306 lines
9.2 KiB
C++
306 lines
9.2 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 "geometry/PxBoxGeometry.h"
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#include "geometry/PxSphereGeometry.h"
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#include "geometry/PxCapsuleGeometry.h"
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#include "geometry/PxConvexMeshGeometry.h"
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#include "geometry/PxConvexMesh.h"
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#include "extensions/PxShapeExt.h"
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#include "extensions/PxRaycastCCD.h"
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#include "PxScene.h"
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#include "PxRigidDynamic.h"
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#include "PsArray.h"
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using namespace physx;
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namespace physx
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{
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class RaycastCCDManagerInternal
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{
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PX_NOCOPY(RaycastCCDManagerInternal)
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public:
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RaycastCCDManagerInternal(PxScene* scene) : mScene(scene) {}
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~RaycastCCDManagerInternal(){}
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bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
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void doRaycastCCD(bool doDynamicDynamicCCD);
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struct CCDObject
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{
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PX_FORCE_INLINE CCDObject(PxRigidDynamic* actor, PxShape* shape, const PxVec3& witness) : mActor(actor), mShape(shape), mWitness(witness) {}
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PxRigidDynamic* mActor;
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PxShape* mShape;
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PxVec3 mWitness;
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};
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private:
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PxScene* mScene;
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physx::shdfnd::Array<CCDObject> mObjects;
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};
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}
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static PxVec3 getShapeCenter(PxShape* shape, const PxTransform& pose)
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{
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PxVec3 offset(0.0f);
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if(shape->getGeometryType()==PxGeometryType::eCONVEXMESH)
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{
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PxConvexMeshGeometry geometry;
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bool status = shape->getConvexMeshGeometry(geometry);
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PX_UNUSED(status);
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PX_ASSERT(status);
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PxReal mass;
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PxMat33 localInertia;
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PxVec3 localCenterOfMass;
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geometry.convexMesh->getMassInformation(mass, localInertia, localCenterOfMass);
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offset += localCenterOfMass;
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}
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return pose.transform(offset);
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}
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static PX_FORCE_INLINE PxVec3 getShapeCenter(PxRigidActor* actor, PxShape* shape)
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{
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const PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
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return getShapeCenter(shape, pose);
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}
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static PxReal computeInternalRadius(PxRigidActor* actor, PxShape* shape, const PxVec3& dir)
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{
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const PxBounds3 bounds = PxShapeExt::getWorldBounds(*shape, *actor);
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const PxReal diagonal = (bounds.maximum - bounds.minimum).magnitude();
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const PxReal offsetFromOrigin = diagonal * 2.0f;
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PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
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PxReal internalRadius = 0.0f;
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const PxReal length = offsetFromOrigin*2.0f;
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switch(shape->getGeometryType())
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{
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case PxGeometryType::eSPHERE:
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{
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PxSphereGeometry geometry;
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bool status = shape->getSphereGeometry(geometry);
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PX_UNUSED(status);
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PX_ASSERT(status);
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internalRadius = geometry.radius;
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}
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break;
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case PxGeometryType::eBOX:
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case PxGeometryType::eCAPSULE:
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{
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pose.p = PxVec3(0.0f);
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const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;
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PxRaycastHit hit;
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PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, PxHitFlags(0), 1, &hit);
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PX_UNUSED(nbHits);
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PX_ASSERT(nbHits);
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internalRadius = offsetFromOrigin - hit.distance;
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}
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break;
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case PxGeometryType::eCONVEXMESH:
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{
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PxVec3 shapeCenter = getShapeCenter(shape, pose);
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shapeCenter -= pose.p;
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pose.p = PxVec3(0.0f);
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const PxVec3 virtualOrigin = shapeCenter + dir * offsetFromOrigin;
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PxRaycastHit hit;
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PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, PxHitFlags(0), 1, &hit);
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PX_UNUSED(nbHits);
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PX_ASSERT(nbHits);
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internalRadius = offsetFromOrigin - hit.distance;
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}
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break;
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case PxGeometryType::ePLANE:
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case PxGeometryType::eHEIGHTFIELD:
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case PxGeometryType::eTRIANGLEMESH:
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case PxGeometryType::eGEOMETRY_COUNT:
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case PxGeometryType::eINVALID:
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break;
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}
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return internalRadius;
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}
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class CCDRaycastFilterCallback : public PxQueryFilterCallback
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{
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public:
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CCDRaycastFilterCallback(PxRigidActor* actor, PxShape* shape) : mActor(actor), mShape(shape){}
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PxRigidActor* mActor;
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PxShape* mShape;
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virtual PxQueryHitType::Enum preFilter(const PxFilterData&, const PxShape* shape, const PxRigidActor* actor, PxHitFlags&)
