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// Copyright (C) 2023 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
#include "qphysxactorbody_p.h"
#include "PxMaterial.h"
#include "PxPhysics.h"
#include "PxRigidDynamic.h"
#include "PxRigidActor.h"
#include "PxScene.h"
#include "physxnode/qphysxworld_p.h"
#include "qabstractphysicsbody_p.h"
#include "qheightfieldshape_p.h"
#include "qphysicsutils_p.h"
#include "qplaneshape_p.h"
#include "qstaticphysxobjects_p.h"
#define PHYSX_RELEASE(x) \
if (x != nullptr) { \
x->release(); \
x = nullptr; \
}
QT_BEGIN_NAMESPACE
static physx::PxTransform getPhysXLocalTransform(const QQuick3DNode *node)
{
// Modify transforms to make the PhysX shapes match the QtQuick3D conventions
if (qobject_cast<const QPlaneShape *>(node) != nullptr) {
// Rotate the plane to make it match the built-in rectangle
const QQuaternion rotation = QPhysicsUtils::kMinus90YawRotation * node->rotation();
return physx::PxTransform(QPhysicsUtils::toPhysXType(node->position()),
QPhysicsUtils::toPhysXType(rotation));
} else if (auto *hf = qobject_cast<const QHeightFieldShape *>(node)) {
// Shift the height field so it's centered at the origin
return physx::PxTransform(QPhysicsUtils::toPhysXType(node->position() + hf->hfOffset()),
QPhysicsUtils::toPhysXType(node->rotation()));
}
const QQuaternion &rotation = node->rotation();
const QVector3D &localPosition = node->position();
const QVector3D &scale = node->sceneScale();
return physx::PxTransform(QPhysicsUtils::toPhysXType(localPosition * scale),
QPhysicsUtils::toPhysXType(rotation));
}
QPhysXActorBody::QPhysXActorBody(QAbstractPhysicsNode *frontEnd) : QAbstractPhysXNode(frontEnd) { }
void QPhysXActorBody::cleanup(QPhysXWorld *physX)
{
if (actor) {
physX->scene->removeActor(*actor);
PHYSX_RELEASE(actor);
}
QAbstractPhysXNode::cleanup(physX);
}
void QPhysXActorBody::init(QPhysicsWorld * /*world*/, QPhysXWorld *physX)
{
Q_ASSERT(!actor);
createMaterial(physX);
createActor(physX);
actor->userData = reinterpret_cast<void *>(frontendNode);
physX->scene->addActor(*actor);
setShapesDirty(true);
}
void QPhysXActorBody::sync(float /*deltaTime*/,
QHash<QQuick3DNode *, QMatrix4x4> & /*transformCache*/)
{
auto *body = static_cast<QAbstractPhysicsBody *>(frontendNode);
if (QPhysicsMaterial *qtMaterial = body->physicsMaterial()) {
const float staticFriction = qtMaterial->staticFriction();
const float dynamicFriction = qtMaterial->dynamicFriction();
const float restitution = qtMaterial->restitution();
if (material->getStaticFriction() != staticFriction)
material->setStaticFriction(staticFriction);
if (material->getDynamicFriction() != dynamicFriction)
material->setDynamicFriction(dynamicFriction);
if (material->getRestitution() != restitution)
material->setRestitution(restitution);
}
}
void QPhysXActorBody::markDirtyShapes()
{
if (!frontendNode || !actor)
return;
// Go through the shapes and look for a change in pose (rotation, position)
// TODO: it is likely cheaper to connect a signal for changes on the position and rotation
// property and mark the node dirty then.
if (!shapesDirty()) {
const auto &collisionShapes = frontendNode->getCollisionShapesList();
const auto &physXShapes = shapes;
const int len = collisionShapes.size();
if (physXShapes.size() != len) {
// This should not really happen but check it anyway
setShapesDirty(true);
} else {
for (int i = 0; i < len; i++) {
auto poseNew = getPhysXLocalTransform(collisionShapes[i]);
auto poseOld = physXShapes[i]->getLocalPose();
if (!QPhysicsUtils::fuzzyEquals(poseNew, poseOld)) {
setShapesDirty(true);
break;
}
}
}
}
}
void QPhysXActorBody::rebuildDirtyShapes(QPhysicsWorld * /*world*/, QPhysXWorld *physX)
{
if (!shapesDirty())
return;
buildShapes(physX);
setShapesDirty(false);
}
void QPhysXActorBody::createActor(QPhysXWorld * /*physX*/)
{
auto &s_physx = StaticPhysXObjects::getReference();
const physx::PxTransform trf = QPhysicsUtils::toPhysXTransform(frontendNode->scenePosition(),
frontendNode->sceneRotation());
actor = s_physx.physics->createRigidDynamic(trf);
}
bool QPhysXActorBody::debugGeometryCapability()
{
return true;
}
physx::PxTransform QPhysXActorBody::getGlobalPose()
{
return actor->getGlobalPose();
}
void QPhysXActorBody::buildShapes(QPhysXWorld * /*physX*/)
{
auto body = actor;
for (auto *shape : shapes) {
body->detachShape(*shape);
PHYSX_RELEASE(shape);
}
// TODO: Only remove changed shapes?
shapes.clear();
for (const auto &collisionShape : frontendNode->getCollisionShapesList()) {
// TODO: shapes can be shared between multiple actors.
// Do we need to create new ones for every body?
auto *geom = collisionShape->getPhysXGeometry();
if (!geom || !material)
continue;
auto &s_physx = StaticPhysXObjects::getReference();
auto physXShape = s_physx.physics->createShape(*geom, *material);
if (useTriggerFlag()) {
physXShape->setFlag(physx::PxShapeFlag::eSIMULATION_SHAPE, false);
physXShape->setFlag(physx::PxShapeFlag::eTRIGGER_SHAPE, true);
}
{ // Setup filtering
physx::PxFilterData filterData;
filterData.word0 = frontendNode->filterGroup();
filterData.word1 = frontendNode->filterIgnoreGroups();
physXShape->setSimulationFilterData(filterData);
}
shapes.push_back(physXShape);
physXShape->setLocalPose(getPhysXLocalTransform(collisionShape));
body->attachShape(*physXShape);
}
// Filters are always clean after building shapes
setFiltersDirty(false);
}
void QPhysXActorBody::updateFilters()
{
if (!filtersDirty())
return;
// Go through all shapes and set the filter group and mask.
// TODO: What about shared shapes on several actors?
for (auto &physXShape : shapes) {
physx::PxFilterData filterData;
filterData.word0 = frontendNode->filterGroup();
filterData.word1 = frontendNode->filterIgnoreGroups();
physXShape->setSimulationFilterData(filterData);
}
setFiltersDirty(false);
}
QT_END_NAMESPACE
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