protected override void OnUpdateContactGroups(int group0, int group1, bool makeContacts)
{
if (nativeScene != IntPtr.Zero)
{
PhysXNativeScene.SetGroupCollisionFlag(nativeScene, group0, group1, makeContacts);
}
}
protected override RayCastResult OnRayCast(Ray ray, int contactGroup)
{
if (float.IsNaN(ray.Origin.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Origin.X)");
}
if (float.IsNaN(ray.Direction.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Direction.X)");
}
if (ray.Direction == Vec3.Zero)
{
return(new RayCastResult());
}
Vec3 normalDir = ray.Direction;
float length = normalDir.Normalize();
Vec3 origin = ray.Origin;
int count = PhysXNativeWrapper.PhysXNativeScene.RayCast(nativeScene, ref origin, ref normalDir, length,
GetContactGroupMask(contactGroup), false);
if (count == 0)
{
return(new RayCastResult());
}
unsafe
{
NativeRayCastResult *results = PhysXNativeScene.GetLastRayCastResults(nativeScene);
NativeRayCastResult *nativeResult = results;
return(GetRayCastResultFromNative(nativeResult));
}
}
unsafe public override void SetShapePairFlags(Shape shape1, Shape shape2, ShapePairFlags flags)
{
base.SetShapePairFlags(shape1, shape2, flags);
Body body1 = shape1.Body;
Body body2 = shape2.Body;
if (body1.PushedToWorld && body2.PushedToWorld)
{
PhysXBody physXBody1 = (PhysXBody)body1;
PhysXBody physXBody2 = (PhysXBody)body2;
if (physXBody1.nativeBody != IntPtr.Zero && physXBody2.nativeBody != IntPtr.Zero)
{
PhysXBody.ShapeData shapeData1 = physXBody1.shapesData[shape1.BodyIndex];
PhysXBody.ShapeData shapeData2 = physXBody2.shapesData[shape2.BodyIndex];
bool disableContacts = (flags & ShapePairFlags.DisableContacts) != 0;
foreach (IntPtr nativeShape1 in shapeData1.nativeShapes)
{
foreach (IntPtr nativeShape2 in shapeData2.nativeShapes)
{
PhysXNativeScene.SetShapePairFlags(physXBody1.scene.nativeScene, nativeShape1, nativeShape2,
disableContacts);
}
}
}
}
}
protected override void OnUpdateEnableDebugVisualization()
{
base.OnUpdateEnableDebugVisualization();
PhysXNativeScene.SetEnableDebugVisualization(nativeScene, _EnableDebugVisualization);
foreach (IPhysXJoint joint in Joints)
{
joint.SetVisualizationEnable(_EnableDebugVisualization);
}
}
protected override Body[] OnVolumeCast(Sphere sphere, int contactGroup)
{
Vec3 origin = sphere.Origin;
int shapeCount = PhysXNativeScene.OverlapSphereShapes(nativeScene, ref origin, sphere.Radius,
GetContactGroupMask(contactGroup));
if (shapeCount == 0)
{
return(emptyVolumeCastResult);
}
return(GetBodiesFromVolumeCastResult(shapeCount));
}
protected override Body[] OnVolumeCast(Capsule capsule, int contactGroup)
{
Vec3 origin = capsule.GetCenter();
Quat rotation = Quat.FromDirectionZAxisUp(capsule.GetDirection());
int shapeCount = PhysXNativeScene.OverlapCapsuleShapes(nativeScene, ref origin, ref rotation, capsule.Radius,
capsule.GetLength() * .5f, GetContactGroupMask(contactGroup));
if (shapeCount == 0)
{
return(emptyVolumeCastResult);
}
return(GetBodiesFromVolumeCastResult(shapeCount));
}
protected override void OnSimulationStep()
{
//Vehicles
// Take a simulation step.
PhysXNativeScene.Simulate(nativeScene, StepSize);
// Fetch simulation results
if (!PhysXNativeScene.FetchResults(nativeScene, true))
{
Log.Fatal("PhysXPhysicsScene: OnSimulationStep: Error while PhysX fetching results.");
}
//we can get list of not sleeping bodies from PhysX.
//joints too?