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{
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if(mActor==actor && mShape==shape)
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return PxQueryHitType::eNONE;
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return PxQueryHitType::eBLOCK;
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}
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virtual PxQueryHitType::Enum postFilter(const PxFilterData&, const PxQueryHit&)
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{
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return PxQueryHitType::eNONE;
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}
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};
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static bool CCDRaycast(PxScene* scene, PxRigidActor* actor, PxShape* shape, const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, PxRaycastHit& hit, bool dyna_dyna)
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{
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const PxQueryFlags qf(dyna_dyna ? PxQueryFlags(PxQueryFlag::eSTATIC|PxQueryFlag::eDYNAMIC|PxQueryFlag::ePREFILTER) : PxQueryFlags(PxQueryFlag::eSTATIC));
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const PxQueryFilterData filterData(PxFilterData(), qf);
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CCDRaycastFilterCallback CB(actor, shape);
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PxRaycastBuffer buf1;
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scene->raycast(origin, unitDir, distance, buf1, PxHitFlags(0), filterData, &CB);
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hit = buf1.block;
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return buf1.hasBlock;
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}
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static PxRigidDynamic* canDoCCD(PxRigidActor& actor, PxShape* /*shape*/)
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{
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if(actor.getConcreteType()!=PxConcreteType::eRIGID_DYNAMIC)
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return NULL; // PT: no need to do it for statics
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PxRigidDynamic* dyna = static_cast<PxRigidDynamic*>(&actor);
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const PxU32 nbShapes = dyna->getNbShapes();
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if(nbShapes!=1)
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return NULL; // PT: only works with simple actors for now
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if(dyna->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
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return NULL; // PT: no need to do it for kinematics
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return dyna;
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}
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static bool doRaycastCCD(PxScene* scene, const RaycastCCDManagerInternal::CCDObject& object, PxTransform& newPose, PxVec3& newShapeCenter, bool dyna_dyna)
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{
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PxRigidDynamic* dyna = canDoCCD(*object.mActor, object.mShape);
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if(!dyna)
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return true;
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bool updateCCDWitness = true;
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const PxVec3 offset = newPose.p - newShapeCenter;
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const PxVec3& origin = object.mWitness;
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const PxVec3& dest = newShapeCenter;
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PxVec3 dir = dest - origin;
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const PxReal length = dir.magnitude();
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if(length!=0.0f)
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{
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dir /= length;
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const PxReal internalRadius = computeInternalRadius(object.mActor, object.mShape, dir);
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PxRaycastHit hit;
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if(internalRadius!=0.0f && CCDRaycast(scene, object.mActor, object.mShape, origin, dir, length, hit, dyna_dyna))
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{
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updateCCDWitness = false;
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const PxReal radiusLimit = internalRadius * 0.75f;
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if(hit.distance>radiusLimit)
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{
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newShapeCenter = origin + dir * (hit.distance - radiusLimit);
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}
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else
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{
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if(hit.actor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
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return true;
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newShapeCenter = origin;
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}
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newPose.p = offset + newShapeCenter;
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const PxTransform shapeLocalPose = object.mShape->getLocalPose();
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const PxTransform inverseShapeLocalPose = shapeLocalPose.getInverse();
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const PxTransform newGlobalPose = newPose * inverseShapeLocalPose;
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dyna->setGlobalPose(newGlobalPose);
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}
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}
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return updateCCDWitness;
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}
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bool RaycastCCDManagerInternal::registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape)
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{
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if(!actor || !shape)
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return false;
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mObjects.pushBack(CCDObject(actor, shape, getShapeCenter(actor, shape)));
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return true;
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}
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void RaycastCCDManagerInternal::doRaycastCCD(bool doDynamicDynamicCCD)
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{
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const PxU32 nbObjects = mObjects.size();
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for(PxU32 i=0;i<nbObjects;i++)
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{
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CCDObject& object = mObjects[i];
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if(object.mActor->isSleeping())
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continue;
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PxTransform newPose = PxShapeExt::getGlobalPose(*object.mShape, *object.mActor);
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PxVec3 newShapeCenter = getShapeCenter(object.mShape, newPose);
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if(::doRaycastCCD(mScene, object, newPose, newShapeCenter, doDynamicDynamicCCD))
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object.mWitness = newShapeCenter;
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}
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}
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RaycastCCDManager::RaycastCCDManager(PxScene* scene)
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{
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mImpl = new RaycastCCDManagerInternal(scene);
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}
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RaycastCCDManager::~RaycastCCDManager()
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{
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delete mImpl;
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}
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bool RaycastCCDManager::registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape)
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{
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return mImpl->registerRaycastCCDObject(actor, shape);
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}
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void RaycastCCDManager::doRaycastCCD(bool doDynamicDynamicCCD)
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{
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mImpl->doRaycastCCD(doDynamicDynamicCCD);
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}
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