C++ PxShape::getLocalPose方法代码示例

bool copyStaticProperties(PxRigidActor& to, const PxRigidActor& from,NxMirrorScene::MirrorFilter &mirrorFilter)
{
	physx::shdfnd::InlineArray<PxShape*, 64> shapes;
	shapes.resize(from.getNbShapes());

	PxU32 shapeCount = from.getNbShapes();
	from.getShapes(shapes.begin(), shapeCount);

	physx::shdfnd::InlineArray<PxMaterial*, 64> materials;
	for(PxU32 i = 0; i < shapeCount; i++)
	{
		PxShape* s = shapes[i];

		if ( mirrorFilter.shouldMirror(*s) )
		{
			PxU32 materialCount = s->getNbMaterials();
			materials.resize(materialCount);
			s->getMaterials(materials.begin(), materialCount);
			PxShape* shape = to.createShape(s->getGeometry().any(), materials.begin(), static_cast<physx::PxU16>(materialCount));
			shape->setLocalPose( s->getLocalPose());
			shape->setContactOffset(s->getContactOffset());
			shape->setRestOffset(s->getRestOffset());
			shape->setFlags(s->getFlags());
			shape->setSimulationFilterData(s->getSimulationFilterData());
			shape->setQueryFilterData(s->getQueryFilterData());
			mirrorFilter.reviseMirrorShape(*shape);
		}
	}

	to.setActorFlags(from.getActorFlags());
	to.setOwnerClient(from.getOwnerClient());
	to.setDominanceGroup(from.getDominanceGroup());

	if ( to.getNbShapes() )
	{
		mirrorFilter.reviseMirrorActor(to);
	}

	return to.getNbShapes() != 0;
}

	bool CreateGeometryFromPhysxActor(PxActor *a, LevelGeometry::Mesh &mesh)
	{
		bool rv = false;

		if (!a)
			return rv;

		PxRigidActor *ra = a->isRigidActor();
		if (!ra)
			return rv;

		GameObject* gameObj = NULL;
		PhysicsCallbackObject* userData = static_cast<PhysicsCallbackObject*>(ra->userData);
		if(userData) gameObj = userData->isGameObject();

		r3dCSHolder block(g_pPhysicsWorld->GetConcurrencyGuard());

		PxU32 nbShapes = ra->getNbShapes();
		for (PxU32 i = 0; i < nbShapes; ++i)
		{
			PxShape *s = 0;
			ra->getShapes(&s, 1, i);
			PxGeometryType::Enum gt = s->getGeometryType();
			switch(gt)
			{
			case PxGeometryType::eTRIANGLEMESH:
				{
					PxTriangleMeshGeometry g;
					s->getTriangleMeshGeometry(g);
					PxTransform t = s->getLocalPose().transform(ra->getGlobalPose());
					rv = CreateGeometryFromPhysxGeometry(g, t, mesh);
					break;
				}
			default:
				r3dArtBug("buildNavigation: Unsupported physx mesh type %d, obj: %s\n", gt, gameObj ? gameObj->Name.c_str() : "<unknown>");
			}
		}
		return rv;
	}

bool UWorld::ComponentSweepMulti(TArray<struct FHitResult>& OutHits, class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FQuat& Quat, const struct FComponentQueryParams& Params) const
{
	if (GetPhysicsScene() == NULL)
	{
		return false;
	}

	if (PrimComp == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : No PrimComp"));
		return false;
	}

	ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();

	// if extent is 0, do line trace
	if (PrimComp->IsZeroExtent())
	{
		return RaycastMulti(this, OutHits, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
	}

	OutHits.Reset();

#if UE_WITH_PHYSICS
	const FBodyInstance* BodyInstance = PrimComp->GetBodyInstance();

	if (!BodyInstance || !BodyInstance->IsValidBodyInstance())
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetReadableName());
		return false;
	}

#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
	if(PrimComp->IsA(USkeletalMeshComponent::StaticClass()))
	{
		UE_LOG(LogCollision, Warning, TEXT("ComponentSweepMulti : SkeletalMeshComponent support only root body (%s) "), *PrimComp->GetReadableName());
	}
#endif

#endif

	SCOPE_CYCLE_COUNTER(STAT_Collision_GeomSweepMultiple);
	bool bHaveBlockingHit = false;

