Merge remote-tracking branch 'GarageGames/development' into physx3_basic

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

@@ -24,7 +24,7 @@
 #define _BULLET_H_
 
 // NOTE: We set these defines which bullet needs here.
-#ifdef TORQUE_OS_WIN32
+#ifdef TORQUE_OS_WIN
 #define WIN32
 #endif
 

Engine/source/T3D/physics/physx/px.h

@@ -46,7 +46,7 @@
    #define __APPLE__
 #elif defined(TORQUE_OS_LINUX) && !defined(LINUX)
    #define LINUX
-#elif defined(TORQUE_OS_WIN32) && !defined(WIN32)
+#elif defined(TORQUE_OS_WIN) && !defined(WIN32)
    #define WIN32
 #endif
 

Engine/source/T3D/physics/physx/pxMultiActor.cpp

@@ -527,7 +527,7 @@ bool PxMultiActorData::preload( bool server, String &errorBuffer )
       return false;
    }
 
-   if (!shapeName || shapeName == '\0')
+   if (!shapeName || shapeName[0] == '\0')
    {
       errorBuffer = "PxMultiActorDatas::preload: no shape name!";
       return false;

Engine/source/T3D/physics/physx/pxPlugin.cpp

@@ -39,7 +39,7 @@ AFTER_MODULE_INIT( Sim )
 {
    NamedFactory<PhysicsPlugin>::add( "PhysX", &PxPlugin::create );
 
-   #if defined(TORQUE_OS_WIN32) || defined(TORQUE_OS_XBOX) || defined(TORQUE_OS_XENON)   
+   #if defined(TORQUE_OS_WIN) || defined(TORQUE_OS_XBOX) || defined(TORQUE_OS_XENON)   
       NamedFactory<PhysicsPlugin>::add( "default", &PxPlugin::create );
    #endif   
 

Engine/source/T3D/physics/physx3/px3.h

@@ -29,25 +29,25 @@
    #define __APPLE__
 #elif defined(TORQUE_OS_LINUX) && !defined(LINUX)
    #define LINUX
-#elif defined(TORQUE_OS_WIN32) && !defined(WIN32)
+#elif defined(TORQUE_OS_WIN) && !defined(WIN32)
    #define WIN32
 #endif
 
 //-------------------------------------------------------------------------
 
 #include <PxPhysicsAPI.h>
-#include <extensions/PxExtensionsAPI.h>
-#include <extensions/PxDefaultErrorCallback.h>
-#include <extensions/PxDefaultAllocator.h>
-#include <extensions/PxDefaultSimulationFilterShader.h>
-#include <extensions/PxDefaultCpuDispatcher.h>
-#include <extensions/PxShapeExt.h>
-#include <extensions/PxSimpleFactory.h>
-#include <foundation/PxFoundation.h>
-#include <characterkinematic/PxController.h>
-#include <common/PxIO.h> 
+#include <PxExtensionsAPI.h>
+#include <PxDefaultErrorCallback.h>
+#include <PxDefaultAllocator.h>
+#include <PxDefaultSimulationFilterShader.h>
+#include <PxDefaultCpuDispatcher.h>
+#include <PxShapeExt.h>
+#include <PxSimpleFactory.h>
+#include <PxFoundation.h>
+#include <PxController.h>
+#include <PxIO.h> 
 
 
 extern physx::PxPhysics* gPhysics3SDK;
 
-#endif
+#endif // _PHYSX3_

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

@@ -24,7 +24,7 @@
 #include "T3D/physics/physx3/px3Body.h"
 
 #include "T3D/physics/physx3/px3.h"
-#include "T3D/physics/physx3/px3Cast.h"
+#include "T3D/physics/physx3/px3Casts.h"
 #include "T3D/physics/physx3/px3World.h"
 #include "T3D/physics/physx3/px3Collision.h"
 
@@ -123,24 +123,23 @@ bool Px3Body::init(   PhysicsCollision *shape,
 				Con::errorf("PhysX3 Dynamic Triangle Mesh is not supported.");
 			}
 	   }
-	   physx::PxShape * pShape = mActor->createShape(*desc->pGeometry,*mMaterial,desc->pose);
+	   physx::PxShape * pShape = mActor->createShape(*desc->pGeometry,*mMaterial);
 	   physx::PxFilterData colData;
 	   if(isDebris)
 			colData.word0 = PX3_DEBRIS;
 	   else if(isTrigger)
-      {
-         //We don't want trigger shapes taking part in shape pair intersection tests
-         pShape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, false);
-		   colData.word0 = PX3_TRIGGER;
-      }
+        colData.word0 = PX3_TRIGGER;
 	   else
 		   colData.word0 = PX3_DEFAULT;
 
