mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-20 12:44:46 +00:00
206 lines
7.8 KiB
C++
206 lines
7.8 KiB
C++
//-----------------------------------------------------------------------------
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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/physx3/px3Collision.h"
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#include "math/mPoint3.h"
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#include "math/mMatrix.h"
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#include "T3D/physics/physx3/px3.h"
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#include "T3D/physics/physx3/px3Casts.h"
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#include "T3D/physics/physx3/px3World.h"
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#include "T3D/physics/physx3/px3Stream.h"
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Px3Collision::Px3Collision()
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{
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}
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Px3Collision::~Px3Collision()
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{
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for ( U32 i=0; i < mColShapes.size(); i++ )
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{
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Px3CollisionDesc *desc = mColShapes[i];
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delete desc->pGeometry;
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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 Px3Collision::addPlane( const PlaneF &plane )
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{
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physx::PxVec3 pos = px3Cast<physx::PxVec3>(plane.getPosition());
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = new physx::PxPlaneGeometry();
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desc->pose = physx::PxTransform(pos, physx::PxQuat(physx::PxHalfPi, physx::PxVec3(0.0f, -1.0f, 0.0f)));
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mColShapes.push_back(desc);
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}
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void Px3Collision::addBox( const Point3F &halfWidth,const MatrixF &localXfm )
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{
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = new physx::PxBoxGeometry(px3Cast<physx::PxVec3>(halfWidth));
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desc->pose = px3Cast<physx::PxTransform>(localXfm);
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mColShapes.push_back(desc);
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}
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void Px3Collision::addSphere( F32 radius, const MatrixF &localXfm )
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{
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = new physx::PxSphereGeometry(radius);
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desc->pose = px3Cast<physx::PxTransform>(localXfm);
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mColShapes.push_back(desc);
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}
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void Px3Collision::addCapsule( F32 radius, F32 height, const MatrixF &localXfm )
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{
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = new physx::PxCapsuleGeometry(radius,height*0.5);//uses half height
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desc->pose = px3Cast<physx::PxTransform>(localXfm);
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mColShapes.push_back(desc);
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}
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bool Px3Collision::addConvex( const Point3F *points, U32 count, const MatrixF &localXfm )
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{
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physx::PxCooking *cooking = Px3World::getCooking();
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physx::PxConvexMeshDesc convexDesc;
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convexDesc.points.data = points;
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convexDesc.points.stride = sizeof(Point3F);
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convexDesc.points.count = count;
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convexDesc.flags = physx::PxConvexFlag::eCOMPUTE_CONVEX | physx::PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES;
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if(PhysicsWorld::isGpuEnabled())
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convexDesc.flags |= physx::PxConvexFlag::eGPU_COMPATIBLE;
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Px3MemOutStream stream;
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if(!cooking->cookConvexMesh(convexDesc,stream))
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return false;
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physx::PxConvexMesh* convexMesh;
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Px3MemInStream in(stream.getData(), stream.getSize());
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convexMesh = gPhysics3SDK->createConvexMesh(in);
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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physx::PxVec3 scale = px3Cast<physx::PxVec3>(localXfm.getScale());
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physx::PxQuat rotation = px3Cast<physx::PxQuat>(QuatF(localXfm));
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physx::PxMeshScale meshScale(scale,rotation);
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desc->pGeometry = new physx::PxConvexMeshGeometry(convexMesh,meshScale);
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desc->pose = px3Cast<physx::PxTransform>(localXfm);
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mColShapes.push_back(desc);
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return true;
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}
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bool Px3Collision::addTriangleMesh( const Point3F *vert, U32 vertCount, const U32 *index, U32 triCount, const MatrixF &localXfm )
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{
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physx::PxCooking *cooking = Px3World::getCooking();
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physx::PxTriangleMeshDesc meshDesc;
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meshDesc.points.count = vertCount;
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meshDesc.points.data = vert;
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meshDesc.points.stride = sizeof(Point3F);
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meshDesc.triangles.count = triCount;
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meshDesc.triangles.data = index;
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meshDesc.triangles.stride = 3*sizeof(U32);
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meshDesc.flags = physx::PxMeshFlag::eFLIPNORMALS;
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Px3MemOutStream stream;
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if(!cooking->cookTriangleMesh(meshDesc,stream))
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return false;
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physx::PxTriangleMesh *mesh;
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Px3MemInStream in(stream.getData(), stream.getSize());
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mesh = gPhysics3SDK->createTriangleMesh(in);
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = new physx::PxTriangleMeshGeometry(mesh);
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desc->pose = px3Cast<physx::PxTransform>(localXfm);
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mColShapes.push_back(desc);
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return true;
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}
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bool Px3Collision::addHeightfield( const U16 *heights, const bool *holes, U32 blockSize, F32 metersPerSample, const MatrixF &localXfm )
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{
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const F32 heightScale = 0.03125f;
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physx::PxHeightFieldSample* samples = (physx::PxHeightFieldSample*) new physx::PxHeightFieldSample[blockSize*blockSize];
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memset(samples,0,blockSize*blockSize*sizeof(physx::PxHeightFieldSample));
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physx::PxHeightFieldDesc heightFieldDesc;
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heightFieldDesc.nbColumns = blockSize;
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heightFieldDesc.nbRows = blockSize;
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heightFieldDesc.thickness = -10.f;
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heightFieldDesc.convexEdgeThreshold = 0;
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heightFieldDesc.format = physx::PxHeightFieldFormat::eS16_TM;
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heightFieldDesc.samples.data = samples;
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heightFieldDesc.samples.stride = sizeof(physx::PxHeightFieldSample);
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physx::PxU8 *currentByte = (physx::PxU8*)heightFieldDesc.samples.data;
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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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physx::PxHeightFieldSample *currentSample = (physx::PxHeightFieldSample*)currentByte;
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U32 index = ( blockSize - row - 1 ) + ( column * blockSize );
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currentSample->height = (physx::PxI16)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 = physx::PxHeightFieldMaterial::eHOLE;
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currentSample->materialIndex1 = physx::PxHeightFieldMaterial::eHOLE;
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}
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else
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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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S32 flag = ( column + tess ) % 2;
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if(flag)
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currentSample->clearTessFlag();
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else
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currentSample->setTessFlag();
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currentByte += heightFieldDesc.samples.stride;
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}
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}
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physx::PxCooking *cooking = Px3World::getCooking();
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physx::PxHeightField * hf = cooking->createHeightField(heightFieldDesc,gPhysics3SDK->getPhysicsInsertionCallback());
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physx::PxHeightFieldGeometry *geom = new physx::PxHeightFieldGeometry(hf,physx::PxMeshGeometryFlags(),heightScale,metersPerSample,metersPerSample);
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physx::PxTransform pose= physx::PxTransform(physx::PxQuat(Float_HalfPi, physx::PxVec3(1, 0, 0 )));
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physx::PxTransform pose1= physx::PxTransform(physx::PxQuat(Float_Pi, physx::PxVec3(0, 0, 1 )));
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physx::PxTransform pose2 = pose1 * pose;
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pose2.p = physx::PxVec3(( blockSize - 1 ) * metersPerSample, 0, 0 );
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Px3CollisionDesc *desc = new Px3CollisionDesc;
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desc->pGeometry = geom;
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desc->pose = pose2;
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mColShapes.push_back(desc);
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SAFE_DELETE(samples);
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return true;
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}
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