crown-engine/engine/physics/Actor.cpp

/*
Copyright (c) 2013 Daniele Bartolini, Michele Rossi
Copyright (c) 2012 Daniele Bartolini, Simone Boscaratto

Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the
Software is furnished to do so, subject to the following
conditions:

The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
*/

#include "Actor.h"
#include "Device.h"
#include "Log.h"
#include "Matrix4x4.h"
#include "MeshResource.h"
#include "PhysicsResource.h"
#include "PxPhysicsAPI.h"
#include "Quaternion.h"
#include "ResourceManager.h"
#include "SceneGraph.h"
#include "Unit.h"
#include "Vector3.h"
#include "World.h"
#include "PhysicsWorld.h"
#include "Quaternion.h"
#include "StringUtils.h"

#include "PxCooking.h"
#include "PxDefaultStreams.h"

using physx::PxActorFlag;
using physx::PxActorType;
using physx::PxBoxGeometry;
using physx::PxCapsuleGeometry;
using physx::PxConvexFlag;
using physx::PxConvexMesh;
using physx::PxConvexMeshDesc;
using physx::PxConvexMeshGeometry;
using physx::PxD6Axis;
using physx::PxD6Joint;
using physx::PxD6JointCreate;
using physx::PxD6Motion;
using physx::PxDefaultMemoryInputData;
using physx::PxDefaultMemoryOutputStream;
using physx::PxFilterData;
using physx::PxForceMode;
using physx::PxMat44;
using physx::PxPlaneGeometry;
using physx::PxQuat;
using physx::PxReal;
using physx::PxRigidActor;
using physx::PxRigidBody;
using physx::PxRigidBodyExt;
using physx::PxRigidBodyFlag;
using physx::PxRigidDynamic;
using physx::PxRigidDynamicFlag;
using physx::PxRigidStatic;
using physx::PxShape;
using physx::PxShapeFlag;
using physx::PxSphereGeometry;
using physx::PxTransform;
using physx::PxU16;
using physx::PxU32;
using physx::PxVec3;

namespace crown
{

//-----------------------------------------------------------------------------
Actor::Actor(PhysicsWorld& pw, const PhysicsResource* res, uint32_t actor_idx, SceneGraph& sg, int32_t node, UnitId unit_id)
	: m_world(pw)
	, m_resource(res)
	, m_index(actor_idx)
	, m_scene_graph(sg)
	, m_node(node)
	, m_unit(unit_id)
{
	create_objects();
}

//-----------------------------------------------------------------------------
Actor::~Actor()
{
	destroy_objects();
}

//-----------------------------------------------------------------------------
void Actor::create_objects()
{
	const PhysicsActor& actor = m_resource->actor(m_index);

	PxScene* scene = m_world.physx_scene();
	PxPhysics* physics = m_world.physx_physics();
	const PhysicsConfigResource* config = m_world.resource();
	const PhysicsActor2& actor_class = config->actor(actor.actor_class);

	// Create rigid body
	const PxMat44 pose((PxReal*) matrix4x4::to_float_ptr(m_scene_graph.world_pose(m_node)));

	if (actor_class.flags & PhysicsActor2::DYNAMIC)
	{
		m_actor = physics->createRigidDynamic(PxTransform(pose));
		if (actor_class.flags & PhysicsActor2::KINEMATIC)
		{
			static_cast<PxRigidDynamic*>(m_actor)->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
		}

		PxD6Joint* joint = PxD6JointCreate(*physics, m_actor, PxTransform(pose), NULL, PxTransform(pose));
		joint->setMotion(PxD6Axis::eX, PxD6Motion::eFREE);
		joint->setMotion(PxD6Axis::eY, PxD6Motion::eFREE);
		joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
	}
	else
	{
		m_actor = physics->createRigidStatic(PxTransform(pose));
	}

	// Create shapes
	uint32_t shape_index = m_resource->shape_index(m_index);
	for (uint32_t i = 0; i < actor.num_shapes; i++)
	{
		const PhysicsShape& shape = m_resource->shape(shape_index);
		const PhysicsShape2& shape_class = config->shape(shape.shape_class);
		const PhysicsMaterial& material = config->material(shape.material);

		PxMaterial* mat = physics->createMaterial(material.static_friction, material.dynamic_friction, material.restitution);