+      //set local pose - actor->createShape with a local pose is deprecated in physx 3.3
+      pShape->setLocalPose(desc->pose);
       //set the skin width
       pShape->setContactOffset(0.01f);
+      pShape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, !isTrigger);
       pShape->setFlag(physx::PxShapeFlag::eSCENE_QUERY_SHAPE,true);
-		pShape->setSimulationFilterData(colData);
-		pShape->setQueryFilterData(colData);
+      pShape->setSimulationFilterData(colData);
+      pShape->setQueryFilterData(colData);
    }
 
    //mass & intertia has to be set after creating the shape
@@ -148,6 +147,10 @@ bool Px3Body::init(   PhysicsCollision *shape,
    {
 		physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
 		physx::PxRigidBodyExt::setMassAndUpdateInertia(*actor,mass);
+      if(mBodyFlags & BF_CCD)
+         actor->setRigidBodyFlag(physx::PxRigidBodyFlag::eENABLE_CCD, true);
+      else
+         actor->setRigidBodyFlag(physx::PxRigidBodyFlag::eENABLE_CCD, false);
    }
 
     // This sucks, but it has to happen if we want
@@ -366,6 +369,23 @@ void Px3Body::setSimulationEnabled( bool enabled )
    delete [] shapes;
 }
 
+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->releaseWriteLock();
+
+   physx::PxRigidDynamic *actor = mActor->is<physx::PxRigidDynamic>();
+   actor->setKinematicTarget(px3Cast<physx::PxTransform>(transform));
+}
+
 void Px3Body::setTransform( const MatrixF &transform )
 {
    AssertFatal( mActor, "Px3Body::setTransform - The actor is null!" );

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

@@ -20,8 +20,8 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _T3D_PHYSICS_PX3BODY_H_
-#define _T3D_PHYSICS_PX3BODY_H_
+#ifndef _PX3BODY_H_
+#define _PX3BODY_H_
 
 #ifndef _T3D_PHYSICS_PHYSICSBODY_H_
 #include "T3D/physics/physicsBody.h"
@@ -88,6 +88,7 @@ public:
    // PhysicsObject
    virtual PhysicsWorld* getWorld();
    virtual void setTransform( const MatrixF &xfm );
+   virtual void moveKinematicTo( const MatrixF &xfm );
    virtual MatrixF& getTransform( MatrixF *outMatrix );
    virtual Box3F getWorldBounds();
    virtual void setSimulationEnabled( bool enabled );
@@ -118,4 +119,4 @@ public:
    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
 };
 
