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#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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