C++ PxShape::getSimulationFilterData方法代码示例

void physx::PxSetGroupsMask(const PxRigidActor& actor, const PxGroupsMask& mask)
{
	PxFilterData tmp;
	PxFilterData fd = convert(mask);

	if (actor.getNbShapes() == 1)
	{
		PxShape* shape = NULL;
		actor.getShapes(&shape, 1);

		// retrieve current group
		tmp = shape->getSimulationFilterData();
		fd.word0 = tmp.word0;

		// set new filter data
		shape->setSimulationFilterData(fd);
	}
	else
	{
		PxShape* shape;
		PxU32 numShapes = actor.getNbShapes();
		shdfnd::InlineArray<PxShape*, 64> shapes;
		if(numShapes > 64)
		{
			shapes.resize(64);
		}
		else
		{
			shapes.resize(numShapes);
		}

		PxU32 iter = 1 + numShapes/64;

		for(PxU32 i=0; i < iter; i++)
		{
			PxU32 offset = i * 64;
			PxU32 size = numShapes - offset;
			if(size > 64)
				size = 64;

			actor.getShapes(shapes.begin(), size, offset);

			for(PxU32 j = size; j--;)
			{
				// retrieve current group mask
				shape = shapes[j];
				// retrieve current group
				tmp = shape->getSimulationFilterData();
				fd.word0 = tmp.word0;

				// set new filter data
				shape->setSimulationFilterData(fd);

			}
		}
	}
}

void physx::PxSetGroup(const PxRigidActor& actor, const PxU16 collisionGroup)
{	
	PX_CHECK_AND_RETURN(collisionGroup < 32,"Collision group must be less than 32");

	PxFilterData fd;
	
	if (actor.getNbShapes() == 1)
	{
		PxShape* shape = NULL;
		actor.getShapes(&shape, 1);

		// retrieve current group mask
		fd = shape->getSimulationFilterData();
		fd.word0 = collisionGroup;
		
		// set new filter data
		shape->setSimulationFilterData(fd);
	}
	else
	{
		PxShape* shape;
		PxU32 numShapes = actor.getNbShapes();
		shdfnd::InlineArray<PxShape*, 64> shapes;
		if(numShapes > 64)
		{
			shapes.resize(64);
		}
		else
		{
			shapes.resize(numShapes);
		}

		PxU32 iter = 1 + numShapes/64;

		for(PxU32 i=0; i < iter; i++)
		{
			PxU32 offset = i * 64;
			PxU32 size = numShapes - offset;
			if(size > 64)
				size = 64;

			actor.getShapes(shapes.begin(), size, offset);

			for(PxU32 j = size; j--;)
			{
				// retrieve current group mask
				shape = shapes[j];
				fd = shape->getSimulationFilterData();
				fd.word0 = collisionGroup;

				// set new filter data
				shape->setSimulationFilterData(fd);
			}
		}
	}
}

//=================================================================================
// Single closest hit compound sweep
bool PxRigidBodyExt::linearSweepSingle(
	PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
	PxHitFlags outputFlags, PxSweepHit& closestHit, PxU32& shapeIndex,
	const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
	const PxQueryCache* cache, const PxReal inflation)
{
	shapeIndex = 0xFFFFffff;
	PxReal closestDist = distance;
	PxU32 nbShapes = body.getNbShapes();
	for(PxU32 i=0; i < nbShapes; i++)
	{
		PxShape* shape = NULL;
		body.getShapes(&shape, 1, i);
		PX_ASSERT(shape != NULL);
		PxTransform pose = PxShapeExt::getGlobalPose(*shape, body);
		PxQueryFilterData fd;
		fd.flags = filterData.flags;
		PxU32 or4 = (filterData.data.word0 | filterData.data.word1 | filterData.data.word2 | filterData.data.word3);
		fd.data = or4 ? filterData.data : shape->getSimulationFilterData();
		PxGeometryHolder anyGeom = shape->getGeometry();

		PxSweepBuffer subHit; // touching hits are not allowed to be returned from the filters
		scene.sweep(anyGeom.any(), pose, unitDir, distance, subHit, outputFlags, fd, filterCall, cache, inflation);
		if (subHit.hasBlock && subHit.block.distance < closestDist)
		{
			closestDist = subHit.block.distance;
			closestHit = subHit.block;
			shapeIndex = i;
		}
	}

	return (shapeIndex != 0xFFFFffff);
}

void SampleNorthPole::setCCDActive(PxShape& shape)
{
	
	shape.setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS,true);

	PxFilterData fd = shape.getSimulationFilterData();
	fd.word3 |= CCD_FLAG;
	shape.setSimulationFilterData(fd);
	
}

PxGroupsMask physx::PxGetGroupsMask(const PxRigidActor& actor)
{
	PX_CHECK_AND_RETURN_VAL(actor.getNbShapes() >= 1,"At least one shape must be in actor",PxGroupsMask());

	PxShape* shape = NULL;
	actor.getShapes(&shape, 1);

	PxFilterData fd = shape->getSimulationFilterData();
	
	return convert(fd);
}

PxU16 physx::PxGetGroup(const PxRigidActor& actor)
{
	PX_CHECK_AND_RETURN_NULL(actor.getNbShapes() >= 1,"There must be a shape in actor");

	PxShape* shape = NULL;
	actor.getShapes(&shape, 1);