-#endif 
+#endif // _PX3BODY_H_

Engine/source/T3D/physics/physx3/px3Casts.h

@@ -0,0 +1,137 @@
+//-----------------------------------------------------------------------------
+// Copyright (c) 2012 GarageGames, LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#ifndef _PX3CASTS_H_
+#define _PX3CASTS_H_
+
+#ifndef _MPOINT3_H_
+#include "math/mPoint3.h"
+#endif
+#ifndef _MMATRIX_H_
+#include "math/mMatrix.h"
+#endif
+#ifndef _MBOX_H_
+#include "math/mBox.h"
+#endif
+#ifndef _MQUAT_H_
+#include "math/mQuat.h"
+#endif
+#ifndef _MTRANSFORM_H_
+#include "math/mTransform.h"
+#endif
+
+
+template <class T, class F> inline T px3Cast( const F &from );
+
+//-------------------------------------------------------------------------
+
+template<>
+inline Point3F px3Cast( const physx::PxVec3 &vec )
+{
+   return Point3F( vec.x, vec.y, vec.z );
+}
+
+template<>
+inline physx::PxVec3 px3Cast( const Point3F &point )
+{
+   return physx::PxVec3( point.x, point.y, point.z );
+}
+//-------------------------------------------------------------------------
+template<>
+inline QuatF px3Cast( const physx::PxQuat &quat )
+{
+   /// The Torque quat has the opposite winding order.
+   return QuatF( -quat.x, -quat.y, -quat.z, quat.w );
+}
+
+template<>
+inline physx::PxQuat px3Cast( const QuatF &quat )
+{
+   /// The Torque quat has the opposite winding order.
+   physx::PxQuat result( -quat.x, -quat.y, -quat.z, quat.w );
+   return result;
+}
+//-------------------------------------------------------------------------
+
+template<>
+inline physx::PxExtendedVec3 px3Cast( const Point3F &point )
+{
+   return physx::PxExtendedVec3( point.x, point.y, point.z );
+}
+
+template<>
+inline Point3F px3Cast( const physx::PxExtendedVec3 &xvec )
+{
+   return Point3F( xvec.x, xvec.y, xvec.z );
+}
+
+//-------------------------------------------------------------------------
+
+template<>
+inline physx::PxBounds3 px3Cast( const Box3F &box )
+{
+   physx::PxBounds3 bounds(px3Cast<physx::PxVec3>(box.minExtents),
+							px3Cast<physx::PxVec3>(box.maxExtents));
+   return bounds;
+}
+
+template<>
+inline Box3F px3Cast( const physx::PxBounds3 &bounds )
+{
+   return Box3F(  bounds.minimum.x, 
+                  bounds.minimum.y,
+                  bounds.minimum.z,
+                  bounds.maximum.x,
+                  bounds.maximum.y,
+                  bounds.maximum.z );
+}
+
+//-------------------------------------------------------------------------
+
+template<>
+inline physx::PxTransform px3Cast( const MatrixF &xfm )
+{
+   physx::PxTransform out;
+   QuatF q;
+   q.set(xfm);
+   out.q = px3Cast<physx::PxQuat>(q);
+   out.p = px3Cast<physx::PxVec3>(xfm.getPosition());
+   return out;
+}
+
+template<>
+inline TransformF px3Cast(const physx::PxTransform &xfm)
+{
+	TransformF out(px3Cast<Point3F>(xfm.p),AngAxisF(px3Cast<QuatF>(xfm.q)));
+	return out;
+}
+
+template<>
+inline MatrixF px3Cast( const physx::PxTransform &xfm )
+{
+   MatrixF out;
+   TransformF t = px3Cast<TransformF>(xfm);
+   out = t.getMatrix();
+   return out;
+}
+
+#endif //_PX3CASTS_H_

Engine/source/T3D/physics/physx3/px3Collision.cpp

@@ -26,7 +26,7 @@
 #include "math/mPoint3.h"
 #include "math/mMatrix.h"
 #include "T3D/physics/physx3/px3.h"
-#include "T3D/physics/physx3/px3Cast.h"
+#include "T3D/physics/physx3/px3Casts.h"
 #include "T3D/physics/physx3/px3World.h"
 #include "T3D/physics/physx3/px3Stream.h"
 
@@ -105,7 +105,10 @@ bool Px3Collision::addConvex(  const Point3F *points,
 	convexMesh = gPhysics3SDK->createConvexMesh(in);
 
 	Px3CollisionDesc *desc = new Px3CollisionDesc;
-	desc->pGeometry = new physx::PxConvexMeshGeometry(convexMesh);
+   physx::PxVec3 scale = px3Cast<physx::PxVec3>(localXfm.getScale());
+   physx::PxQuat rotation = px3Cast<physx::PxQuat>(QuatF(localXfm));
+   physx::PxMeshScale meshScale(scale,rotation);
+	desc->pGeometry = new physx::PxConvexMeshGeometry(convexMesh,meshScale);
 	desc->pose = px3Cast<physx::PxTransform>(localXfm);
 	mColShapes.push_back(desc);
 	return true;
@@ -177,13 +180,13 @@ bool Px3Collision::addHeightfield(   const U16 *heights,
 
          if ( holes && holes[ getMax( (S32)index - 1, 0 ) ] )     // row index for holes adjusted so PhysX collision shape better matches rendered terrain
          {
-            currentSample->materialIndex0 = 0;
-            currentSample->materialIndex1 = 0;
+            currentSample->materialIndex0 = physx::PxHeightFieldMaterial::eHOLE;
+            currentSample->materialIndex1 = physx::PxHeightFieldMaterial::eHOLE;
          }
          else
          {
-            currentSample->materialIndex0 = 1;
-            currentSample->materialIndex1 = 1;
+            currentSample->materialIndex0 = 0;
+            currentSample->materialIndex1 = 0;
          }
 
 		int flag = ( column + tess ) % 2;