#if WITH_PHYSX
	ExecuteOnPxRigidActorReadOnly(BodyInstance, [&] (const PxRigidActor* PRigidActor)
	{
		// Get all the shapes from the actor
		FInlinePxShapeArray PShapes;
		const int32 NumShapes = FillInlinePxShapeArray(PShapes, *PRigidActor);

		// calculate the test global pose of the actor
		const PxQuat PGeomRot = U2PQuat(Quat);
		const PxTransform PGlobalStartPose = PxTransform(U2PVector(Start), PGeomRot);
		const PxTransform PGlobalEndPose = PxTransform(U2PVector(End), PGeomRot);

		// Iterate over each shape
		for(int32 ShapeIdx=0; ShapeIdx<NumShapes; ShapeIdx++)
		{
			PxShape* PShape = PShapes[ShapeIdx];
			check(PShape);

			GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);

			if (PGeom != NULL)
			{
				// Calc shape global pose
				const PxTransform PLocalShape = PShape->getLocalPose();
				const PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
				const PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
				// consider localshape rotation for shape rotation
				const PxQuat PShapeRot = PGeomRot * PLocalShape.q;

				if (GeomSweepMulti_PhysX(this, *PGeom, PShapeRot, OutHits, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
				{
					bHaveBlockingHit = true;
				}
			}
		}
	});
#endif //WITH_PHYSX

	//@TODO: BOX2D: Implement UWorld::ComponentSweepMulti
#if WITH_BOX2D
// 	if (b2Body* BodyInstance = PrimComp->BodyInstance.BodyInstancePtr)
// 	{
// 		
// 	}
#endif

	return bHaveBlockingHit;
}

osg::Node* createNodeForActor( PxRigidActor* actor )
{
    if ( !actor ) return NULL;
    std::vector<PxShape*> shapes( actor->getNbShapes() );
    
    osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
    transform->setMatrix( toMatrix(PxMat44(actor->getGlobalPose())) );
    
    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
    transform->addChild( geode.get() );
    
    PxU32 num = actor->getShapes( &(shapes[0]), actor->getNbShapes() );
    for ( PxU32 i=0; i<num; ++i )
    {
        PxShape* shape = shapes[i];
        osg::Matrix localMatrix = toMatrix( PxMat44(actor->getGlobalPose()) );
        osg::Vec3 localPos = toVec3( shape->getLocalPose().p );
        osg::Quat localQuat(shape->getLocalPose().q.x, shape->getLocalPose().q.y,
                            shape->getLocalPose().q.z, shape->getLocalPose().q.w);
        
        switch ( shape->getGeometryType() )
        {
        case PxGeometryType::eSPHERE:
            {
                PxSphereGeometry sphere;
                shape->getSphereGeometry( sphere );
                
                osg::Sphere* sphereShape = new osg::Sphere(localPos, sphere.radius);
                geode->addDrawable( new osg::ShapeDrawable(sphereShape) );
            }
            break;
        case PxGeometryType::ePLANE:
            // TODO
            break;
        case PxGeometryType::eCAPSULE:
            {
                PxCapsuleGeometry capsule;
                shape->getCapsuleGeometry( capsule );
                
                osg::Capsule* capsuleShape = new osg::Capsule(
                    localPos, capsule.radius, capsule.halfHeight * 2.0f);
                capsuleShape->setRotation( localQuat );
                geode->addDrawable( new osg::ShapeDrawable(capsuleShape) );
            }
            break;
        case PxGeometryType::eBOX:
            {
                PxBoxGeometry box;
                shape->getBoxGeometry( box );
                
                osg::Box* boxShape = new osg::Box(localPos,
                    box.halfExtents[0] * 2.0f, box.halfExtents[1] * 2.0f, box.halfExtents[2] * 2.0f);
                boxShape->setRotation( localQuat );
                geode->addDrawable( new osg::ShapeDrawable(boxShape) );
            }
            break;
        case PxGeometryType::eCONVEXMESH:
            {
                PxConvexMeshGeometry convexMeshGeom;
                shape->getConvexMeshGeometry( convexMeshGeom );
                // TODO: consider convexMeshGeom.scale
                
                PxConvexMesh* convexMesh = convexMeshGeom.convexMesh;
                if ( convexMesh )
                {
                    /*for ( unsigned int i=0; i<convexMesh->getNbPolygons(); ++i )
                    {
                        
                    }*/
                    // TODO
                }
            }
            break;
        case PxGeometryType::eTRIANGLEMESH:
            {
                PxTriangleMeshGeometry triangleMeshGeom;
                shape->getTriangleMeshGeometry( triangleMeshGeom );
                // TODO: consider triangleMeshGeom.scale
                
