C++ FBodyInstance::GetPxRigidDynamic方法代码示例

void FPhysSubstepTask::SubstepInterpolation(float InAlpha)
{
#if WITH_PHYSX
#if WITH_APEX
	PxScene * PScene = PAScene->getPhysXScene();
#else
	PxScene * PScene = PAScene;
#endif

	PhysTargetMap & Targets = PhysTargetBuffers[!External];

	/** Note: We lock the entire scene before iterating. The assumption is that removing an FBodyInstance from the map will also be wrapped by this lock */
	SCENE_LOCK_WRITE(PScene);

	for (PhysTargetMap::TIterator Itr = Targets.CreateIterator(); Itr; ++Itr)
	{
		FPhysTarget & PhysTarget = Itr.Value();
		FBodyInstance* BodyInstance = Itr.Key();
		PxRigidDynamic * PRigidDynamic = BodyInstance->GetPxRigidDynamic();

		if (PRigidDynamic == NULL)
		{
			continue;
		}

		//We should only be iterating over actors that belong to this scene
		check(PRigidDynamic->getScene() == PScene);

		ApplyForces(PhysTarget, BodyInstance);
		ApplyTorques(PhysTarget, BodyInstance);
		InterpolateKinematicActor(PhysTarget, BodyInstance, InAlpha);
	}

	/** Final substep */
	if (InAlpha >= 1.f)
	{
		Targets.Empty(Targets.Num());
	}

	SCENE_UNLOCK_WRITE(PScene);
#endif
}

void UPhysicsHandleComponent::GrabComponent(UPrimitiveComponent* InComponent, FName InBoneName, FVector Location, bool bConstrainRotation)
{
	// If we are already holding something - drop it first.
	if(GrabbedComponent != NULL)
	{
		ReleaseComponent();
	}

	if(!InComponent)
	{
		return;
	}

#if WITH_PHYSX
	// Get the PxRigidDynamic that we want to grab.
	FBodyInstance* BodyInstance = InComponent->GetBodyInstance(InBoneName);
	if (!BodyInstance)
	{
		return;
	}

	PxRigidDynamic* Actor = BodyInstance->GetPxRigidDynamic();
	if (!Actor)
		return;

	// Get the scene the PxRigidDynamic we want to grab is in.
	PxScene* Scene = Actor->getScene();
	check(Scene);

	// Get transform of actor we are grabbing
	PxVec3 KinLocation = U2PVector(Location);
	PxTransform GrabbedActorPose = Actor->getGlobalPose();
	PxTransform KinPose(KinLocation, GrabbedActorPose.q);

	// set target and current, so we don't need another "Tick" call to have it right
	TargetTransform = CurrentTransform = P2UTransform(KinPose);

	// If we don't already have a handle - make one now.
	if (!HandleData)
	{
		// Create kinematic actor we are going to create joint with. This will be moved around with calls to SetLocation/SetRotation.
		PxRigidDynamic* KinActor = Scene->getPhysics().createRigidDynamic(KinPose);
		KinActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
		KinActor->setMass(1.0f);
		KinActor->setMassSpaceInertiaTensor(PxVec3(1.0f, 1.0f, 1.0f));

		// No bodyinstance
		KinActor->userData = NULL;

		// Add to Scene
		Scene->addActor(*KinActor);

		// Save reference to the kinematic actor.
		KinActorData = KinActor;
		
		// Create the joint
		PxVec3 LocalHandlePos = GrabbedActorPose.transformInv(KinLocation);
		PxD6Joint* NewJoint = PxD6JointCreate(Scene->getPhysics(), KinActor, PxTransform::createIdentity(), Actor, PxTransform(LocalHandlePos));

		if(!NewJoint)
		{
			HandleData = 0;
		}
		else
		{
			// No constraint instance
			NewJoint->userData = NULL;
			HandleData = NewJoint;

			// Remember the scene index that the handle joint/actor are in.
			FPhysScene* RBScene = FPhysxUserData::Get<FPhysScene>(Scene->userData);
			const uint32 SceneType = InComponent->BodyInstance.UseAsyncScene() ? PST_Async : PST_Sync;
			SceneIndex = RBScene->PhysXSceneIndex[SceneType];

			// Setting up the joint
			NewJoint->setMotion(PxD6Axis::eX, PxD6Motion::eFREE);
			NewJoint->setMotion(PxD6Axis::eY, PxD6Motion::eFREE);
			NewJoint->setMotion(PxD6Axis::eZ, PxD6Motion::eFREE);

			NewJoint->setDrive(PxD6Drive::eX, PxD6JointDrive(LinearStiffness, LinearDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));
			NewJoint->setDrive(PxD6Drive::eY, PxD6JointDrive(LinearStiffness, LinearDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));
			NewJoint->setDrive(PxD6Drive::eZ, PxD6JointDrive(LinearStiffness, LinearDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));
			NewJoint->setDrivePosition(PxTransform(PxVec3(0,0,0)));


			NewJoint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
			NewJoint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
			NewJoint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
			
			bRotationConstrained = bConstrainRotation;
			
			if (bRotationConstrained)
			{
				NewJoint->setDrive(PxD6Drive::eSLERP, PxD6JointDrive(AngularStiffness, AngularDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));

				//NewJoint->setDrive(PxD6Drive::eTWIST, PxD6JointDrive(AngularStiffness, AngularDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));
				//NewJoint->setDrive(PxD6Drive::eSWING, PxD6JointDrive(AngularStiffness, AngularDamping, PX_MAX_F32, PxD6JointDriveFlag::eACCELERATION));
				
				//PosJointDesc.setGlobalAxis(NxVec3(0,0,1));
			}
//.........这里部分代码省略.........