		PxShape* px_shape = NULL;
		switch(shape.type)
		{
			case PhysicsShapeType::SPHERE:
			{
				px_shape = m_actor->createShape(PxSphereGeometry(shape.data_0), *mat);
				break;
			}
			case PhysicsShapeType::CAPSULE:
			{
				px_shape = m_actor->createShape(PxCapsuleGeometry(shape.data_0, shape.data_1), *mat);
				break;
			}
			case PhysicsShapeType::BOX:
			{
				px_shape = m_actor->createShape(PxBoxGeometry(shape.data_0, shape.data_1, shape.data_2), *mat);
				break;
			}
			case PhysicsShapeType::PLANE:
			{
				px_shape = m_actor->createShape(PxPlaneGeometry(), *mat);
				break;
			}
			case PhysicsShapeType::CONVEX_MESH:
			{
				MeshResource* resource = (MeshResource*) device()->resource_manager()->get(shape.resource);

				PxConvexMeshDesc convex_mesh_desc;
				convex_mesh_desc.points.count		= resource->num_vertices();
				convex_mesh_desc.points.stride		= sizeof(PxVec3);
				convex_mesh_desc.points.data		= (PxVec3*) resource->vertices();
				convex_mesh_desc.triangles.count	= resource->num_indices();
				convex_mesh_desc.triangles.stride	= 3 * sizeof(PxU16);
				convex_mesh_desc.triangles.data 	= (PxU16*) resource->indices();
				convex_mesh_desc.flags				= PxConvexFlag::eCOMPUTE_CONVEX;
				convex_mesh_desc.vertexLimit		= MAX_PHYSX_VERTICES;

				PxDefaultMemoryOutputStream buf;
				if(!m_world.physx_cooking()->cookConvexMesh(convex_mesh_desc, buf))
					CE_FATAL("");
				PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
				PxConvexMesh* convex_mesh = physics->createConvexMesh(input);

				px_shape = m_actor->createShape(PxConvexMeshGeometry(convex_mesh), *mat);
				break;
			}
			default:
			{
				CE_FATAL("Oops, unknown shape type");
			}
		}

		// Setup shape pose
		px_shape->setLocalPose(PxTransform(
								PxVec3(shape.position.x, shape.position.y, shape.position.z),
								PxQuat(shape.rotation.x, shape.rotation.y, shape.rotation.z, shape.rotation.w)));

		// Setup collision filters
		PxFilterData filter_data;
		filter_data.word0 = config->filter(shape_class.collision_filter).me;
		filter_data.word1 = config->filter(shape_class.collision_filter).mask;
		px_shape->setSimulationFilterData(filter_data);

		if (shape_class.trigger)
		{
			px_shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
			px_shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
		}

		shape_index++;
	}

	if (is_dynamic())
	{
		PxRigidBodyExt::updateMassAndInertia(*static_cast<PxRigidBody*>(m_actor), actor.mass);
	}
	m_actor->userData = this;
	scene->addActor(*m_actor);
}

//-----------------------------------------------------------------------------
void Actor::destroy_objects()
{
	if (m_actor)
	{
		m_world.physx_scene()->removeActor(*m_actor);
		m_actor->release();
	}
}

//-----------------------------------------------------------------------------
Vector3 Actor::world_position() const
{
	const PxTransform tr = m_actor->getGlobalPose();
	return Vector3(tr.p.x, tr.p.y, tr.p.z);
}

//-----------------------------------------------------------------------------
Quaternion Actor::world_rotation() const
{
	const PxTransform tr = m_actor->getGlobalPose();
	return Quaternion(tr.q.x, tr.q.y, tr.q.z, tr.q.w);
}

//-----------------------------------------------------------------------------
Matrix4x4 Actor::world_pose() const
{
	const PxTransform tr = m_actor->getGlobalPose();
	return Matrix4x4(Quaternion(tr.q.x, tr.q.y, tr.q.z, tr.q.w), Vector3(tr.p.x, tr.p.y, tr.p.z));
}

//-----------------------------------------------------------------------------
void Actor::teleport_world_position(const Vector3& p)
{
	PxTransform tr = m_actor->getGlobalPose();
	tr.p.x = p.x;
	tr.p.y = p.y;
	tr.p.z = p.z;
	m_actor->setGlobalPose(tr);
}

