C++ PxRigidDynamic::getRigidDynamicFlags方法代码示例

void AddRadialForceToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff)
{
#if WITH_PHYSX
	if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
	{
		float Mass = PRigidDynamic.getMass();
		PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
		PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
		PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
		PxVec3 PDelta = PCOMPos - POrigin; // vector from

		float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?

		// If COM is outside radius, do nothing.
		if (Mag > Radius)
		{
			return;
		}

		PDelta.normalize();

		// If using linear falloff, scale with distance.
		float ForceMag = Strength;
		if (Falloff == RIF_Linear)
		{
			ForceMag *= (1.0f - (Mag / Radius));
		}

		// Apply force
		PxVec3 PImpulse = PDelta * ForceMag;
		PRigidDynamic.addForce(PImpulse, PxForceMode::eFORCE);
	}
#endif // WITH_PHYSX
}

void AddRadialImpulseToPxRigidDynamic(PxRigidDynamic& PRigidDynamic, const FVector& Origin, float Radius, float Strength, uint8 Falloff, bool bVelChange)
{
#if WITH_PHYSX
	if (!(PRigidDynamic.getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC))
	{
		float Mass = PRigidDynamic.getMass();
		PxTransform PCOMTransform = PRigidDynamic.getGlobalPose().transform(PRigidDynamic.getCMassLocalPose());
		PxVec3 PCOMPos = PCOMTransform.p; // center of mass in world space
		PxVec3 POrigin = U2PVector(Origin); // origin of radial impulse, in world space
		PxVec3 PDelta = PCOMPos - POrigin; // vector from origin to COM

		float Mag = PDelta.magnitude(); // Distance from COM to origin, in Unreal scale : @todo: do we still need conversion scale?

		// If COM is outside radius, do nothing.
		if (Mag > Radius)
		{
			return;
		}

		PDelta.normalize();

		// Scale by U2PScale here, because units are velocity * mass. 
		float ImpulseMag = Strength;
		if (Falloff == RIF_Linear)
		{
			ImpulseMag *= (1.0f - (Mag / Radius));
		}

		PxVec3 PImpulse = PDelta * ImpulseMag;

		PxForceMode::Enum Mode = bVelChange ? PxForceMode::eVELOCITY_CHANGE : PxForceMode::eIMPULSE;
		PRigidDynamic.addForce(PImpulse, Mode);
	}
#endif // WITH_PHYSX
}

static PxRigidDynamic* canDoCCD(PxShape* shape)
{
	PxActor& actor = shape->getActor();

	PxRigidDynamic* dyna = actor.is<PxRigidDynamic>();
	if(!dyna)
		return NULL;	// PT: no need to do it for statics

	const PxU32 nbShapes = dyna->getNbShapes();
	if(nbShapes!=1)
		return NULL;	// PT: only works with simple actors for now

	if(dyna->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC)
		return NULL;	// PT: no need to do it for kinematics

	return dyna;
}

PxRigidDynamic* CloneDynamic(PxPhysics& physicsSDK, 
							   const PxTransform& transform,
							   const PxRigidDynamic& from,
							   NxMirrorScene::MirrorFilter &mirrorFilter)
{
	PxRigidDynamic* to = physicsSDK.createRigidDynamic(transform);
	if(!to)
		return NULL;

	if ( !copyStaticProperties(*to, from, mirrorFilter) )
	{
		to->release();
		to = NULL;
		return NULL;
	}

	to->setRigidDynamicFlags(from.getRigidDynamicFlags());

	to->setMass(from.getMass());
	to->setMassSpaceInertiaTensor(from.getMassSpaceInertiaTensor());
	to->setCMassLocalPose(from.getCMassLocalPose());

	if ( !(to->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC) )
	{
		to->setLinearVelocity(from.getLinearVelocity());
		to->setAngularVelocity(from.getAngularVelocity());
	}

	to->setLinearDamping(from.getAngularDamping());
	to->setAngularDamping(from.getAngularDamping());

	to->setMaxAngularVelocity(from.getMaxAngularVelocity());

	PxU32 posIters, velIters;
	from.getSolverIterationCounts(posIters, velIters);
	to->setSolverIterationCounts(posIters, velIters);

	to->setSleepThreshold(from.getSleepThreshold());

	to->setContactReportThreshold(from.getContactReportThreshold());

	return to;
}

void defaultCCTInteraction(const PxControllerShapeHit& hit)
{
	PxRigidDynamic* actor = hit.shape->getActor().is<PxRigidDynamic>();
	if(actor)
	{
		if(actor->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC)
			return;

		// We only allow horizontal pushes. Vertical pushes when we stand on dynamic objects creates
		// useless stress on the solver. It would be possible to enable/disable vertical pushes on
		// particular objects, if the gameplay requires it.
		const PxVec3 upVector = hit.controller->getUpDirection();
		const PxF32 dp = hit.dir.dot(upVector);
//		printf("%f\n", fabsf(dp));
		if(fabsf(dp)<1e-3f)
//		if(hit.dir.y==0.0f)
		{
			const PxTransform globalPose = actor->getGlobalPose();
			const PxVec3 localPos = globalPose.transformInv(toVec3(hit.worldPos));
			::addForceAtLocalPos(*actor, hit.dir*hit.length*1000.0f, localPos, PxForceMode::eACCELERATION);
		}
	}
}