Engine/source/T3D/physics/physx3/px3Collision.h

@@ -20,8 +20,8 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _T3D_PHYSICS_PX3COLLISION_H_
-#define _T3D_PHYSICS_PX3COLLISION_H_
+#ifndef _PX3COLLISION_H_
+#define _PX3COLLISION_H_
 
 #ifndef _T3D_PHYSICS_PHYSICSCOLLISION_H_
 #include "T3D/physics/physicsCollision.h"
@@ -32,7 +32,7 @@
 #ifndef _MMATRIX_H_
 #include "math/mMatrix.h"
 #endif
-//nasty hate doing this!
+
 #include <foundation/PxTransform.h>
 
 //forward declare
@@ -84,4 +84,4 @@ public:
                                  const MatrixF &localXfm );
 };
 
-#endif 
+#endif // _PX3COLLISION_H_

Engine/source/T3D/physics/physx3/px3Player.cpp

@@ -24,7 +24,7 @@
 #include "T3D/physics/physx3/px3Player.h"
 #include "T3D/physics/physicsPlugin.h"
 #include "T3D/physics/physx3/px3World.h"
-#include "T3D/physics/physx3/px3Cast.h"
+#include "T3D/physics/physx3/px3Casts.h"
 #include "T3D/physics/physx3/px3Utils.h"
 #include "collision/collision.h"
 
@@ -322,7 +322,10 @@ void Px3Player::setScale( const Point3F &scale )
 
 Box3F Px3Player::getWorldBounds()
 {
-   Con::warnf( "Px3Player::getWorldBounds - not implemented" );
-   return Box3F::Invalid;
+   physx::PxBounds3 bounds;
+   physx::PxRigidDynamic *actor = mController->getActor();
+   physx::PxShape *shape = px3GetFirstShape(actor);
+   bounds = physx::PxShapeExt::getWorldBounds(*shape,*actor);
+   return px3Cast<Box3F>( bounds );
 }
 

Engine/source/T3D/physics/physx3/px3Player.h

@@ -101,4 +101,4 @@ public:
 };
 
 
-#endif // _PXPLAYER_H
+#endif // _PX3PLAYER_H_

Engine/source/T3D/physics/physx3/px3Plugin.cpp

@@ -37,7 +37,7 @@ AFTER_MODULE_INIT( Sim )
 {
    NamedFactory<PhysicsPlugin>::add( "PhysX3", &Px3Plugin::create );
 
-   #if defined(TORQUE_OS_WIN32) || defined(TORQUE_OS_XBOX) || defined(TORQUE_OS_XENON)   
+   #if defined(TORQUE_OS_WIN) || defined(TORQUE_OS_XBOX) || defined(TORQUE_OS_XENON)   
       NamedFactory<PhysicsPlugin>::add( "default", &Px3Plugin::create );
    #endif   
 }
@@ -224,4 +224,3 @@ U32 Px3Plugin::getWorldCount() const
 { 
    return mPhysicsWorldLookup.size(); 
 }
-

Engine/source/T3D/physics/physx3/px3Plugin.h

@@ -20,13 +20,15 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _T3D_PHYSICS_PX3PLUGIN_H_
-#define _T3D_PHYSICS_PX3PLUGIN_H_
+#ifndef _PX3PLUGIN_H_
+#define _PX3PLUGIN_H_
 
 #ifndef _T3D_PHYSICS_PHYSICSPLUGIN_H_
 #include "T3D/physics/physicsPlugin.h"
 #endif
 
+class Px3ClothShape;
+
 class Px3Plugin : public PhysicsPlugin
 {
 public:
@@ -52,7 +54,6 @@ public:
    virtual PhysicsWorld* getWorld( const String &worldName ) const;
    virtual PhysicsWorld* getWorld() const;
    virtual U32 getWorldCount() const;
-
 };
 
-#endif 
+#endif  // _PX3PLUGIN_H_

Engine/source/T3D/physics/physx3/px3Stream.h

@@ -20,8 +20,8 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _T3D_PHYSICS_PX3STREAM_H_
-#define _T3D_PHYSICS_PX3STREAM_H_
+#ifndef _PX3STREAM_H_
+#define _PX3STREAM_H_
 
 #ifndef _PHYSX3_H_
 #include "T3D/physics/physx3/px3.h"
@@ -74,4 +74,4 @@ public:
    virtual ~Px3ConsoleStream();
 };
 
