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Diffstat (limited to 'Runtime/Dynamics/BoxCollider.cpp')
| -rw-r--r-- | Runtime/Dynamics/BoxCollider.cpp | 256 |
1 files changed, 256 insertions, 0 deletions
diff --git a/Runtime/Dynamics/BoxCollider.cpp b/Runtime/Dynamics/BoxCollider.cpp new file mode 100644 index 0000000..c874f12 --- /dev/null +++ b/Runtime/Dynamics/BoxCollider.cpp @@ -0,0 +1,256 @@ +#include "UnityPrefix.h" +#if ENABLE_PHYSICS +#include "BoxCollider.h" +#include "Runtime/Graphics/Transform.h" +#include "RigidBody.h" +#include "PhysicsManager.h" +#include "Runtime/Serialize/TransferFunctions/SerializeTransfer.h" +#include "Runtime/Filters/AABBUtility.h" +#include "External/PhysX/builds/SDKs/Physics/include/NxPhysics.h" +#include "NxWrapperUtility.h" +#include "Runtime/Misc/BuildSettings.h" + +#define GET_SHAPE() static_cast<NxBoxShape*> (m_Shape) +BoxCollider::BoxCollider (MemLabelId label, ObjectCreationMode mode) +: Super(label, mode) +{ +} + +BoxCollider::~BoxCollider () +{ +} + +void BoxCollider::AwakeFromLoad(AwakeFromLoadMode awakeMode) +{ + if (m_Shape) + { + // Apply changed values + SetSize (m_Size); + SetCenter (m_Center); + } + + Super::AwakeFromLoad (awakeMode); +} + +void BoxCollider::SmartReset () +{ + Super::SmartReset(); + + AABB aabb; + if (GetGameObjectPtr () && CalculateLocalAABB (GetGameObject (), &aabb)) + { + SetSize (aabb.GetExtent () * 2.0F); + SetCenter (aabb.GetCenter ()); + } + else + { + SetSize (Vector3f::one); + SetCenter (Vector3f::zero); + } +} + +void BoxCollider::Reset () +{ + Super::Reset (); + m_Center = Vector3f::zero; + m_Size = Vector3f::one; +} + +Vector3f BoxCollider::GetGlobalExtents () const +{ + Vector3f extents = GetComponent (Transform).GetWorldScaleLossy (); + extents.Scale (m_Size); + extents *= 0.5F; + extents = Abs (extents); + return extents; +} + +Vector3f BoxCollider::GetGlobalCenter () const +{ + return GetComponent (Transform).TransformPoint (m_Center); +} + +void BoxCollider::Create (const Rigidbody* ignoreRigidbody) +{ + if (m_Shape) + Cleanup (); + + NxBoxShapeDesc shapeDesc; + (Vector3f&)shapeDesc.dimensions = GetGlobalExtents (); + + FinalizeCreate (shapeDesc, true, ignoreRigidbody); +} + +void BoxCollider::SetSize (const Vector3f& size) +{ + if (size != m_Size) + { + SetDirty (); + m_Size = size; + } + + PROFILE_MODIFY_STATIC_COLLIDER + + if (GET_SHAPE ()) + { + GET_SHAPE ()->setDimensions (Vec3ToNx(GetGlobalExtents ())); + RigidbodyMassDistributionChanged (); + RefreshPhysicsInEditMode(); + UpdateCCDSkeleton (); + } +} + +void BoxCollider::SetCenter (const Vector3f& pos) +{ + if (pos != m_Center) + { + SetDirty (); + m_Center = pos; + } + + if (GET_SHAPE ()) + TransformChanged (Transform::kRotationChanged | Transform::kPositionChanged | kForceUpdateMass); +} + +void BoxCollider::ScaleChanged () +{ + PROFILE_MODIFY_STATIC_COLLIDER + + NxBoxShape* shape = GET_SHAPE (); + shape->setDimensions (Vec3ToNx(GetGlobalExtents ())); + + UpdateCCDSkeleton (); +} + +void BoxCollider::FetchPoseFromTransform () +{ + FetchPoseFromTransformUtility (m_Center); +} + +bool BoxCollider::GetRelativeToParentPositionAndRotation (Transform& transform, Transform& anyParent, Matrix4x4f& matrix) +{ + return GetRelativeToParentPositionAndRotationUtility (transform, anyParent, m_Center, matrix); +} + +void