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Merge pull request #1673 from Areloch/physicsFindContactCleanup

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Removes the body for the physicsBody's findContact
This commit is contained in:
Areloch 2016-07-05 00:37:15 -05:00 • committed by GitHub
commit b012ffff17
2 changed files with 2 additions and 105 deletions
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58
Engine/source/T3D/physics/bullet/btBody.cpp
View file

@ -383,64 +383,6 @@ void BtBody::findContact(SceneObject **contactObject,
VectorF *contactNormal, VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const Vector<SceneObject*> *outOverlapObjects) const
{ {
AssertFatal(mActor, "BtPlayer::findContact - The controller is null!");
VectorF normal;
F32 maxDot = -1.0f;
// Go thru the contact points... get the first contact.
//mWorld->getDynamicsWorld()->computeOverlappingPairs();
btOverlappingPairCache *pairCache = mWorld->getDynamicsWorld()->getBroadphase()->getOverlappingPairCache();
btBroadphasePairArray& pairArray = pairCache->getOverlappingPairArray();
U32 numPairs = pairArray.size();
btManifoldArray manifoldArray;
for (U32 i = 0; i < numPairs; i++)
{
const btBroadphasePair &pair = pairArray[i];
btBroadphasePair *collisionPair = pairCache->findPair(pair.m_pProxy0, pair.m_pProxy1);
if (!collisionPair || !collisionPair->m_algorithm)
continue;
btCollisionObject *other = (btCollisionObject*)pair.m_pProxy0->m_clientObject;
if (other == mActor)
other = (btCollisionObject*)pair.m_pProxy1->m_clientObject;
// AssertFatal(!outOverlapObjects->contains(PhysicsUserData::getObject(other->getUserPointer())),
// "Got multiple pairs of the same object!");
outOverlapObjects->push_back(PhysicsUserData::getObject(other->getUserPointer()));
if (other->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE)
continue;
manifoldArray.clear();
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
for (U32 j = 0; j < manifoldArray.size(); j++)
{
btPersistentManifold *manifold = manifoldArray[j];
btScalar directionSign = manifold->getBody0() == mActor ? 1.0f : -1.0f;
for (U32 p = 0; p < manifold->getNumContacts(); p++)
{
const btManifoldPoint &pt = manifold->getContactPoint(p);
// Test the normal... is it the most vertical one we got?
normal = btCast<Point3F>(pt.m_normalWorldOnB * directionSign);
F32 dot = mDot(normal, VectorF(0, 0, 1));
if (dot > maxDot)
{
maxDot = dot;
btCollisionObject *colObject = (btCollisionObject*)collisionPair->m_pProxy0->m_clientObject;
*contactObject = PhysicsUserData::getObject(colObject->getUserPointer());
*contactNormal = normal;
}
}
}
}
} }
void BtBody::moveKinematicTo(const MatrixF &transform) void BtBody::moveKinematicTo(const MatrixF &transform)

49
Engine/source/T3D/physics/physx3/px3Body.cpp
View file

@ -421,54 +421,9 @@ void Px3Body::findContact(SceneObject **contactObject,
VectorF *contactNormal, VectorF *contactNormal,
Vector<SceneObject*> *outOverlapObjects) const Vector<SceneObject*> *outOverlapObjects) const
{ {
// Calculate the sweep motion... }
F32 halfCapSize = mOriginOffset;
F32 halfSmallCapSize = halfCapSize * 0.8f;
F32 diff = halfCapSize - halfSmallCapSize;
F32 distance = diff + mSkinWidth + 0.01f; void Px3Body::moveKinematicTo(const MatrixF &transform)
physx::PxVec3 dir(0, 0, -1);
physx::PxScene *scene = mWorld->getScene();
physx::PxHitFlags hitFlags(physx::PxHitFlag::eDEFAULT);
physx::PxQueryFilterData filterData(physx::PxQueryFlag::eDYNAMIC | physx::PxQueryFlag::eSTATIC);
filterData.data.word0 = PX3_DEFAULT;
physx::PxSweepHit sweepHit;
physx::PxRigidDynamic *actor = mController->getActor();
physx::PxU32 shapeIndex;
bool hit = physx::PxRigidBodyExt::linearSweepSingle(*actor, *scene, dir, distance, hitFlags, sweepHit, shapeIndex, filterData);
if (hit)
{
PhysicsUserData *data = PhysicsUserData::cast(sweepHit.actor->userData);
if (data)
{
*contactObject = data->getObject();
*contactNormal = px3Cast<Point3F>(sweepHit.normal);
}
}
// Check for overlapped objects ( triggers )
if (!outOverlapObjects)
return;
filterData.data.word0 = PX3_TRIGGER;
const physx::PxU32 bufferSize = 10;
physx::PxOverlapBufferN<bufferSize> hitBuffer;
hit = scene->overlap(mGeometry, actor->getGlobalPose(), hitBuffer, filterData);
if (hit)
{
for (U32 i = 0; i < hitBuffer.nbTouches; i++)
{
PhysicsUserData *data = PhysicsUserData::cast(hitBuffer.touches[i].actor->userData);
if (data)
outOverlapObjects->push_back(data->getObject());
}
}
}void Px3Body::moveKinematicTo(const MatrixF &transform)
{ {
AssertFatal(mActor, "Px3Body::moveKinematicTo - The actor is null!"); AssertFatal(mActor, "Px3Body::moveKinematicTo - The actor is null!");