-#endif
+#endif // _PX3STREAM_H_

Engine/source/T3D/physics/physx3/px3Utils.h

@@ -20,8 +20,8 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _PHYSX3_UTILS_H_
-#define _PHYSX3_UTILS_H_
+#ifndef _PX3UTILS_H_
+#define _PX3UTILS_H_
 
 namespace physx
 {
@@ -31,5 +31,4 @@ namespace physx
 
 extern physx::PxShape* px3GetFirstShape(physx::PxRigidActor *actor);
 
-
-#endif
+#endif // _PX3UTILS_H_

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

@@ -25,7 +25,7 @@
 
 #include "T3D/physics/physx3/px3.h"
 #include "T3D/physics/physx3/px3Plugin.h"
-#include "T3D/physics/physx3/px3Cast.h"
+#include "T3D/physics/physx3/px3Casts.h"
 #include "T3D/physics/physx3/px3Stream.h"
 #include "T3D/physics/physicsUserData.h"
 
@@ -54,6 +54,23 @@ physx::PxDefaultAllocator Px3World::smMemoryAlloc;
 F32 Px3World::smPhysicsStepTime = 1.0f/(F32)TickMs;
 U32 Px3World::smPhysicsMaxIterations = 4;
 
+//filter shader with support for CCD pairs
+static physx::PxFilterFlags sCcdFilterShader(
+        physx::PxFilterObjectAttributes attributes0,
+        physx::PxFilterData filterData0,
+        physx::PxFilterObjectAttributes attributes1,
+        physx::PxFilterData filterData1,
+        physx::PxPairFlags& pairFlags,
+        const void* constantBlock,
+        physx::PxU32 constantBlockSize)
+{
+        pairFlags = physx::PxPairFlag::eRESOLVE_CONTACTS;
+        pairFlags |= physx::PxPairFlag::eCCD_LINEAR;
+        return physx::PxFilterFlags();
+}
+
+
+
 Px3World::Px3World(): mScene( NULL ),
    mProcessList( NULL ),
    mIsSimulating( false ),
@@ -198,7 +215,6 @@ void Px3World::destroyWorld()
 		mScene->release();
 		mScene = NULL;
 	}
-
 }
 
 bool Px3World::initWorld( bool isServer, ProcessList *processList )
@@ -221,10 +237,12 @@ bool Px3World::initWorld( bool isServer, ProcessList *processList )
 		sceneDesc.cpuDispatcher = smCpuDispatcher;
 		Con::printf("PhysX3 using Cpu: %d workers", smCpuDispatcher->getWorkerCount());
 	}
-   	
+
+ 	
+   sceneDesc.flags |= physx::PxSceneFlag::eENABLE_CCD;
    sceneDesc.flags |= physx::PxSceneFlag::eENABLE_ACTIVETRANSFORMS;
 
-   sceneDesc.filterShader = physx::PxDefaultSimulationFilterShader;
+   sceneDesc.filterShader  = sCcdFilterShader;
 
 	mScene = gPhysics3SDK->createScene(sceneDesc);
 
@@ -559,7 +577,6 @@ void Px3World::onDebugDraw( const SceneRenderState *state )
    }
 
 }
-
 //set simulation timing via script
 DefineEngineFunction( physx3SetSimulationTiming, void, ( F32 stepTime, U32 maxSteps ),, "Set simulation timing of the PhysX 3 plugin" )
 {

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

@@ -20,8 +20,8 @@
 // IN THE SOFTWARE.
 //-----------------------------------------------------------------------------
 
-#ifndef _PHYSX3_WORLD_H_
-#define _PHYSX3_WORLD_H_
+#ifndef _PX3WORLD_H_
+#define _PX3WORLD_H_
 
 #ifndef _T3D_PHYSICS_PHYSICSWORLD_H_
 #include "T3D/physics/physicsWorld.h"
@@ -53,7 +53,6 @@ class Px3World : public PhysicsWorld
 protected:
 
 	physx::PxScene* mScene;
-
 	bool mIsEnabled;
 	bool mIsSimulating;
 	bool mIsServer;
@@ -71,7 +70,6 @@ protected:
 	static physx::PxVisualDebuggerConnection* smPvdConnection;
    static F32 smPhysicsStepTime;
    static U32 smPhysicsMaxIterations;
-
 	F32 mAccumulator;
 	bool _simulate(const F32 dt);
 
@@ -105,6 +103,4 @@ public:
    static void setTiming(F32 stepTime,U32 maxIterations);
 };
 
-
-
-#endif
+#endif // _PX3WORLD_H_