	PxFilterData fd = shape->getSimulationFilterData();

	return (PxU16)fd.word0;
}

void SampleNorthPole::onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs)
{
	for(PxU32 i=0; i < nbPairs; i++)
	{
		PxU32 n = 2;
		const PxContactPairFlag::Enum delShapeFlags[] = { PxContactPairFlag::eDELETED_SHAPE_0, PxContactPairFlag::eDELETED_SHAPE_1 };
		const PxContactPair& cp = pairs[i];
		while(n--)
		{
			if(!(cp.flags & delShapeFlags[n]))
			{
				PxShape* shape = cp.shapes[n];
				PxFilterData fd = shape->getSimulationFilterData();
				if(isDetachable(fd))
				{
					mDetaching.push_back(shape);
				}
			}
		}
	}
}

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;
}

void SampleNorthPole::setDetachable(PxShape& shape)
{
	PxFilterData fd = shape.getSimulationFilterData();
	fd.word3 |= PxU32(DETACHABLE_FLAG);
	shape.setSimulationFilterData(fd);
}

void SampleNorthPole::setSnowball(PxShape& shape)
{
	PxFilterData fd = shape.getSimulationFilterData();
	fd.word3 |= SNOWBALL_FLAG;
	shape.setSimulationFilterData(fd);
}

//=================================================================================
// Multiple hits compound sweep
// AP: we might be able to improve the return results API but no time for it in 3.3
PxU32 PxRigidBodyExt::linearSweepMultiple(
	PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance, PxHitFlags outputFlags,
	PxSweepHit* hitBuffer, PxU32* hitShapeIndices, PxU32 hitBufferSize, PxSweepHit& block, PxI32& blockingHitShapeIndex,
	bool& overflow, const PxQueryFilterData& filterData, PxQueryFilterCallback* filterCall,
	const PxQueryCache* cache, const PxReal inflation)
{
	overflow = false;
	blockingHitShapeIndex = -1;

	for (PxU32 i = 0; i < hitBufferSize; i++)
		hitShapeIndices[i] = 0xFFFFffff;

	PxI32 sumNbResults = 0;

	PxU32 nbShapes = body.getNbShapes();
	PxF32 shrunkMaxDistance = distance;
	for(PxU32 i=0; i < nbShapes; i++)
	{
		PxShape* shape = NULL;
		body.getShapes(&shape, 1, i);
		PX_ASSERT(shape != NULL);
		PxTransform pose = PxShapeExt::getGlobalPose(*shape, body);
		PxQueryFilterData fd;
		fd.flags = filterData.flags;
		PxU32 or4 = (filterData.data.word0 | filterData.data.word1 | filterData.data.word2 | filterData.data.word3);
		fd.data = or4 ? filterData.data : shape->getSimulationFilterData();
		PxGeometryHolder anyGeom = shape->getGeometry();

		PxU32 bufSizeLeft = hitBufferSize-sumNbResults;
		PxSweepHit extraHit;
		PxSweepBuffer buffer(bufSizeLeft == 0 ? &extraHit : hitBuffer+sumNbResults, bufSizeLeft == 0 ? 1 : hitBufferSize-sumNbResults);
		scene.sweep(anyGeom.any(), pose, unitDir, shrunkMaxDistance, buffer, outputFlags, fd, filterCall, cache, inflation);

		// Check and abort on overflow. Assume overflow if result count is bufSize.
		PxU32 nbNewResults = buffer.getNbTouches();
		overflow |= (nbNewResults >= bufSizeLeft);
		if (bufSizeLeft == 0) // this is for when we used the extraHit buffer
			nbNewResults = 0;

		// set hitShapeIndices for each new non-blocking hit
		for (PxU32 j = 0; j < nbNewResults; j++)
			if (sumNbResults + PxU32(j) < hitBufferSize)
				hitShapeIndices[sumNbResults+j] = i;

		if (buffer.hasBlock) // there's a blocking hit in the most recent sweepMultiple results
		{
			// overwrite the return result blocking hit with the new blocking hit if under
			if (blockingHitShapeIndex == -1 || buffer.block.distance < block.distance)
			{
				blockingHitShapeIndex = (PxI32)i;
				block = buffer.block;
			}

			// Remove all the old touching hits below the new maxDist
			// sumNbResults is not updated yet at this point
			//   and represents the count accumulated so far excluding the very last query
			PxI32 nbNewResultsSigned = PxI32(nbNewResults); // need a signed version, see nbNewResultsSigned-- below
			for (PxI32 j = sumNbResults-1; j >= 0; j--) // iterate over "old" hits (up to shapeIndex-1)
				if (buffer.block.distance < hitBuffer[j].distance)
				{
					// overwrite with last "new" hit
					PxI32 sourceIndex = PxI32(sumNbResults)+nbNewResultsSigned-1; PX_ASSERT(sourceIndex >= j);
					hitBuffer[j] = hitBuffer[sourceIndex];
					hitShapeIndices[j] = hitShapeIndices[sourceIndex];
					nbNewResultsSigned--; // can get negative, that means we are shifting the last results array
				}

			sumNbResults += nbNewResultsSigned;
		} else // if there was no new blocking hit we don't need to do anything special, simply append all results to touch array
			sumNbResults += nbNewResults;

		PX_ASSERT(sumNbResults >= 0 && sumNbResults <= PxI32(hitBufferSize));
	}

	return (PxU32)sumNbResults;
}