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#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
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