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// Copyright (C) 2023 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
#include "qphysxdynamicbody_p.h"
#include "PxRigidDynamic.h"
#include "qphysicscommands_p.h"
#include "qphysicsutils_p.h"
#include "qphysicsworld_p.h"
#include "qabstractphysicsbody_p.h"
#include "qdynamicrigidbody_p.h"
QT_BEGIN_NAMESPACE
static void processCommandQueue(QQueue<QPhysicsCommand *> &commandQueue,
const QDynamicRigidBody &rigidBody, physx::PxRigidBody &body)
{
for (auto command : commandQueue) {
command->execute(rigidBody, body);
delete command;
}
commandQueue.clear();
}
static QMatrix4x4 calculateKinematicNodeTransform(QQuick3DNode *node,
QHash<QQuick3DNode *, QMatrix4x4> &transformCache)
{
// already calculated transform
if (transformCache.contains(node))
return transformCache[node];
QMatrix4x4 localTransform;
// DynamicRigidBody vs StaticRigidBody use different values for calculating the local transform
if (auto drb = qobject_cast<const QDynamicRigidBody *>(node); drb != nullptr) {
if (!drb->isKinematic()) {
qWarning() << "Non-kinematic body as a parent of a kinematic body is unsupported";
}
localTransform = QSSGRenderNode::calculateTransformMatrix(
drb->kinematicPosition(), drb->scale(), drb->kinematicPivot(),
drb->kinematicRotation());
} else {
localTransform = QSSGRenderNode::calculateTransformMatrix(node->position(), node->scale(),
node->pivot(), node->rotation());
}
QQuick3DNode *parent = node->parentNode();
if (!parent) // no parent, local transform is scene transform
return localTransform;
// calculate the parent scene transform and apply the nodes local transform
QMatrix4x4 parentTransform = calculateKinematicNodeTransform(parent, transformCache);
QMatrix4x4 sceneTransform = parentTransform * localTransform;
transformCache[node] = sceneTransform;
return sceneTransform;
}
static physx::PxRigidDynamicLockFlags getLockFlags(QDynamicRigidBody *body)
{
const auto lockAngular = body->angularAxisLock();
const auto lockLinear = body->linearAxisLock();
const int flags = (lockAngular & QDynamicRigidBody::AxisLock::LockX
? physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_X
: 0)
| (lockAngular & QDynamicRigidBody::AxisLock::LockY
? physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y
: 0)
| (lockAngular & QDynamicRigidBody::AxisLock::LockZ
? physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z
: 0)
| (lockLinear & QDynamicRigidBody::AxisLock::LockX
? physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X
: 0)
| (lockLinear & QDynamicRigidBody::AxisLock::LockY
? physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y
: 0)
| (lockLinear & QDynamicRigidBody::AxisLock::LockZ
? physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Z
: 0);
return static_cast<physx::PxRigidDynamicLockFlags>(flags);
}
static physx::PxTransform getPhysXWorldTransform(const QMatrix4x4 transform)
{
auto rotationMatrix = transform;
QSSGUtils::mat44::normalize(rotationMatrix);
auto rotation =
QQuaternion::fromRotationMatrix(QSSGUtils::mat44::getUpper3x3(rotationMatrix)).normalized();
const QVector3D worldPosition = QSSGUtils::mat44::getPosition(transform);
return physx::PxTransform(QPhysicsUtils::toPhysXType(worldPosition),
QPhysicsUtils::toPhysXType(rotation));
}
QPhysXDynamicBody::QPhysXDynamicBody(QDynamicRigidBody *frontEnd) : QPhysXRigidBody(frontEnd) { }
DebugDrawBodyType QPhysXDynamicBody::getDebugDrawBodyType()
{
auto *dynamicRigidBody = static_cast<QDynamicRigidBody *>(frontendNode);
return dynamicRigidBody->isSleeping() ? DebugDrawBodyType::DynamicSleeping
: DebugDrawBodyType::DynamicAwake;
}
void QPhysXDynamicBody::sync(float deltaTime, QHash<QQuick3DNode *, QMatrix4x4> &transformCache)
{
auto *dynamicRigidBody = static_cast<QDynamicRigidBody *>(frontendNode);
// first update front end node from physx simulation
dynamicRigidBody->updateFromPhysicsTransform(actor->getGlobalPose());
auto *dynamicActor = static_cast<physx::PxRigidDynamic *>(actor);
processCommandQueue(dynamicRigidBody->commandQueue(), *dynamicRigidBody, *dynamicActor);
if (dynamicRigidBody->isKinematic()) {
// Since this is a kinematic body we need to calculate the transform by hand and since
// bodies can occur in other bodies we need to calculate the tranform recursively for all
// parents. To save some computation we cache these transforms in 'transformCache'.