                PxTriangleMesh* triangleMesh = triangleMeshGeom.triangleMesh;
                if ( triangleMesh )
                {
                    osg::ref_ptr<osg::Vec3Array> va = new osg::Vec3Array( triangleMesh->getNbVertices() );
                    for ( unsigned int i=0; i<va->size(); ++i )
                        (*va)[i] = toVec3( *(triangleMesh->getVertices() + i) ) * localMatrix;
                    
                    osg::ref_ptr<osg::DrawElements> de;
                    if ( triangleMesh->getTriangleMeshFlags()&PxTriangleMeshFlag::eHAS_16BIT_TRIANGLE_INDICES )
                    {
                        osg::DrawElementsUShort* de16 = new osg::DrawElementsUShort(GL_TRIANGLES);
                        de = de16;
                        
                        const PxU16* indices = (const PxU16*)triangleMesh->getTriangles();
                        for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
                        {
                            de16->push_back( indices[3 * i + 0] );
                            de16->push_back( indices[3 * i + 1] );
                            de16->push_back( indices[3 * i + 2] );
                        }
                    }
//.........这里部分代码省略.........

FDbool BuildingSystem::searchForHit(PhysicsSystem& physicsSystem,
		Ray r, PxGeometry& pixelFrustum, SearchContext& searchContext) {

	// Cast the ray into the scene. Quit if no intersection at all.
	PxQueryFilterData qFilterData;
	qFilterData.flags |= PxQueryFlag::ePREFILTER | PxQueryFlag::ePOSTFILTER;
	FDbool rayStatus = physicsSystem.scene->raycast(
			r.position, r.direction, 100, searchContext.hitBuffer, 
			PxHitFlag::ePOSITION | PxHitFlag::eDISTANCE | PxHitFlag::eNORMAL,
			qFilterData, &CustomPhysicsQueryFilter());

	/* Demo-ing to a friend showed that it can be confusing to try to connect
	* up an existing point that lies on the guide plane, since part of it will
	* be behind the guide plane, which the ray-cast will see as being closer.
	* To remedy this, I treat the GuidePlane as a "touching" rather than 
	* "blocking hit" and give some priority to points. */
	if (rayStatus && searchContext.hitBuffer.hasBlock) {
		
		// In this case, we know we hit something other than the guide plane.
		searchContext.hitActor = searchContext.hitBuffer.block.actor;
		searchContext.rayHit = &searchContext.hitBuffer.block;
		FDreal blockDistance = searchContext.rayHit->distance;
		searchContext.setHit(&searchContext.hitBuffer.block);

		// If the guide plane was also hit, see if it is closer. 
		if (searchContext.hitBuffer.nbTouches > 0) {
			float guidePlaneDistance = searchContext.hitBuffer.getTouch(0).
					distance;

			// If the point intersects the plane, prefer it.
			if (searchContext.hitActor == pointActor) {

				FDUint i = (FDUint)searchContext.rayHit->shape->userData;
				Vector3 pointPos = *pointAuthor->getAttribute<Vector3>(i, 0);
				float pointRadius = 0.2;

				Vector3 guidePlaneNormal = searchContext.hitBuffer.
						getTouch(0).normal;
				Plane p = Plane(searchContext.hitBuffer.getTouch(0).position,
						guidePlaneNormal);

				// We know the point (modeled as a sphere) intersects the
				// plane if the point is within 1 sphere radius.
				float pointPlaneDistance = p.distance(pointPos);
				if (abs(pointPlaneDistance) <= pointRadius) {
					blockDistance = 0;
				}
			} 
			
			if (guidePlaneDistance < blockDistance) {
				searchContext.hitActor = searchContext.hitBuffer.getTouch(0).
						actor;
				searchContext.setHit(&searchContext.hitBuffer.getTouch(0));
			}

		}

	} else if (rayStatus) {
		
		// Only the guide plane was hit.
		searchContext.hitActor = searchContext.hitBuffer.getTouch(0).actor;
		searchContext.setHit(&searchContext.hitBuffer.getTouch(0));
	}

	// Try overlap test for other geometry.
	Quaternion q = fdmath::getRotationBetween(Vector3(0, 0, 1), r.direction);
	Vector3 obo = q.rotate(Vector3(0, 0, 1));

