1 files changed, 212 insertions, 0 deletions
diff --git a/Runtime/Dynamics/RaycastCollider.cpp b/Runtime/Dynamics/RaycastCollider.cpp
new file mode 100644
index 0000000..79bfa90
--- /dev/null
+++ b/Runtime/Dynamics/RaycastCollider.cpp
@@ -0,0 +1,212 @@
+#include "UnityPrefix.h"
+#if ENABLE_PHYSICS
+#include "RaycastCollider.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"
+
+#define GET_SHAPE() ((class NxCapsuleShape*)m_Shape)
+
+/*
+ - i am not sure about the getscaled extents calculation.
+*/
+
+const float RaycaseCollider_kMinSize = 0.00001F;
+
+// Novodex bugs with thin raycast triggers. It likes the fat hairy ones!
+// Remove this as soon as they have fixed this!!!
+const float kMinTriggerSize = 0.05F;
+
+
+using namespace std;
+
+RaycastCollider::RaycastCollider(MemLabelId label, ObjectCreationMode mode)
+:	Super(label, mode)
+{
+}
+
+RaycastCollider::~RaycastCollider ()
+{
+}
+
+void RaycastCollider::AwakeFromLoad(AwakeFromLoadMode awakeMode)
+{
+	if (m_Shape)
+	{
+		// Apply changed values
+		SetLength (m_Length);
+		SetCenter (m_Center);
+	}
+	
+	Super::AwakeFromLoad (awakeMode);
+}	
+
+void RaycastCollider::SmartReset ()
+{
+	Super::Reset ();
+	AABB aabb;
+	if (GetGameObjectPtr () && CalculateLocalAABB (GetGameObject (), &aabb))
+	{
+		SetLength (aabb.GetExtent ().y);
+		SetCenter (aabb.GetCenter ());
+	}
+	else
+	{
+		SetLength (1.0F);
+		SetCenter (Vector3f::zero);
+	}
+}
+
+void RaycastCollider::Reset ()
+{
+	Super::Reset ();
+	m_Length = 1.0F;
+	m_Center = Vector3f::zero;
+}
+
+Vector3f RaycastCollider::GetGlobalCenter () const
+{
+	return GetComponent (Transform).TransformPoint (m_Center);
+}
+
+float RaycastCollider::GetGlobalLength () const
+{
+	Vector3f scale = GetComponent (Transform).GetWorldScaleLossy ();
+
+	float absoluteHeight = max (Abs (m_Length * scale.y), RaycaseCollider_kMinSize);
+	return absoluteHeight;
+}
+
+void RaycastCollider::Create (const Rigidbody* ignoreAttachRigidbody)
+{
+	if (m_Shape)
+		Cleanup ();
+
+	NxCapsuleShapeDesc shapeDesc;
+	shapeDesc.radius = GetIsTrigger() ? kMinTriggerSize : RaycaseCollider_kMinSize;
+	shapeDesc.height = GetGlobalLength ();
+	shapeDesc.flags |= NX_SWEPT_SHAPE;
+	
+	FinalizeCreate (shapeDesc, true, ignoreAttachRigidbody);
+}
+
+void RaycastCollider::SetLength (float height)
+{
+	if (m_Length != height)
+	{
+		SetDirty ();
+		m_Length = height;
+	}
+	
+	if (GET_SHAPE ())
+		GET_SHAPE ()->setHeight (GetGlobalLength ());
+}
+
+void RaycastCollider::SetCenter (const Vector3f& center)
+{
+	if (m_Center != center)
+	{
+		m_Center = center;
+		SetDirty ();
+	}
+	
+	if (GET_SHAPE ())
+		TransformChanged (Transform::kRotationChanged | Transform::kPositionChanged);
+}
+
+void RaycastCollider::ScaleChanged ()
+{
+	PROFILE_MODIFY_STATIC_COLLIDER
+
+	NxCapsuleShape* shape = GET_SHAPE ();
+	shape->setHeight (GetGlobalLength ());
+}
+
+Matrix4x4f RaycastCollider::CalculateTransform () const
+{
+	Transform& transform = GetComponent (Transform);
+	Vector3f p = transform.TransformPoint (m_Center - Vector3f (0.0F, m_Length * .5F, 0.0F));
+
+	Quaternionf rotation = transform.GetRotation ();
+	rotation *= AxisAngleToQuaternion (Vector3f::xAxis, Deg2Rad (180));
+
+	Matrix4x4f matrix;
+	matrix.SetTR (p, rotation);
+
+	return matrix;
+}
+
+void RaycastCollider::FetchPoseFromTransform ()
+{
+	AssertIf (HasActorRigidbody ());
+	
+	Transform& transform = GetComponent (Transform);
+	Vector3f p = transform.TransformPoint (m_Center - Vector3f (0.0F, m_Length * .5F, 0.0F));
+	AssertFiniteParameter(p)
+	m_Shape->getActor().setGlobalPosition ((const NxVec3&)p);
+	
+	Quaternionf rotation = transform.GetRotation ();
+	rotation *= AxisAngleToQuaternion (Vector3f::xAxis, Deg2Rad (180));
+	
+	AssertFiniteParameter(rotation)
+	
+	m_Shape->getActor().setGlobalOrientationQuat ((const NxQuat&)rotation);
+}
+
+bool RaycastCollider::GetRelativeToParentPositionAndRotation (Transform& transform, Transform& anyParent, Matrix4x4f& matrix)
+{
+	Matrix4x4f childMatrix = CalculateTransform ();
+	Matrix4x4f parentMatrix = anyParent.GetWorldToLocalMatrixNoScale ();
+	MultiplyMatrices4x4 (&parentMatrix, &childMatrix, &matrix);
+	ErrorFiniteParameterReturnFalse(matrix)
+	return true;
+}
+
+void RaycastCollider::TransformChanged (int changeMask)
+{
+	if (m_Shape)
+	{
+		if (!m_Shape->getActor ().userData)
+		{
+			PROFILER_AUTO(gStaticColliderMove, this)
+			FetchPoseFromTransform ();
+		}
+		else
+		{
+			Rigidbody* body = (Rigidbody*)m_Shape->getActor ().userData;
+			Matrix4x4f matrix;
+			if (GetRelativeToParentPositionAndRotation (GetComponent (Transform), body->GetComponent (Transform), matrix))
+			{
+				NxMat34 shapeMatrix;
+				shapeMatrix.setColumnMajor44 (matrix.GetPtr ());
+				m_Shape->setLocalPose (shapeMatrix);
+			}
+		}
+		
+		if (changeMask & Transform::kScaleChanged)
+			ScaleChanged ();
+	}
+}
+
+void RaycastCollider::InitializeClass ()
+{
+	REGISTER_MESSAGE (RaycastCollider, kTransformChanged, TransformChanged, int);
+}
+
+template<class TransferFunction>
+void RaycastCollider::Transfer (TransferFunction& transfer) 
+{
+	Super::Transfer (transfer);
+	transfer.Align();
+	TRANSFER_SIMPLE (m_Center);
+	TRANSFER_SIMPLE (m_Length);
+}
+
+IMPLEMENT_CLASS_HAS_INIT (RaycastCollider)
+IMPLEMENT_OBJECT_SERIALIZE (RaycastCollider)
+
+#undef GET_SHAPE
+#endif //ENABLE_PHYSICS