//update from PhysX
foreach (Body body in Bodies)
{
PhysXBody physXBody = (PhysXBody)body;
if (!body.Static)
{
physXBody.UpdateDataFromLibrary();
}
}
foreach (IPhysXJoint joint in Joints)
{
joint.UpdateDataFromLibrary();
}
if (EnableCollisionEvents)
{
IntPtr contactList;
int contactCount;
PhysXNativeScene.GetContactReportList(nativeScene, out contactList, out contactCount);
unsafe
{
ContactReport *pContact = (ContactReport *)contactList;
for (int n = 0; n < contactCount; n++)
{
Shape shape1 = PhysXPhysicsWorld.Instance.GetShapeByIdentifier(pContact->shapeIndex1);
Shape shape2 = PhysXPhysicsWorld.Instance.GetShapeByIdentifier(pContact->shapeIndex2);
Vec3 contactPoint = pContact->contactPoint;
Vec3 normal = pContact->normal;
AddCollisionEvent(shape1, shape2, ref contactPoint, ref normal, -pContact->separation);
pContact++;
}
}
}
}
protected override Body[] OnVolumeCast(Box box, int contactGroup)
{
Vec3 origin = box.Center;
Vec3 halfExtents = box.Extents;
Quat rotation = box.Axis.ToQuat();
int shapeCount = PhysXNativeScene.OverlapOBBShapes(nativeScene, ref origin, ref halfExtents, ref rotation,
GetContactGroupMask(contactGroup));
if (shapeCount == 0)
{
return(emptyVolumeCastResult);
}
return(GetBodiesFromVolumeCastResult(shapeCount));
}
protected override Body[] OnVolumeCast(Bounds bounds, int contactGroup)
{
Vec3 origin = bounds.GetCenter();
Vec3 halfExtents = bounds.GetSize() * .5f;
Quat rotation = Quat.Identity;
int shapeCount = PhysXNativeScene.OverlapOBBShapes(nativeScene, ref origin, ref halfExtents, ref rotation,
GetContactGroupMask(contactGroup));
if (shapeCount == 0)
{
return(emptyVolumeCastResult);
}
return(GetBodiesFromVolumeCastResult(shapeCount));
}
unsafe protected override Line[] OnGetDebugVisualizationData()
{
int lineCount;
PhysXNativeScene.GetDebugVisualizationData(nativeScene, out lineCount, IntPtr.Zero);
if (lineCount == 0)
{
return(null);
}
Line[] lines = new Line[lineCount];
fixed(Line *pLines = lines)
{
PhysXNativeScene.GetDebugVisualizationData(nativeScene, out lineCount, (IntPtr)pLines);
}
return(lines);
}
unsafe protected override RayCastResult[] OnRayCastPiercing(Ray ray, int contactGroup)
{
if (float.IsNaN(ray.Origin.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Origin.X)");
}
if (float.IsNaN(ray.Direction.X))
{
Log.Fatal("PhysicsWorld.RayCast: Single.IsNaN(ray.Direction.X)");
}
if (ray.Direction == Vec3.Zero)
{
return(emptyPiercingRayCastResult);
}
Vec3 normalDir = ray.Direction;
float length = normalDir.Normalize();
Vec3 origin = ray.Origin;
int count = PhysXNativeWrapper.PhysXNativeScene.RayCast(nativeScene, ref origin, ref normalDir,
length, GetContactGroupMask(contactGroup), true);
if (count == 0)
{
return(emptyPiercingRayCastResult);
}
NativeRayCastResult *results = PhysXNativeScene.GetLastRayCastResults(nativeScene);
RayCastResult[] items = new RayCastResult[count];
NativeRayCastResult *nativeResult = results;
for (int n = 0; n < count; n++)
{
items[n] = GetRayCastResultFromNative(nativeResult);
nativeResult++;
}
return(items);
}
unsafe Body[] GetBodiesFromVolumeCastResult(int shapeCount)
{
int *shapeIdentifiers = PhysXNativeScene.GetLastVolumeCastShapeIdentifiers(nativeScene);
for (int n = 0; n < shapeCount; n++)
{
Shape shape = PhysXPhysicsWorld.Instance.GetShapeByIdentifier(shapeIdentifiers[n]);
tempSetOfBodies.AddWithCheckAlreadyContained(shape.Body);
}
Body[] result = new Body[tempSetOfBodies.Count];
tempSetOfBodies.CopyTo(result, 0);
//clear and shrink tempSetOfBodies
{
if (tempSetOfBodies.Count > tempSetOfBodiesMaxSize)
{
tempSetOfBodiesMaxSize = tempSetOfBodies.Count;
}
if (tempSetOfBodies.Count * 2 < tempSetOfBodiesMaxSize)
{
tempSetOfBodiesShrinkCounter++;
if (tempSetOfBodiesShrinkCounter == 100)
{
tempSetOfBodies = new Set <Body>(64);
tempSetOfBodiesMaxSize = 0;
}
}
else
{
tempSetOfBodiesShrinkCounter = 0;
}
tempSetOfBodies.Clear();
}
return(result);
}
unsafe void UpdateGravity()
{
Vec3 value = Gravity;
PhysXNativeScene.SetGravity(nativeScene, ref value);
}
