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//
// 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 "PxController.h"
#include "CctBoxController.h"
#include "CctCharacterControllerManager.h"
#include "PxBoxGeometry.h"
#include "PxRigidDynamic.h"
#include "PxShape.h"
using namespace physx;
using namespace Cct;
static PX_FORCE_INLINE PxVec3 CCTtoProxyExtents(PxF32 halfHeight, PxF32 halfSideExtent, PxF32 halfForwardExtent, PxF32 coeff)
{
// PT: because we now orient the box CCT using the same quat as for capsules...
// i.e. the identity quat corresponds to a up dir = 1,0,0 (which is like the worst choice we could have made, of course)
return PxVec3(halfHeight * coeff, halfSideExtent * coeff, halfForwardExtent * coeff);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
BoxController::BoxController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
{
mType = PxControllerShapeType::eBOX;
const PxBoxControllerDesc& bc = static_cast<const PxBoxControllerDesc&>(desc);
mHalfHeight = bc.halfHeight;
mHalfSideExtent = bc.halfSideExtent;
mHalfForwardExtent = bc.halfForwardExtent;
// Create kinematic actor under the hood
PxBoxGeometry boxGeom;
boxGeom.halfExtents = CCTtoProxyExtents(bc.halfHeight, bc.halfSideExtent, bc.halfForwardExtent, mProxyScaleCoeff);
createProxyActor(sdk, boxGeom, *desc.material);
}
BoxController::~BoxController()
{
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void BoxController::invalidateCache()
{
if(mManager->mLockingEnabled)
mWriteLock.lock();
mCctModule.voidTestCache();
if(mManager->mLockingEnabled)
mWriteLock.unlock();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool BoxController::getWorldBox(PxExtendedBounds3& box) const
{
setCenterExtents(box, mPosition, PxVec3(mHalfHeight, mHalfSideExtent, mHalfForwardExtent));
return true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PxF32 BoxController::getHalfHeight() const
{
return mHalfHeight;
}
PxF32 BoxController::getHalfSideExtent() const
{
return mHalfSideExtent;
}
PxF32 BoxController::getHalfForwardExtent() const
{
return mHalfForwardExtent;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool BoxController::updateKinematicProxy()
{
// Set extents for kinematic proxy
if(mKineActor)
{
PxShape* shape = getKineShape();
PX_ASSERT(shape->getGeometryType() == PxGeometryType::eBOX);
PxBoxGeometry bg;
shape->getBoxGeometry(bg);
bg.halfExtents = CCTtoProxyExtents(mHalfHeight, mHalfSideExtent, mHalfForwardExtent, mProxyScaleCoeff);
shape->setGeometry(bg);
}
return true;
}
bool BoxController::setHalfHeight(PxF32 halfHeight)
{
if(halfHeight<=0.0f)
return false;
mHalfHeight = halfHeight;
return updateKinematicProxy();
}
bool BoxController::setHalfSideExtent(PxF32 halfSideExtent)
{
if(halfSideExtent<=0.0f)
return false;
mHalfSideExtent = halfSideExtent;
return updateKinematicProxy();
}
bool BoxController::setHalfForwardExtent(PxF32 halfForwardExtent)
{
if(halfForwardExtent<=0.0f)
return false;
mHalfForwardExtent = halfForwardExtent;
return updateKinematicProxy();
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
PxExtendedVec3 BoxController::getFootPosition() const
{
PxExtendedVec3 groundPosition = mPosition; // Middle of the CCT
groundPosition -= mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset); // Ground
return groundPosition;
}
bool BoxController::setFootPosition(const PxExtendedVec3& position)
{
PxExtendedVec3 centerPosition = position;
centerPosition += mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset);
return setPosition(centerPosition);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void BoxController::getOBB(PxExtendedBox& obb) const
{
// PT: TODO: optimize this
PxExtendedBounds3 worldBox;
getWorldBox(worldBox);
getCenter(worldBox, obb.center);
getExtents(worldBox, obb.extents);
obb.rot = mUserParams.mQuatFromUp;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void BoxController::resize(PxReal height)
{
const float oldHeight = getHalfHeight();
setHalfHeight(height);
const float delta = height - oldHeight;
PxExtendedVec3 pos = getPosition();
pos += mUserParams.mUpDirection * delta;
setPosition(pos);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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