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
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
|
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// 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 "NpRigidStatic.h"
#include "NpPhysics.h"
#include "ScbNpDeps.h"
#include "NpScene.h"
#include "NpRigidActorTemplateInternal.h"
using namespace physx;
NpRigidStatic::NpRigidStatic(const PxTransform& pose)
: NpRigidStaticT(PxConcreteType::eRIGID_STATIC, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
, mRigidStatic(pose)
{
}
NpRigidStatic::~NpRigidStatic()
{
}
// PX_SERIALIZATION
void NpRigidStatic::requiresObjects(PxProcessPxBaseCallback& c)
{
NpRigidStaticT::requiresObjects(c);
}
NpRigidStatic* NpRigidStatic::createObject(PxU8*& address, PxDeserializationContext& context)
{
NpRigidStatic* obj = new (address) NpRigidStatic(PxBaseFlag::eIS_RELEASABLE);
address += sizeof(NpRigidStatic);
obj->importExtraData(context);
obj->resolveReferences(context);
return obj;
}
//~PX_SERIALIZATION
void NpRigidStatic::release()
{
releaseActorT(this, mRigidStatic);
}
void NpRigidStatic::setGlobalPose(const PxTransform& pose, bool /*wake*/)
{
PX_CHECK_AND_RETURN(pose.isSane(), "PxRigidStatic::setGlobalPose: pose is not valid.");
NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
NpScene* npScene = NpActor::getAPIScene(*this);
#if PX_CHECKED
if(npScene)
npScene->checkPositionSanity(*this, pose, "PxRigidStatic::setGlobalPose");
#endif
mRigidStatic.setActor2World(pose.getNormalized());
if(npScene)
{
mShapeManager.markAllSceneQueryForUpdate(npScene->getSceneQueryManagerFast());
npScene->getSceneQueryManagerFast().get(Sq::PruningIndex::eSTATIC).invalidateTimestamp();
}
#if PX_SUPPORT_PVD
// have to do this here since this call gets not forwarded to Scb::RigidStatic
Scb::Scene* scbScene = NpActor::getScbFromPxActor(*this).getScbSceneForAPI();
if(scbScene)
scbScene->getScenePvdClient().updatePvdProperties(&mRigidStatic);
#endif
// invalidate the pruning structure if the actor bounds changed
if (mShapeManager.getPruningStructure())
{
Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxRigidStatic::setGlobalPose: Actor is part of a pruning structure, pruning structure is now invalid!");
mShapeManager.getPruningStructure()->invalidate(this);
}
updateShaderComs();
}
PxTransform NpRigidStatic::getGlobalPose() const
{
NP_READ_CHECK(NpActor::getOwnerScene(*this));
return mRigidStatic.getActor2World();
}
PxShape* NpRigidStatic::createShape(const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount, PxShapeFlags shapeFlags)
{
NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
PX_CHECK_AND_RETURN_NULL(materials, "createShape: material pointer is NULL");
PX_CHECK_AND_RETURN_NULL(materialCount>0, "createShape: material count is zero");
NpShape* shape = static_cast<NpShape*>(NpPhysics::getInstance().createShape(geometry, materials, materialCount, true, shapeFlags));
if ( shape != NULL )
{
mShapeManager.attachShape(*shape, *this);
shape->releaseInternal();
}
return shape;
}
PxU32 physx::NpRigidStaticGetShapes(Scb::RigidStatic& rigid, void* const *&shapes)
{
NpRigidStatic* a = static_cast<NpRigidStatic*>(rigid.getScRigidCore().getPxActor());
NpShapeManager& sm = a->getShapeManager();
shapes = reinterpret_cast<void *const *>(sm.getShapes());
return sm.getNbShapes();
}
void NpRigidStatic::switchToNoSim()
{
getScbRigidStaticFast().switchToNoSim(false);
}
void NpRigidStatic::switchFromNoSim()
{
getScbRigidStaticFast().switchFromNoSim(false);
}
#if PX_CHECKED
bool NpRigidStatic::checkConstraintValidity() const
{
// Perhaps NpConnectorConstIterator would be worth it...
NpConnectorIterator iter = (const_cast<NpRigidStatic*>(this))->getConnectorIterator(NpConnectorType::eConstraint);
while (PxBase* ser = iter.getNext())
{
NpConstraint* c = static_cast<NpConstraint*>(ser);
if(!c->NpConstraint::isValid())
return false;
}
return true;
}
#endif
#if PX_ENABLE_DEBUG_VISUALIZATION
void NpRigidStatic::visualize(Cm::RenderOutput& out, NpScene* scene)
{
NpRigidStaticT::visualize(out, scene);
if (getScbRigidStaticFast().getActorFlags() & PxActorFlag::eVISUALIZATION)
{
Scb::Scene& scbScene = scene->getScene();
PxReal scale = scbScene.getVisualizationParameter(PxVisualizationParameter::eSCALE);
//visualize actor frames
PxReal actorAxes = scale * scbScene.getVisualizationParameter(PxVisualizationParameter::eACTOR_AXES);
if (actorAxes != 0)
out << getGlobalPose() << Cm::DebugBasis(PxVec3(actorAxes));
}
}
#endif
|