1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
|
/*
* Copyright (c) 2016-2017, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, related documentation
* and any modifications thereto. Any use, reproduction, disclosure or
* distribution of this software and related documentation without an express
* license agreement from NVIDIA CORPORATION is strictly prohibited.
*/
#include "NvBlastExtPxManagerImpl.h"
#include "NvBlastExtPxAssetImpl.h"
#include "NvBlastExtPxActorImpl.h"
#include "NvBlastExtPxFamilyImpl.h"
#include "NvBlastAssert.h"
#include "NvBlastTkActor.h"
#include "NvBlastTkFamily.h"
#include "NvBlastTkGroup.h"
#include "NvBlastTkJoint.h"
#include "PxRigidDynamic.h"
#include "PxJoint.h"
namespace Nv
{
namespace Blast
{
ExtPxManager* ExtPxManager::create(PxPhysics& physics, TkFramework& framework, ExtPxCreateJointFunction createFn, bool useUserData)
{
return NVBLASTEXT_NEW(ExtPxManagerImpl)(physics, framework, createFn, useUserData);
}
void ExtPxManagerImpl::release()
{
NVBLASTEXT_DELETE(this, ExtPxManagerImpl);
}
ExtPxFamily* ExtPxManagerImpl::createFamily(const ExtPxFamilyDesc& desc)
{
NVBLASTEXT_CHECK_ERROR(desc.pxAsset != nullptr, "Family creation: pxAsset is nullptr.", return nullptr);
// create tk family
TkActorDesc tkActorDesc;
(&tkActorDesc)->NvBlastActorDesc::operator=(desc.actorDesc);
tkActorDesc.asset = &desc.pxAsset->getTkAsset();
TkActor* actor = m_framework.createActor(tkActorDesc);
NVBLASTEXT_CHECK_ERROR(actor != nullptr, "Family creation: tk actor creation failed.", return nullptr);
ExtPxFamilyImpl* family = NVBLASTEXT_NEW(ExtPxFamilyImpl)(*this, actor->getFamily(), *desc.pxAsset);
if (desc.group)
{
desc.group->addActor(*actor);
}
return family;
}
bool ExtPxManagerImpl::createJoint(TkJoint& joint)
{
if (!joint.userData && m_createJointFn)
{
const TkJointData data = joint.getData();
ExtPxActorImpl* pxActor0 = data.actors[0] != nullptr ? reinterpret_cast<ExtPxActorImpl*>(data.actors[0]->userData) : nullptr;
ExtPxActorImpl* pxActor1 = data.actors[1] != nullptr ? reinterpret_cast<ExtPxActorImpl*>(data.actors[1]->userData) : nullptr;
NVBLAST_ASSERT(pxActor0 || pxActor1);
PxTransform lf0(data.attachPositions[0]);
PxTransform lf1(data.attachPositions[1]);
PxJoint* pxJoint = m_createJointFn(pxActor0, lf0, pxActor1, lf1, m_physics, joint);
if (pxJoint)
{
joint.userData = pxJoint;
return true;
}
}
return false;
}
void ExtPxManagerImpl::updateJoint(TkJoint& joint)
{
if (joint.userData)
{
const TkJointData& data = joint.getData();
ExtPxActorImpl* pxActors[2];
for (int i = 0; i < 2; ++i)
{
if (data.actors[i] != nullptr)
{
pxActors[i] = reinterpret_cast<ExtPxActorImpl*>(data.actors[i]->userData);
if (pxActors[i] == nullptr)
{
ExtArray<TkJoint*>::type& joints = m_incompleteJointMultiMap[data.actors[i]];
NVBLAST_ASSERT(joints.find(&joint) == joints.end());
joints.pushBack(&joint);
return; // Wait until the TkActor is received to create this joint
}
}
else
{
pxActors[i] = nullptr;
}
}
NVBLAST_ASSERT(pxActors[0] || pxActors[1]);
PxJoint* pxJoint = reinterpret_cast<PxJoint*>(joint.userData);
pxJoint->setActors(pxActors[0] ? &pxActors[0]->getPhysXActor() : nullptr, pxActors[1] ? &pxActors[1]->getPhysXActor() : nullptr);
}
}
void ExtPxManagerImpl::destroyJoint(TkJoint& joint)
{
if (joint.userData)
{
PxJoint* pxJoint = reinterpret_cast<PxJoint*>(joint.userData);
pxJoint->release();
joint.userData = nullptr;
}
}
} // namespace Blast
} // namespace Nv
|