	PxTransform pose(r.position, q);

	PxQueryFilterData qPixelFilterData;
	qPixelFilterData.flags |= PxQueryFlag::ePREFILTER;
	physicsSystem.scene->overlap(pixelFrustum, pose, 
			searchContext.overlapBuffer, qPixelFilterData, 
			&PixelQueryFilter());

	for (FDUint i = 0; i < searchContext.overlapBuffer.nbTouches; i++) {
		PxRigidStatic* thisActor = (PxRigidStatic*)searchContext.overlapBuffer.
				touches[i].actor;
		PxShape* thisShape = searchContext.overlapBuffer.touches[i].shape;

		// Get the closet point on the line to the ray.

		Transform lineTransform = thisActor->getGlobalPose() *
				thisShape->getLocalPose();
		Vector3 lineAxisPoint = lineTransform.transform(Vector3(1, 0, 0));
		Vector3 centerPos = lineTransform.p;
		Vector3 lineAxis = (lineAxisPoint - centerPos).getNormalized();

		Vector3 uAxis = lineAxis.cross(r.direction);
		uAxis.normalize();

		Plane p(centerPos, lineAxisPoint, centerPos + uAxis);
		Vector3 intersectionPoint;
		FDbool intersects = r.intersect(p, intersectionPoint);
		FD_ASSERT(intersects, "Ray did not intersect line's plane.");

		FDreal y = lineAxis.dot(intersectionPoint) - lineAxis.dot(centerPos);
		Vector3 closestPoint = centerPos + lineAxis * y;

//.........这里部分代码省略.........

bool UWorld::ComponentSweepMulti(TArray<struct FHitResult>& OutHits, class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
	if(GetPhysicsScene() == NULL)
	{
		return false;
	}

	if(PrimComp == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : No PrimComp"));
		return false;
	}

	// if target is skeletalmeshcomponent and do not support singlebody physics
	if ( !PrimComp->ShouldTrackOverlaps() )
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
		return false;
	}

	ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();

#if WITH_PHYSX
	// if extent is 0, do line trace
	if (PrimComp->IsZeroExtent())
	{
		return RaycastMulti(this, OutHits, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
	}

	PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
	if(PRigidActor == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetPathName());
		return false;
	}
	PxScene * const PScene = PRigidActor->getScene();

	OutHits.Empty();

	// Get all the shapes from the actor
	TArray<PxShape*, TInlineAllocator<8>> PShapes;
	{
		SCOPED_SCENE_READ_LOCK(PScene);
		PShapes.AddZeroed(PRigidActor->getNbShapes());
		PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());
	}

	// calculate the test global pose of the actor
	PxTransform PGlobalStartPose = U2PTransform(FTransform(Start));
	PxTransform PGlobalEndPose = U2PTransform(FTransform(End));

	bool bHaveBlockingHit = false;
	PxQuat PGeomRot = U2PQuat(Rot.Quaternion());

	// Iterate over each shape
	SCENE_LOCK_READ(PScene);
	for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
	{
		PxShape* PShape = PShapes[ShapeIdx];
		check(PShape);

		TArray<struct FHitResult> Hits;

		// Calc shape global pose
		PxTransform PLocalShape = PShape->getLocalPose();
		PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
		PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
		// consider localshape rotation for shape rotation
		PxQuat PShapeRot = PGeomRot * PLocalShape.q;

		GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);

		if(PGeom != NULL)
		{
			SCENE_UNLOCK_READ(PScene);
			if (GeomSweepMulti(this, *PGeom, PShapeRot, Hits, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
			{
				bHaveBlockingHit = true;
			}

			OutHits.Append(Hits);
			SCENE_LOCK_READ(PScene);
		}
	}
	SCENE_UNLOCK_READ(PScene);

	return bHaveBlockingHit;
#endif //WITH_PHYSX
	return false;
}

bool UWorld::ComponentSweepSingle(struct FHitResult& OutHit,class UPrimitiveComponent* PrimComp, const FVector& Start, const FVector& End, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
	OutHit.TraceStart = Start;
	OutHit.TraceEnd = End;

	if(GetPhysicsScene() == NULL)
	{
		return false;
	}

	if(PrimComp == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepSingle : No PrimComp"));
		return false;
	}

	// if target is skeletalmeshcomponent and do not support singlebody physics
	if ( !PrimComp->ShouldTrackOverlaps() )
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepSingle : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
		return false;
	}

	ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();
#if WITH_PHYSX
	// if extent is 0, do line trace
	if (PrimComp->IsZeroExtent())
	{
		return RaycastSingle(this, OutHit, Start, End, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels()));
	}

	PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
	if(PRigidActor == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentSweepMulti : (%s) No physics data"), *PrimComp->GetPathName());
		return false;
	}

	// Get all the shapes from the actor
	TArray<PxShape*, TInlineAllocator<8>> PShapes;
	PShapes.AddZeroed(PRigidActor->getNbShapes());
	int32 NumShapes = PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());

	// calculate the test global pose of the actor
	PxTransform PGlobalStartPose = U2PTransform(FTransform(Start));
	PxTransform PGlobalEndPose = U2PTransform(FTransform(End));

	bool bHaveBlockingHit = false;
	PxQuat PGeomRot = U2PQuat(Rot.Quaternion());

	// Iterate over each shape
	for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
	{
		PxShape* PShape = PShapes[ShapeIdx];
		check(PShape);

		// Calc shape global pose
		PxTransform PLocalShape = PShape->getLocalPose();
		PxTransform PShapeGlobalStartPose = PGlobalStartPose.transform(PLocalShape);
		PxTransform PShapeGlobalEndPose = PGlobalEndPose.transform(PLocalShape);
		// consider localshape rotation for shape rotation
		PxQuat PShapeRot = PGeomRot * PLocalShape.q;

		GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);

		if(PGeom != NULL)
		{
			// @todo UE4, this might not be the best behavior. If we're looking for the most closest, this have to change to save the result, and find the closest one or 
			// any other options, right now if anything hits first, it will return
			if (GeomSweepSingle(this, *PGeom, PShapeRot, OutHit, P2UVector(PShapeGlobalStartPose.p), P2UVector(PShapeGlobalEndPose.p), TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
			{
				bHaveBlockingHit = true;
				break;
			}
		}
	}

	return bHaveBlockingHit;
#endif //WITH_PHYSX
	return false;
}

bool UWorld::ComponentOverlapTest(class UPrimitiveComponent* PrimComp, const FVector& Pos, const FRotator& Rot, const struct FComponentQueryParams& Params) const
{
	if(GetPhysicsScene() == NULL)
	{
		return false;
	}

	if(PrimComp == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : No PrimComp"));
		return false;
	}

	// if target is skeletalmeshcomponent and do not support singlebody physics, we don't support this yet
	// talk to @JG, SP, LH
	if ( !PrimComp->ShouldTrackOverlaps() )
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : (%s) Does not support skeletalmesh with Physics Asset and destructibles."), *PrimComp->GetPathName());
		return false;
	}
#if WITH_PHYSX
	ECollisionChannel TraceChannel = PrimComp->GetCollisionObjectType();

	PxRigidActor* PRigidActor = PrimComp->BodyInstance.GetPxRigidActor();
	if(PRigidActor == NULL)
	{
		UE_LOG(LogCollision, Log, TEXT("ComponentOverlapMulti : (%s) No physics data"), *PrimComp->GetPathName());
		return false;
	}

	// calculate the test global pose of the actor
	PxTransform PTestGlobalPose = U2PTransform(FTransform(Rot, Pos));

	// Get all the shapes from the actor
	TArray<PxShape*, TInlineAllocator<8>> PShapes;
	PShapes.AddZeroed(PRigidActor->getNbShapes());
	int32 NumShapes = PRigidActor->getShapes(PShapes.GetData(), PShapes.Num());

	// Iterate over each shape
	for(int32 ShapeIdx=0; ShapeIdx<PShapes.Num(); ShapeIdx++)
	{
		PxShape* PShape = PShapes[ShapeIdx];
		check(PShape);
		// Calc shape global pose
		PxTransform PLocalPose = PShape->getLocalPose();
		PxTransform PShapeGlobalPose = PTestGlobalPose.transform(PLocalPose);

		GET_GEOMETRY_FROM_SHAPE(PGeom, PShape);

		if(PGeom != NULL)
		{
			if( GeomOverlapTest(this, *PGeom, PShapeGlobalPose, TraceChannel, Params, FCollisionResponseParams(PrimComp->GetCollisionResponseToChannels())))
			{
				// in this test, it only matters true or false. 
				// if we found first true, we don't care next test anymore. 
				return true;
			}
		}
	}

#endif //WITH_PHYSX
	return false;
}