heightFieldDesc.nbRows = blockSize;
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heightFieldDesc.thickness = -10.0f;
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heightFieldDesc.convexEdgeThreshold = 0;
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// Allocate the samples.
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heightFieldDesc.samples = new NxU32[ blockSize * blockSize ];
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heightFieldDesc.sampleStride = sizeof(NxU32);
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NxU8 *currentByte = (NxU8*)heightFieldDesc.samples;
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for ( U32 row = 0; row < blockSize; row++ )
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{
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const U32 tess = ( row + 1 ) % 2;
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for ( U32 column = 0; column < blockSize; column++ )
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{
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NxHeightFieldSample *currentSample = (NxHeightFieldSample*)currentByte;
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U32 index = ( blockSize - row - 1 ) + ( column * blockSize );
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currentSample->height = heights[ index ];
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if ( holes && holes[ getMax( (S32)index - 1, 0 ) ] ) // row index for holes adjusted so PhysX collision shape better matches rendered terrain
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{
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currentSample->materialIndex0 = 0;
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currentSample->materialIndex1 = 0;
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}
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else
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{
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currentSample->materialIndex0 = 1; //materialIds[0];
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currentSample->materialIndex1 = 1; //materialIds[0];
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}
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currentSample->tessFlag = ( column + tess ) % 2;
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currentByte += heightFieldDesc.sampleStride;
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}
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}
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// Build it.
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NxHeightFieldShapeDesc *desc = new NxHeightFieldShapeDesc;
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desc->heightField = gPhysicsSDK->createHeightField( heightFieldDesc );
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// Destroy the temp sample array.
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delete [] heightFieldDesc.samples;
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// TerrainBlock uses a 11.5 fixed point height format
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// giving it a maximum height range of 0 to 2048.
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desc->heightScale = 0.03125f;
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desc->rowScale = metersPerSample;
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desc->columnScale = metersPerSample;
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desc->materialIndexHighBits = 0;
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desc->skinWidth = 0.01f;
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// Use the local pose to align the heightfield
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// to what Torque will expect.
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NxMat33 rotX;
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rotX.rotX( Float_HalfPi );
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NxMat33 rotZ;
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rotZ.rotZ( Float_Pi );
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NxMat34 rot;
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rot.M.multiply( rotZ, rotX );
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rot.t.set( ( blockSize - 1 ) * metersPerSample, 0, 0 );
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desc->localPose = rot;
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mColShapes.push_back( desc );
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return true;
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}
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