237 lines
8.7 KiB
C++
237 lines
8.7 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxMathUtils.h"
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#include "extensions/PxRigidBodyExt.h"
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#include "characterkinematic/PxController.h"
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#include "PxPhysics.h"
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#include "PxScene.h"
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#include "PxRigidDynamic.h"
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#include "PxShape.h"
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#include "CctController.h"
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#include "CctBoxController.h"
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#include "CctCharacterControllerManager.h"
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#include "PsUtilities.h"
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#include "PsFoundation.h"
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using namespace physx;
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using namespace Cct;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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Controller::Controller(const PxControllerDesc& desc, PxScene* s) :
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mCctModule (desc.registerDeletionListener),
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mScene (s),
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mPreviousSceneTimestamp (0xffffffff),
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mGlobalTime (0.0),
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mPreviousGlobalTime (0.0),
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mProxyDensity (0.0f),
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mProxyScaleCoeff (0.0f),
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mCollisionFlags (0),
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mCachedStandingOnMoving (false),
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mManager (NULL)
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{
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mType = PxControllerShapeType::eFORCE_DWORD;
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mUserParams.mNonWalkableMode = desc.nonWalkableMode;
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mUserParams.mSlopeLimit = desc.slopeLimit;
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mUserParams.mContactOffset = desc.contactOffset;
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mUserParams.mStepOffset = desc.stepOffset;
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mUserParams.mInvisibleWallHeight = desc.invisibleWallHeight;
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mUserParams.mMaxJumpHeight = desc.maxJumpHeight;
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mUserParams.mHandleSlope = desc.slopeLimit!=0.0f;
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mReportCallback = desc.reportCallback;
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mBehaviorCallback = desc.behaviorCallback;
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mUserData = desc.userData;
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mKineActor = NULL;
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mPosition = desc.position;
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mProxyDensity = desc.density;
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mProxyScaleCoeff = desc.scaleCoeff;
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mCctModule.mVolumeGrowth = desc.volumeGrowth;
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mRegisterDeletionListener = desc.registerDeletionListener;
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mDeltaXP = PxVec3(0);
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mOverlapRecover = PxVec3(0);
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mUserParams.mUpDirection = PxVec3(0.0f);
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setUpDirectionInternal(desc.upDirection);
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}
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Controller::~Controller()
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{
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if(mScene)
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{
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if(mKineActor)
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mKineActor->release();
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::onRelease(const PxBase& observed)
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{
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mCctModule.onRelease(observed);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::onOriginShift(const PxVec3& shift)
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{
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mPosition -= shift;
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if(mManager && mManager->mLockingEnabled)
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mWriteLock.lock();
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mCctModule.onOriginShift(shift);
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if(mManager && mManager->mLockingEnabled)
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mWriteLock.unlock();
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::setUpDirectionInternal(const PxVec3& up)
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{
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PX_CHECK_MSG(up.isNormalized(), "CCT: up direction must be normalized");
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if(mUserParams.mUpDirection==up)
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return;
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const PxQuat q = PxShortestRotation(PxVec3(1.0f, 0.0f, 0.0f), up);
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mUserParams.mQuatFromUp = q;
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mUserParams.mUpDirection = up;
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// Update kinematic actor
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/*if(mKineActor)
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{
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PxTransform pose = mKineActor->getGlobalPose();
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pose.q = q;
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mKineActor->setGlobalPose(pose);
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}*/
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::releaseInternal()
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{
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mManager->releaseController(*getPxController());
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::getInternalState(PxControllerState& state) const
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{
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if(mManager->mLockingEnabled)
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mWriteLock.lock();
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state.deltaXP = mDeltaXP;
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state.touchedShape = const_cast<PxShape*>(mCctModule.mTouchedShape.get());
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state.touchedActor = const_cast<PxRigidActor*>(mCctModule.mTouchedActor.get());
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state.touchedObstacleHandle = mCctModule.mTouchedObstacleHandle;
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state.standOnAnotherCCT = (mCctModule.mFlags & STF_TOUCH_OTHER_CCT)!=0;
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state.standOnObstacle = (mCctModule.mFlags & STF_TOUCH_OBSTACLE)!=0;
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state.isMovingUp = (mCctModule.mFlags & STF_IS_MOVING_UP)!=0;
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state.collisionFlags = mCollisionFlags;
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if(mManager->mLockingEnabled)
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mWriteLock.unlock();
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void Controller::getInternalStats(PxControllerStats& stats) const
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{
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stats.nbFullUpdates = mCctModule.mNbFullUpdates;
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stats.nbPartialUpdates = mCctModule.mNbPartialUpdates;
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stats.nbIterations = mCctModule.mNbIterations;
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stats.nbTessellation = mCctModule.mNbTessellation;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Controller::setPos(const PxExtendedVec3& pos)
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{
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mPosition = pos;
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// Update kinematic actor
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if(mKineActor)
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{
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PxTransform targetPose = mKineActor->getGlobalPose();
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targetPose.p = toVec3(mPosition); // LOSS OF ACCURACY
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targetPose.q = mUserParams.mQuatFromUp;
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mKineActor->setKinematicTarget(targetPose);
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}
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Controller::createProxyActor(PxPhysics& sdk, const PxGeometry& geometry, const PxMaterial& material)
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{
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// PT: we don't disable raycasting or CD because:
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// - raycasting is needed for visibility queries (the SDK otherwise doesn't know about the CCTS)
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// - collision is needed because the only reason we create actors there is to handle collisions with dynamic shapes
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// So it's actually wrong to disable any of those.
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PxTransform globalPose;
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globalPose.p = toVec3(mPosition); // LOSS OF ACCURACY
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globalPose.q = mUserParams.mQuatFromUp;
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mKineActor = sdk.createRigidDynamic(globalPose);
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if(!mKineActor)
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return false;
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PxShape* shape = sdk.createShape(geometry, material, true);
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mKineActor->attachShape(*shape);
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shape->release();
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mKineActor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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PxRigidBodyExt::updateMassAndInertia(*mKineActor, mProxyDensity);
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mScene->addActor(*mKineActor);
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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PxShape* Controller::getKineShape() const
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{
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// PT: TODO: cache this and avoid the virtual call
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PxShape* shape = NULL;
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PxU32 nb = mKineActor->getShapes(&shape, 1);
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PX_ASSERT(nb==1);
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PX_UNUSED(nb);
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return shape;
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}
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