//-----------------------------------------------------------------------------
void Actor::teleport_world_rotation(const Quaternion& r)
{
	PxTransform tr = m_actor->getGlobalPose();
	tr.q.x = r.x;
	tr.q.y = r.y;
	tr.q.z = r.z;
	tr.q.w = r.w;
	m_actor->setGlobalPose(tr);
}

//-----------------------------------------------------------------------------
void Actor::teleport_world_pose(const Matrix4x4& m)
{
	using namespace matrix4x4;

	const PxVec3 x(m.x.x, m.x.y, m.x.z);
	const PxVec3 y(m.y.x, m.y.y, m.y.z);
	const PxVec3 z(m.z.x, m.z.y, m.z.z);
	const PxVec3 t(translation(m).x, translation(m).y, translation(m).z);
	m_actor->setGlobalPose(PxTransform(PxMat44(x, y, z, t)));
}

//-----------------------------------------------------------------------------
Vector3 Actor::center_of_mass() const
{
	if (is_static())
		return Vector3(0, 0, 0);

	const PxTransform tr = static_cast<PxRigidBody*>(m_actor)->getCMassLocalPose();
	return Vector3(tr.p.x, tr.p.y, tr.p.z);
}

//-----------------------------------------------------------------------------
void Actor::enable_gravity()
{
	m_actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, false);
}

//-----------------------------------------------------------------------------
void Actor::disable_gravity()
{
	m_actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
}

//-----------------------------------------------------------------------------
void Actor::enable_collision()
{
	// const PxU32 num_shapes = m_actor->getNbShapes();
	// PxU32 idx = 0;

	// while (idx != num_shapes)
	// {
	// 	PxShape* shapes[8];
	// 	const PxU32 written = m_actor->getShapes(shapes, 8, idx);

	// 	for (PxU32 i = 0; i < written; i++)
	// 	{
	// 		PxFilterData fdata;
	// 		fdata.word0 = 0;
	// 		fdata.word1 = 0;
	// 		shapes[i]->setSimulationFilterData(fdata);
	// 	}

	// 	idx += written;
	// }
}

//-----------------------------------------------------------------------------
void Actor::disable_collision()
{
}

//-----------------------------------------------------------------------------
void Actor::set_collision_filter(const char* name)
{
	set_collision_filter(string::murmur2_32(name, string::strlen(name)));
}

//-----------------------------------------------------------------------------
void Actor::set_collision_filter(StringId32 filter)
{
	const PhysicsCollisionFilter& pcf = m_world.resource()->filter(filter);

	const PxU32 num_shapes = m_actor->getNbShapes();
	PxU32 idx = 0;

	while (idx != num_shapes)
	{
		PxShape* shapes[8];
		const PxU32 written = m_actor->getShapes(shapes, 8, idx);

		for (PxU32 i = 0; i < written; i++)
		{
			PxFilterData fdata;
			fdata.word0 = pcf.me;
			fdata.word1 = pcf.mask;
			shapes[i]->setSimulationFilterData(fdata);
		}

		idx += written;
	}
}

//-----------------------------------------------------------------------------
void Actor::set_kinematic(bool kinematic)
{
	if (is_static())
		return;

	static_cast<PxRigidBody*>(m_actor)->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, kinematic);
}

//-----------------------------------------------------------------------------
void Actor::move(const Vector3& pos)
{
	if (!is_kinematic())
		return;

	const PxVec3 position(pos.x, pos.y, pos.z);
	static_cast<PxRigidDynamic*>(m_actor)->setKinematicTarget(PxTransform(position));
}

//-----------------------------------------------------------------------------
bool Actor::is_static() const
{
	return m_actor->getType() & PxActorType::eRIGID_STATIC;
}

//-----------------------------------------------------------------------------
bool Actor::is_dynamic() const
{
	return m_actor->getType() & PxActorType::eRIGID_DYNAMIC;
}

//-----------------------------------------------------------------------------
bool Actor::is_kinematic() const
{
	if (!is_dynamic())
		return false;

	return static_cast<PxRigidDynamic*>(m_actor)->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC;
}

//-----------------------------------------------------------------------------
bool Actor::is_nonkinematic() const
{
	return is_dynamic() && !is_kinematic();
}

