feat(physics): wire physx sdk into build
This commit is contained in:
191
engine/third_party/physx/source/physxcharacterkinematic/src/CctCapsuleController.cpp
vendored
Normal file
191
engine/third_party/physx/source/physxcharacterkinematic/src/CctCapsuleController.cpp
vendored
Normal file
@@ -0,0 +1,191 @@
|
||||
// Redistribution and use in source and binary forms, with or without
|
||||
// modification, are permitted provided that the following conditions
|
||||
// are met:
|
||||
// * Redistributions of source code must retain the above copyright
|
||||
// notice, this list of conditions and the following disclaimer.
|
||||
// * Redistributions in binary form must reproduce the above copyright
|
||||
// notice, this list of conditions and the following disclaimer in the
|
||||
// documentation and/or other materials provided with the distribution.
|
||||
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||||
// contributors may be used to endorse or promote products derived
|
||||
// from this software without specific prior written permission.
|
||||
//
|
||||
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||||
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||||
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||||
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||||
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||||
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
//
|
||||
// Copyright (c) 2008-2025 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 "geometry/PxCapsuleGeometry.h"
|
||||
#include "PxRigidDynamic.h"
|
||||
#include "PxShape.h"
|
||||
#include "characterkinematic/PxController.h"
|
||||
#include "CctCapsuleController.h"
|
||||
#include "CctCharacterControllerManager.h"
|
||||
|
||||
using namespace physx;
|
||||
using namespace Cct;
|
||||
|
||||
static PX_FORCE_INLINE float CCTtoProxyRadius(float r, PxF32 coeff) { return r * coeff; }
|
||||
static PX_FORCE_INLINE float CCTtoProxyHeight(float h, PxF32 coeff) { return 0.5f * h * coeff; }
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
CapsuleController::CapsuleController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
|
||||
{
|
||||
mType = PxControllerShapeType::eCAPSULE;
|
||||
|
||||
const PxCapsuleControllerDesc& cc = static_cast<const PxCapsuleControllerDesc&>(desc);
|
||||
|
||||
mRadius = cc.radius;
|
||||
mHeight = cc.height;
|
||||
mClimbingMode = cc.climbingMode;
|
||||
|
||||
// Create kinematic actor under the hood
|
||||
PxCapsuleGeometry capsGeom;
|
||||
capsGeom.radius = CCTtoProxyRadius(cc.radius, mProxyScaleCoeff);
|
||||
capsGeom.halfHeight = CCTtoProxyHeight(cc.height, mProxyScaleCoeff);
|
||||
|
||||
createProxyActor(sdk, capsGeom, *desc.material, desc.clientID);
|
||||
}
|
||||
|
||||
CapsuleController::~CapsuleController()
|
||||
{
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
void CapsuleController::invalidateCache()
|
||||
{
|
||||
if(mManager->mLockingEnabled)
|
||||
mWriteLock.lock();
|
||||
|
||||
mCctModule.voidTestCache();
|
||||
|
||||
if(mManager->mLockingEnabled)
|
||||
mWriteLock.unlock();
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
bool CapsuleController::getWorldBox(PxExtendedBounds3& box) const
|
||||
{
|
||||
setCenterExtents(box, mPosition, PxVec3(mRadius, mRadius+mHeight*0.5f, mRadius));
|
||||
return true;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
bool CapsuleController::setRadius(PxF32 r)
|
||||
{
|
||||
// Set radius for CCT volume
|
||||
mRadius = r;
|
||||
|
||||
// Set radius for kinematic proxy
|
||||
if(mKineActor)
|
||||
{
|
||||
PxShape* shape = getKineShape();
|
||||
|
||||
const PxGeometry& geom = shape->getGeometry();
|
||||
PX_ASSERT(geom.getType() == PxGeometryType::eCAPSULE);
|
||||
PxCapsuleGeometry cg = static_cast<const PxCapsuleGeometry&>(geom);
|
||||
|
||||
cg.radius = CCTtoProxyRadius(r, mProxyScaleCoeff);
|
||||
shape->setGeometry(cg);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
bool CapsuleController::setHeight(PxF32 h)
|
||||
{
|
||||
// Set height for CCT volume
|
||||
mHeight = h;
|
||||
|
||||
// Set height for kinematic proxy
|
||||
if(mKineActor)
|
||||
{
|
||||
PxShape* shape = getKineShape();
|
||||
|
||||
const PxGeometry& geom = shape->getGeometry();
|
||||
PX_ASSERT(geom.getType() == PxGeometryType::eCAPSULE);
|
||||
PxCapsuleGeometry cg = static_cast<const PxCapsuleGeometry&>(geom);
|
||||
|
||||
cg.halfHeight = CCTtoProxyHeight(h, mProxyScaleCoeff);
|
||||
shape->setGeometry(cg);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
PxCapsuleClimbingMode::Enum CapsuleController::getClimbingMode() const
|
||||
{
|
||||
return mClimbingMode;
|
||||
}
|
||||
|
||||
bool CapsuleController::setClimbingMode(PxCapsuleClimbingMode::Enum mode)
|
||||
{
|
||||
if(mode>=PxCapsuleClimbingMode::eLAST)
|
||||
return false;
|
||||
mClimbingMode = mode;
|
||||
return true;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
PxExtendedVec3 CapsuleController::getFootPosition() const
|
||||
{
|
||||
PxExtendedVec3 groundPosition = mPosition; // Middle of the CCT
|
||||
sub(groundPosition, mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f)); // Ground
|
||||
return groundPosition;
|
||||
}
|
||||
|
||||
bool CapsuleController::setFootPosition(const PxExtendedVec3& position)
|
||||
{
|
||||
PxExtendedVec3 centerPosition = position;
|
||||
add(centerPosition, mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f));
|
||||
return setPosition(centerPosition);
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
void CapsuleController::getCapsule(PxExtendedCapsule& capsule) const
|
||||
{
|
||||
// PT: TODO: optimize this
|
||||
PxExtendedVec3 p0 = mPosition;
|
||||
PxExtendedVec3 p1 = mPosition;
|
||||
const PxVec3 extents = mUserParams.mUpDirection*mHeight*0.5f;
|
||||
sub(p0, extents);
|
||||
add(p1, extents);
|
||||
|
||||
capsule.p0 = p0;
|
||||
capsule.p1 = p1;
|
||||
capsule.radius = mRadius;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
void CapsuleController::resize(PxReal height)
|
||||
{
|
||||
const float oldHeight = getHeight();
|
||||
setHeight(height);
|
||||
|
||||
const float delta = height - oldHeight;
|
||||
PxExtendedVec3 pos = getPosition();
|
||||
add(pos, mUserParams.mUpDirection * delta * 0.5f);
|
||||
setPosition(pos);
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
Reference in New Issue
Block a user