diff options
Diffstat (limited to 'PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp')
| -rw-r--r-- | PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp | 60 |
1 files changed, 17 insertions, 43 deletions
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp index 579c5438..a68719f1 100644 --- a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp +++ b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp @@ -23,11 +23,10 @@ // components in life support devices or systems without express written approval of // NVIDIA Corporation. // -// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved. +// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. - #include "ScBodySim.h" #include "ScScene.h" #include "ScConstraintSim.h" @@ -49,6 +48,7 @@ using namespace physx; using namespace physx::Dy; +using namespace Sc; #define PX_FREEZE_INTERVAL 1.5f #define PX_FREE_EXIT_THRESHOLD 4.f @@ -121,7 +121,6 @@ Sc::BodySim::BodySim(Scene& scene, BodyCore& core) : } } - //If a user add force or torque before the body is inserted into the scene, //this logic will make sure pre solver stage apply external force/torque to the body if(hasPendingForce && !isArticulationLink()) @@ -164,7 +163,6 @@ Sc::BodySim::BodySim(Scene& scene, BodyCore& core) : } } - Sc::BodySim::~BodySim() { Sc::Scene &scene = getScene(); @@ -199,14 +197,12 @@ Sc::BodySim::~BodySim() mCore.setSim(NULL); } - //-------------------------------------------------------------- // // Actor implementation // //-------------------------------------------------------------- - void Sc::BodySim::onActivate() { PX_ASSERT((!isKinematic()) || notInScene() || readInternalFlag(BF_KINEMATIC_MOVED)); // kinematics should only get activated when a target is set. @@ -264,7 +260,6 @@ void Sc::BodySim::updateContactDistance(PxReal* contactDistance, const PxReal dt } } - void Sc::BodySim::onDeactivate() { PX_ASSERT((!isKinematic()) || notInScene() || !readInternalFlag(BF_KINEMATIC_MOVED)); // kinematics should only get deactivated when no target is set. @@ -291,17 +286,14 @@ void Sc::BodySim::onDeactivate() getScene().removeFromPosePreviewList(*this); } destroySqBounds(); - } - //-------------------------------------------------------------- // // BodyCore interface implementation // //-------------------------------------------------------------- - void Sc::BodySim::notifyAddSpatialAcceleration() { //The dirty flag is stored separately in the BodySim so that we query the dirty flag before going to @@ -319,7 +311,6 @@ void Sc::BodySim::notifyClearSpatialAcceleration() getScene().getVelocityModifyMap().growAndSet(getNodeIndex().index()); } - void Sc::BodySim::notifyAddSpatialVelocity() { //The dirty flag is stored separately in the BodySim so that we query the dirty flag before going to @@ -336,7 +327,6 @@ void Sc::BodySim::notifyClearSpatialVelocity() getScene().getVelocityModifyMap().growAndSet(getNodeIndex().index()); } - void Sc::BodySim::postActorFlagChange(PxU32 oldFlags, PxU32 newFlags) { // PT: don't convert to bool if not needed @@ -354,7 +344,6 @@ void Sc::BodySim::postActorFlagChange(PxU32 oldFlags, PxU32 newFlags) } } - void Sc::BodySim::postBody2WorldChange() { mLLBody.saveLastCCDTransform(); @@ -367,7 +356,6 @@ void Sc::BodySim::postBody2WorldChange() notifyShapesOfTransformChange(); } - void Sc::BodySim::postSetWakeCounter(PxReal t, bool forceWakeUp) { if ((t > 0.0f) || forceWakeUp) @@ -380,7 +368,6 @@ void Sc::BodySim::postSetWakeCounter(PxReal t, bool forceWakeUp) } } - void Sc::BodySim::postSetKinematicTarget() { PX_ASSERT(getBodyCore().getSimStateData(true)); @@ -390,6 +377,14 @@ void Sc::BodySim::postSetKinematicTarget() raiseInternalFlag(BF_KINEMATIC_MOVED); // Important to set this here already because trigger interactions need to have this information when being activated. } +static void updateBPGroup(ElementSim* current) +{ + while(current) + { + static_cast<ShapeSim*>(current)->updateBPGroup(); + current = current->mNextInActor; + } +} void Sc::BodySim::postSwitchToKinematic() { @@ -402,8 +397,9 @@ void Sc::BodySim::postSwitchToKinematic() setActorsInteractionsDirty(InteractionDirtyFlag::eBODY_KINEMATIC, NULL, InteractionFlag::eFILTERABLE); getScene().getSimpleIslandManager()->setKinematic(mNodeIndex); -} + updateBPGroup(getElements_()); +} void Sc::BodySim::postSwitchToDynamic() { @@ -411,7 +407,7 @@ void Sc::BodySim::postSwitchToDynamic() setForcesToDefaults(true); - if (getConstraintGroup()) + if(getConstraintGroup()) getConstraintGroup()->markForProjectionTreeRebuild(mScene.getProjectionManager()); // - interactions need to get refiltered to make sure that former kinematic-kinematic and kinematic-static pairs get