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// Copyright (C) 2021 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
#include "qphysicsworld_p.h"
#include "qphysicscommands_p.h"
#include "qphysicsutils_p.h"
#include "qdynamicrigidbody_p.h"
#include "PxPhysicsAPI.h"
QT_BEGIN_NAMESPACE
static bool isKinematicBody(physx::PxRigidBody &body)
{
return static_cast<bool>(body.getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC);
}
QPhysicsCommandApplyCentralForce::QPhysicsCommandApplyCentralForce(const QVector3D &inForce)
: QPhysicsCommand(), force(inForce)
{
}
void QPhysicsCommandApplyCentralForce::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
body.addForce(QPhysicsUtils::toPhysXType(force));
}
QPhysicsCommandApplyForce::QPhysicsCommandApplyForce(const QVector3D &inForce,
const QVector3D &inPosition)
: QPhysicsCommand(), force(inForce), position(inPosition)
{
}
void QPhysicsCommandApplyForce::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
physx::PxRigidBodyExt::addForceAtPos(body, QPhysicsUtils::toPhysXType(force),
QPhysicsUtils::toPhysXType(position));
}
QPhysicsCommandApplyTorque::QPhysicsCommandApplyTorque(const QVector3D &inTorque)
: QPhysicsCommand(), torque(inTorque)
{
}
void QPhysicsCommandApplyTorque::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
body.addTorque(QPhysicsUtils::toPhysXType(torque));
}
QPhysicsCommandApplyCentralImpulse::QPhysicsCommandApplyCentralImpulse(const QVector3D &inImpulse)
: QPhysicsCommand(), impulse(inImpulse)
{
}
void QPhysicsCommandApplyCentralImpulse::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
body.addForce(QPhysicsUtils::toPhysXType(impulse), physx::PxForceMode::eIMPULSE);
}
QPhysicsCommandApplyImpulse::QPhysicsCommandApplyImpulse(const QVector3D &inImpulse,
const QVector3D &inPosition)
: QPhysicsCommand(), impulse(inImpulse), position(inPosition)
{
}
void QPhysicsCommandApplyImpulse::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
physx::PxRigidBodyExt::addForceAtPos(body, QPhysicsUtils::toPhysXType(impulse),
QPhysicsUtils::toPhysXType(position),
physx::PxForceMode::eIMPULSE);
}
QPhysicsCommandApplyTorqueImpulse::QPhysicsCommandApplyTorqueImpulse(const QVector3D &inImpulse)
: QPhysicsCommand(), impulse(inImpulse)
{
}
void QPhysicsCommandApplyTorqueImpulse::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
if (isKinematicBody(body))
return;
body.addTorque(QPhysicsUtils::toPhysXType(impulse), physx::PxForceMode::eIMPULSE);
}
QPhysicsCommandSetAngularVelocity::QPhysicsCommandSetAngularVelocity(
const QVector3D &inAngularVelocity)
: QPhysicsCommand(), angularVelocity(inAngularVelocity)
{
}
void QPhysicsCommandSetAngularVelocity::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
body.setAngularVelocity(QPhysicsUtils::toPhysXType(angularVelocity));
}
QPhysicsCommandSetLinearVelocity::QPhysicsCommandSetLinearVelocity(
const QVector3D &inLinearVelocity)
: QPhysicsCommand(), linearVelocity(inLinearVelocity)
{
}
void QPhysicsCommandSetLinearVelocity::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
body.setLinearVelocity(QPhysicsUtils::toPhysXType(linearVelocity));
}
QPhysicsCommandSetMass::QPhysicsCommandSetMass(float inMass) : QPhysicsCommand(), mass(inMass) { }
void QPhysicsCommandSetMass::execute(const QDynamicRigidBody &rigidBody, physx::PxRigidBody &body)
{
if (rigidBody.hasStaticShapes()) {
qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
"ignoring.";
return;
}
physx::PxRigidBodyExt::setMassAndUpdateInertia(body, mass);
}
void QPhysicsCommandSetMassAndInertiaTensor::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
if (rigidBody.hasStaticShapes()) {
qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
"ignoring.";
return;
}
body.setMass(mass);
body.setCMassLocalPose(
physx::PxTransform(QPhysicsUtils::toPhysXType(rigidBody.centerOfMassPosition()),
QPhysicsUtils::toPhysXType(rigidBody.centerOfMassRotation())));
body.setMassSpaceInertiaTensor(QPhysicsUtils::toPhysXType(inertia));
}
QPhysicsCommandSetMassAndInertiaMatrix::QPhysicsCommandSetMassAndInertiaMatrix(
float inMass, const QMatrix3x3 &inInertia)
: QPhysicsCommand(), mass(inMass), inertia(inInertia)
{
}
void QPhysicsCommandSetMassAndInertiaMatrix::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
if (rigidBody.hasStaticShapes()) {
qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
"ignoring.";
return;
}
physx::PxQuat massFrame;
physx::PxVec3 diagTensor = physx::PxDiagonalize(QPhysicsUtils::toPhysXType(inertia), massFrame);
if ((diagTensor.x <= 0.0f) || (diagTensor.y <= 0.0f) || (diagTensor.z <= 0.0f))
return; // FIXME: print error?