//-----------------------------------------------------------------------------
float Actor::linear_damping() const
{
	if (is_static())
		return 0;

	return static_cast<PxRigidDynamic*>(m_actor)->getLinearDamping();
}

//-----------------------------------------------------------------------------
void Actor::set_linear_damping(float rate)
{
	if (is_static())
		return;

	static_cast<PxRigidDynamic*>(m_actor)->setLinearDamping(rate);
}

//-----------------------------------------------------------------------------
float Actor::angular_damping() const
{
	if (is_static())
		return 0;

	return static_cast<PxRigidDynamic*>(m_actor)->getAngularDamping();
}

//-----------------------------------------------------------------------------
void Actor::set_angular_damping(float rate)
{
	if (is_static())
		return;

	static_cast<PxRigidDynamic*>(m_actor)->setAngularDamping(rate);
}

//-----------------------------------------------------------------------------
Vector3 Actor::linear_velocity() const
{
	if (is_static())
		return Vector3(0, 0, 0);

	const PxVec3 vel = static_cast<PxRigidBody*>(m_actor)->getLinearVelocity();
	return Vector3(vel.x, vel.y, vel.z);
}

//-----------------------------------------------------------------------------
void Actor::set_linear_velocity(const Vector3& vel)
{
	if (!is_nonkinematic())
		return;

	const PxVec3 velocity(vel.x, vel.y, vel.z);
	static_cast<PxRigidBody*>(m_actor)->setLinearVelocity(velocity);
}

//-----------------------------------------------------------------------------
Vector3 Actor::angular_velocity() const
{
	if (is_static())
		return Vector3(0, 0, 0);

	const PxVec3 vel = static_cast<PxRigidBody*>(m_actor)->getAngularVelocity();
	return Vector3(vel.x, vel.y, vel.z);
}

//-----------------------------------------------------------------------------
void Actor::set_angular_velocity(const Vector3& vel)
{
	if (!is_nonkinematic())
		return;

	const PxVec3 velocity(vel.x, vel.y, vel.z);
	static_cast<PxRigidBody*>(m_actor)->setAngularVelocity(velocity);
}

//-----------------------------------------------------------------------------
void Actor::add_impulse(const Vector3& impulse)
{
	if (!is_nonkinematic())
		return;

	static_cast<PxRigidDynamic*>(m_actor)->addForce(PxVec3(impulse.x, impulse.y, impulse.z), PxForceMode::eIMPULSE);
}

//-----------------------------------------------------------------------------
void Actor::add_impulse_at(const Vector3& impulse, const Vector3& pos)
{
	if (!is_nonkinematic())
		return;

	PxRigidBodyExt::addForceAtPos(*static_cast<PxRigidDynamic*>(m_actor),
									   PxVec3(impulse.x, impulse.y, impulse.z),
									   PxVec3(pos.x, pos.y, pos.z),
									   PxForceMode::eIMPULSE);
}

//-----------------------------------------------------------------------------
void Actor::add_torque_impulse(const Vector3& i)
{
	if (!is_nonkinematic())
		return;

	static_cast<PxRigidBody*>(m_actor)->addTorque(PxVec3(i.x, i.y, i.z), PxForceMode::eIMPULSE);
}

//-----------------------------------------------------------------------------
void Actor::push(const Vector3& vel, float mass)
{
	add_impulse(vel * mass);
}

//-----------------------------------------------------------------------------
void Actor::push_at(const Vector3& vel, float mass, const Vector3& pos)
{
	add_impulse_at(vel * mass, pos);
}

//-----------------------------------------------------------------------------
bool Actor::is_sleeping()
{
	if (is_static())
		return true;

	return static_cast<PxRigidDynamic*>(m_actor)->isSleeping();
}

//-----------------------------------------------------------------------------
void Actor::wake_up()
{
	if (is_static())
		return;

	static_cast<PxRigidDynamic*>(m_actor)->wakeUp();
}

//-----------------------------------------------------------------------------
UnitId Actor::unit_id() const
{
	return m_unit;
}

//-----------------------------------------------------------------------------
Unit* Actor::unit()
{
	return (m_unit.id == INVALID_ID) ? NULL : m_world.world().get_unit(m_unit);
}

//-----------------------------------------------------------------------------
void Actor::update(const Matrix4x4& pose)
{
	m_scene_graph.set_world_pose(m_node, pose);
}

} // namespace crown