QMatrix4x4 transform = calculateKinematicNodeTransform(dynamicRigidBody, transformCache);
dynamicActor->setKinematicTarget(getPhysXWorldTransform(transform));
} else {
dynamicActor->setRigidDynamicLockFlags(getLockFlags(dynamicRigidBody));
}
const bool disabledPrevious = actor->getActorFlags() & physx::PxActorFlag::eDISABLE_SIMULATION;
const bool disabled = !dynamicRigidBody->simulationEnabled();
if (disabled != disabledPrevious) {
actor->setActorFlag(physx::PxActorFlag::eDISABLE_SIMULATION, disabled);
if (!disabled && !dynamicRigidBody->isKinematic())
dynamicActor->wakeUp();
}
dynamicRigidBody->setIsSleeping(dynamicActor->isSleeping());
QPhysXActorBody::sync(deltaTime, transformCache);
}
void QPhysXDynamicBody::rebuildDirtyShapes(QPhysicsWorld *world, QPhysXWorld *physX)
{
if (!shapesDirty())
return;
buildShapes(physX);
QDynamicRigidBody *drb = static_cast<QDynamicRigidBody *>(frontendNode);
// Density must be set after shapes so the inertia tensor is set
if (!drb->hasStaticShapes()) {
// Body with only dynamic shapes, set/calculate mass
QPhysicsCommand *command = nullptr;
switch (drb->massMode()) {
case QDynamicRigidBody::MassMode::DefaultDensity: {
command = new QPhysicsCommandSetDensity(world->defaultDensity());
break;
}
case QDynamicRigidBody::MassMode::CustomDensity: {
command = new QPhysicsCommandSetDensity(drb->density());
break;
}
case QDynamicRigidBody::MassMode::Mass: {
const float mass = qMax(drb->mass(), 0.f);
command = new QPhysicsCommandSetMass(mass);
break;
}
case QDynamicRigidBody::MassMode::MassAndInertiaTensor: {
const float mass = qMax(drb->mass(), 0.f);
command = new QPhysicsCommandSetMassAndInertiaTensor(mass, drb->inertiaTensor());
break;
}
case QDynamicRigidBody::MassMode::MassAndInertiaMatrix: {
const float mass = qMax(drb->mass(), 0.f);
command = new QPhysicsCommandSetMassAndInertiaMatrix(mass, drb->inertiaMatrix());
break;
}
}
drb->commandQueue().enqueue(command);
} else if (!drb->isKinematic()) {
// Body with static shapes that is not kinematic, this is disallowed
qWarning() << "Cannot make body containing trimesh/heightfield/plane non-kinematic, "
"forcing kinematic.";
drb->setIsKinematic(true);
}
const bool isKinematic = drb->isKinematic();
auto *dynamicBody = static_cast<physx::PxRigidDynamic *>(actor);
dynamicBody->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, isKinematic);
if (world->enableCCD()) {
// Regular sweep-based CCD is only available for non-kinematic bodies but speculative CCD
// is available for kinematic bodies so we use that.
dynamicBody->setRigidBodyFlag(physx::PxRigidBodyFlag::eENABLE_CCD, !isKinematic);
dynamicBody->setRigidBodyFlag(physx::PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD, isKinematic);
}
setShapesDirty(false);
}
void QPhysXDynamicBody::updateDefaultDensity(float density)
{
QDynamicRigidBody *rigidBody = static_cast<QDynamicRigidBody *>(frontendNode);
rigidBody->updateDefaultDensity(density);
}
QT_END_NAMESPACE
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