72 lines
2.7 KiB
C++
72 lines
2.7 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 "geometry/PxGeometryQuery.h"
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#include "extensions/PxRigidActorExt.h"
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#include "PxShape.h"
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#include "PsAllocator.h"
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#include "PsInlineArray.h"
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#include "CmPhysXCommon.h"
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using namespace physx;
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PxBounds3* PxRigidActorExt::getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds)
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{
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const PxU32 numShapes = actor.getNbShapes();
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if(numShapes == 0)
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return NULL;
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Ps::InlineArray<PxShape*, 64> shapes("PxShape*");
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shapes.resize(numShapes);
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actor.getShapes(shapes.begin(), shapes.size());
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PxU32 numSqShapes = 0;
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for(PxU32 i = 0; i < numShapes; i++)
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{
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if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
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numSqShapes++;
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}
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PxBounds3* bounds = reinterpret_cast<PxBounds3*>(PX_ALLOC(numSqShapes * sizeof(PxBounds3), "PxBounds3"));
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numSqShapes = 0;
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for(PxU32 i = 0; i < numShapes; i++)
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{
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if(shapes[i]->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
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{
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bounds[numSqShapes++] = PxGeometryQuery::getWorldBounds(shapes[i]->getGeometry().any(), shapes[i]->getLocalPose(), 1.0f);
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}
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}
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numBounds = numSqShapes;
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return bounds;
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}
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