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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and 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.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// 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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