body.setCMassLocalPose(physx::PxTransform(
QPhysicsUtils::toPhysXType(rigidBody.centerOfMassPosition()), massFrame));
body.setMass(mass);
body.setMassSpaceInertiaTensor(diagTensor);
}
QPhysicsCommandSetDensity::QPhysicsCommandSetDensity(float inDensity)
: QPhysicsCommand(), density(inDensity)
{
}
void QPhysicsCommandSetDensity::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
if (rigidBody.hasStaticShapes()) {
qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
"ignoring.";
return;
}
const float clampedDensity = qMax(0.0000001, density);
if (clampedDensity != density) {
qWarning() << "Clamping density " << density;
return;
}
physx::PxRigidBodyExt::updateMassAndInertia(body, clampedDensity);
}
QPhysicsCommandSetIsKinematic::QPhysicsCommandSetIsKinematic(bool inIsKinematic)
: QPhysicsCommand(), isKinematic(inIsKinematic)
{
}
void QPhysicsCommandSetIsKinematic::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
if (rigidBody.hasStaticShapes() && !isKinematic) {
qWarning() << "Cannot make a body containing trimesh/heightfield/plane non-kinematic, "
"ignoring.";
return;
}
body.setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, isKinematic);
}
QPhysicsCommandSetGravityEnabled::QPhysicsCommandSetGravityEnabled(bool inGravityEnabled)
: QPhysicsCommand(), gravityEnabled(inGravityEnabled)
{
}
void QPhysicsCommandSetGravityEnabled::execute(const QDynamicRigidBody &rigidBody,
physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
body.setActorFlag(physx::PxActorFlag::eDISABLE_GRAVITY, !gravityEnabled);
}
QPhysicsCommandReset::QPhysicsCommandReset(QVector3D inPosition, QVector3D inEulerRotation)
: QPhysicsCommand(), position(inPosition), eulerRotation(inEulerRotation)
{
}
void QPhysicsCommandReset::execute(const QDynamicRigidBody &rigidBody, physx::PxRigidBody &body)
{
Q_UNUSED(rigidBody)
body.setLinearVelocity(physx::PxVec3(0, 0, 0));
body.setAngularVelocity(physx::PxVec3(0, 0, 0));
auto *parentNode = rigidBody.parentNode();
QVector3D scenePosition = parentNode ? parentNode->mapPositionToScene(position) : position;
// TODO: rotation also needs to be mapped
body.setGlobalPose(physx::PxTransform(
QPhysicsUtils::toPhysXType(scenePosition),
QPhysicsUtils::toPhysXType(QQuaternion::fromEulerAngles(eulerRotation))));
}
QPhysicsCommandSetMassAndInertiaTensor::QPhysicsCommandSetMassAndInertiaTensor(
float inMass, const QVector3D &inInertia)
: QPhysicsCommand(), mass(inMass), inertia(inInertia)
{
}
QT_END_NAMESPACE
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