BoxCollider::TransformChanged (int changeMask) +{ + Super::TransformChanged (changeMask); + if (m_Shape) + { + if (m_Shape->getActor ().userData == NULL) + { + PROFILER_AUTO(gStaticColliderMove, this) + FetchPoseFromTransformUtility (m_Center); +/* + AssertIf (m_Shape == NULL); + AssertIf (HasActorRigidbody ()); + Transform& transform = GetComponent (Transform); + Vector3f p = transform.TransformPoint (m_Center); + m_Shape->getActor ().setGlobalPosition ((const NxVec3&)p); + Matrix3x3f m = transform.GetWorldRotationAndScale (); + //OrthoNormalize (m); + m_Shape->getActor ().setGlobalOrientation ((NxMat33&)m); +// m_Shape->getActor ().setGlobalOrientationQuat ((const NxQuat&)transform.GetRotation ()); +*/ + } + else + { + Rigidbody* body = (Rigidbody*)m_Shape->getActor ().userData; + Matrix4x4f matrix; + if (GetRelativeToParentPositionAndRotationUtility (GetComponent (Transform), body->GetComponent (Transform), m_Center, matrix)) + { + NxMat34 shapeMatrix; + shapeMatrix.setColumnMajor44 (matrix.GetPtr ()); + m_Shape->setLocalPose (shapeMatrix); + } + + if (body->GetGameObjectPtr() != GetGameObjectPtr() || changeMask & (Transform::kScaleChanged | kForceUpdateMass)) + RigidbodyMassDistributionChanged (); + } + + if (changeMask & Transform::kScaleChanged) + ScaleChanged (); + + RefreshPhysicsInEditMode(); + } +} + +NxCCDSkeleton* BoxCollider::CreateCCDSkeleton(float scale) +{ + Vector3f size = Vector3f::one * scale; + if (IS_CONTENT_NEWER_OR_SAME(kUnityVersion4_0_a1)) + size.Scale(GetGlobalExtents()); + else + // Prior to 4.0 we incorrectly ignored object scale here. Keep this behaviour for backwards compatibility. + size.Scale(m_Size * 0.5f); + + NxU32 triangles[3 * 12] = { + 0,1,3, + 0,3,2, + 3,7,6, + 3,6,2, + 1,5,7, + 1,7,3, + 4,6,7, + 4,7,5, + 1,0,4, + 5,1,4, + 4,0,2, + 4,2,6 + }; + + NxVec3 points[8]; + // Static mesh + points[0].set( size.x, -size.y, -size.z); + points[1].set( size.x, -size.y, size.z); + points[2].set( size.x, size.y, -size.z); + points[3].set( size.x, size.y, size.z); + + points[4].set(-size.x, -size.y, -size.z); + points[5].set(-size.x, -size.y, size.z); + points[6].set(-size.x, size.y, -size.z); + points[7].set(-size.x, size.y, size.z); + + if (!IS_CONTENT_NEWER_OR_SAME(kUnityVersion4_0_a1)) + { + // This is wrong, as the m_Center transformation is already applied at the shape matrix. + // Keep for backward compatibility. + NxVec3 center(m_Center.x, m_Center.y, m_Center.z); + for (int i=0;i<8;i++) + points[i] += center; + } + + NxSimpleTriangleMesh stm; + stm.numVertices = 8; + stm.numTriangles = 6*2; + stm.pointStrideBytes = sizeof(NxVec3); + stm.triangleStrideBytes = sizeof(NxU32)*3; + + stm.points = points; + stm.triangles = triangles; + return GetDynamicsSDK().createCCDSkeleton(stm); +} + +template<class TransferFunction> +void BoxCollider::Transfer (TransferFunction& transfer) +{ + Super::Transfer (transfer); + transfer.SetVersion (2); + transfer.Align(); + if (transfer.IsCurrentVersion ()) + { + TRANSFER_SIMPLE (m_Size); + } + else + { + transfer.Transfer (m_Size, "m_Extents"); + m_Size*=2.0F; + } + TRANSFER (m_Center); +} + +IMPLEMENT_CLASS (BoxCollider) +IMPLEMENT_OBJECT_SERIALIZE (BoxCollider) + +#undef GET_SHAPE +#endif //ENABLE_PHYSICS
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