enabled @@ -423,10 +419,12 @@ void Sc::BodySim::postSwitchToDynamic() clearInternalFlag(BF_KINEMATIC_MOVE_FLAGS); - if (isActive()) + if(isActive()) mScene.swapInActiveBodyList(*this); -} + // + updateBPGroup(getElements_()); +} void Sc::BodySim::postPosePreviewChange(const PxU32 posePreviewFlag) { @@ -441,14 +439,12 @@ void Sc::BodySim::postPosePreviewChange(const PxU32 posePreviewFlag) PX_ASSERT(!getScene().isInPosePreviewList(*this)); } - //-------------------------------------------------------------- // // Sleeping // //-------------------------------------------------------------- - void Sc::BodySim::setActive(bool active, PxU32 infoFlag) { PX_ASSERT(!active || isDynamicRigid()); // Currently there should be no need to activate an actor that does not take part in island generation @@ -489,7 +485,6 @@ void Sc::BodySim::setActive(bool active, PxU32 infoFlag) } } - void Sc::BodySim::activateInteractions(PxU32 /*infoFlag*/) { const PxU32 nbInteractions = getActorInteractionCount(); @@ -511,7 +506,6 @@ void Sc::BodySim::activateInteractions(PxU32 /*infoFlag*/) } } - void Sc::BodySim::deactivateInteractions(PxU32 infoFlag) { const PxU32 nbInteractions = getActorInteractionCount(); @@ -533,14 +527,12 @@ void Sc::BodySim::deactivateInteractions(PxU32 infoFlag) } } - void Sc::BodySim::wakeUp() { setActive(true); notifyWakeUp(true); } - void Sc::BodySim::putToSleep() { PX_ASSERT(getBodyCore().getWakeCounter() == 0.0f); @@ -563,7 +555,6 @@ void Sc::BodySim::putToSleep() // We can move this code when we look into the open task of making buffered re-insertion more consistent with the non-buffered case. } - void Sc::BodySim::internalWakeUp(PxReal wakeCounterValue) { if(mArticulation) @@ -572,14 +563,12 @@ void Sc::BodySim::internalWakeUp(PxReal wakeCounterValue) internalWakeUpBase(wakeCounterValue); } - void Sc::BodySim::internalWakeUpArticulationLink(PxReal wakeCounterValue) { PX_ASSERT(mArticulation); internalWakeUpBase(wakeCounterValue); } - void Sc::BodySim::internalWakeUpBase(PxReal wakeCounterValue) //this one can only increase the wake counter, not decrease it, so it can't be used to put things to sleep! { if ((!isKinematic()) && (getBodyCore().getWakeCounter() < wakeCounterValue)) @@ -595,26 +584,22 @@ void Sc::BodySim::internalWakeUpBase(PxReal wakeCounterValue) //this one can onl } } - void Sc::BodySim::notifyReadyForSleeping() { if(mArticulation == NULL) getScene().getSimpleIslandManager()->deactivateNode(mNodeIndex); } - void Sc::BodySim::notifyNotReadyForSleeping() { getScene().getSimpleIslandManager()->activateNode(mNodeIndex); } - void Sc::BodySim::notifyWakeUp(bool /*wakeUpInIslandGen*/) { getScene().getSimpleIslandManager()->activateNode(mNodeIndex); } - void Sc::BodySim::notifyPutToSleep() { getScene().getSimpleIslandManager()->putNodeToSleep(mNodeIndex); @@ -692,7 +677,6 @@ PxReal Sc::BodySim::updateWakeCounter(PxReal dt, PxReal energyThreshold, const C return wc; } - //-------------------------------------------------------------- // // Kinematics @@ -714,7 +698,6 @@ PX_FORCE_INLINE void Sc::BodySim::initKinematicStateBase(BodyCore&, bool asPartO getConstraintGroup()->markForProjectionTreeRebuild(getScene().getProjectionManager()); } - void Sc::BodySim::calculateKinematicVelocity(PxReal oneOverDt) { PX_ASSERT(isKinematic()); @@ -802,8 +785,6 @@ void Sc::BodySim::updateKinematicPose() } } - - bool Sc::BodySim::deactivateKinematic() { BodyCore& core = getBodyCore(); @@ -829,15 +810,12 @@ bool Sc::BodySim::deactivateKinematic() return false; } - - //-------------------------------------------------------------- // // Miscellaneous // //-------------------------------------------------------------- - void Sc::BodySim::updateForces(PxReal dt, PxsRigidBody** updatedBodySims, PxU32* updatedBodyNodeIndices, PxU32& index, Cm::SpatialVector* acceleration, bool simUsesAdaptiveForce) { PxVec3 linAcc(0.0f), angAcc(0.0f); @@ -894,8 +872,6 @@ void Sc::BodySim::updateForces(PxReal dt, PxsRigidBody** updatedBodySims, PxU32* setForcesToDefaults(readVelocityModFlag(VMF_ACC_DIRTY)); } - - bool Sc::BodySim::isConnectedTo(const ActorSim& other, bool& collisionDisabled) const { const Sc::ActorSim* actorToMatch; @@ -933,7 +909,6 @@ bool Sc::BodySim::isConnectedTo(const ActorSim& other, bool& collisionDisabled) return false; } - void Sc::BodySim::onConstraintDetach() { PX_ASSERT(readInternalFlag(BF_HAS_CONSTRAINTS)); @@ -952,7 +927,6 @@ void Sc::BodySim::onConstraintDetach() clearInternalFlag(BF_HAS_CONSTRAINTS); // There are no other constraint interactions left } - void Sc::BodySim::setArticulation(Sc::ArticulationSim* a, PxReal wakeCounter, bool asleep, PxU32 bodyIndex) { mArticulation = a; |