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open_toontown_panda3d/panda/src/physx/physxCloth.cxx

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// Filename: physxCloth.cxx
// Created by: enn0x (30Mar10)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University. All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license. You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////
#include "physxCloth.h"
#include "physxClothDesc.h"
#include "physxScene.h"
#include "physxGroupsMask.h"
#include "physxShape.h"
#include "physxManager.h"
#include "boundingBox.h"
TypeHandle PhysxCloth::_type_handle;
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::link
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void PhysxCloth::
link(NxCloth *clothPtr) {
// Link self
_ptr = clothPtr;
_error_type = ET_ok;
_ptr->userData = this;
set_name(clothPtr->getName());
PhysxScene *scene = (PhysxScene *)_ptr->getScene().userData;
scene->_cloths.add(this);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::unlink
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void PhysxCloth::
unlink() {
// Unlink self
_ptr->userData = NULL;
_error_type = ET_released;
PhysxScene *scene = (PhysxScene *)_ptr->getScene().userData;
scene->_cloths.remove(this);
_node = NULL;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::release
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void PhysxCloth::
release() {
nassertv(_error_type == ET_ok);
unlink();
_ptr->getScene().releaseCloth(*_ptr);
_ptr = NULL;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::update
// Access: Public
// Description:
////////////////////////////////////////////////////////////////////
void PhysxCloth::
update() {
if (_node) {
// Update node mesh data
_node->update();
// Update node bounding volume
NxBounds3 bounds;
_ptr->getWorldBounds(bounds);
BoundingBox bb(PhysxManager::nxVec3_to_point3(bounds.min),
PhysxManager::nxVec3_to_point3(bounds.max));
_node->set_bounds(&bb);
}
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_scene
// Access: Published
// Description: Returns the scene which this cloth belongs to.
////////////////////////////////////////////////////////////////////
PhysxScene *PhysxCloth::
get_scene() const {
nassertr(_error_type == ET_ok, NULL);
return (PhysxScene *)_ptr->getScene().userData;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_cloth_node
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
PhysxClothNode *PhysxCloth::
get_cloth_node() const {
nassertr(_error_type == ET_ok, NULL);
return _node;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::create_cloth_node
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
PhysxClothNode *PhysxCloth::
create_cloth_node(const char *name) {
nassertr(_error_type == ET_ok, NULL);
_node = new PhysxClothNode(name);
_node->allocate(this);
return _node;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_name
// Access: Published
// Description: Sets a name string for the object that can be
// retrieved with get_name().
// This is for debugging and is not used by the
// engine.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_name(const char *name) {
nassertv(_error_type == ET_ok);
_name = name ? name : "";
_ptr->setName(_name.c_str());
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_name
// Access: Published
// Description: Retrieves the name string.
////////////////////////////////////////////////////////////////////
const char *PhysxCloth::
get_name() const {
nassertr(_error_type == ET_ok, "");
return _ptr->getName();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_group
// Access: Published
// Description: Sets which collision group this cloth is part of.
// Collision group must be between 0 and 31.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_group(unsigned int group) {
nassertv(_error_type == ET_ok);
nassertv(group >= 0 && group < 32);
_ptr->setGroup(group);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_group
// Access: Published
// Description: Retrieves the collision group this cloth is part
// of.
////////////////////////////////////////////////////////////////////
unsigned int PhysxCloth::
get_group() const {
nassertr(_error_type == ET_ok, 0);
return _ptr->getGroup();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_thickness
// Access: Published
// Description: Sets the cloth thickness (must be positive).
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_thickness(float thickness) {
nassertv(_error_type == ET_ok);
_ptr->setThickness(thickness);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_thickness
// Access: Published
// Description: Gets the cloth thickness.
////////////////////////////////////////////////////////////////////
float PhysxCloth::
get_thickness() const {
nassertr(_error_type == ET_ok, 0.0f);
return _ptr->getThickness();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_density
// Access: Published
// Description: Gets the cloth density.
////////////////////////////////////////////////////////////////////
float PhysxCloth::
get_density() const {
nassertr(_error_type == ET_ok, 0.0f);
return _ptr->getDensity();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_relative_grid_spacing
// Access: Published
// Description: Gets the relative grid spacing for the broad
// phase. The cloth is represented by a set of
// world aligned cubical cells in broad phase. The
// size of these cells is determined by multiplying
// the length of the diagonal of the AABB of the
// initial soft body size with this constant.
////////////////////////////////////////////////////////////////////
float PhysxCloth::
get_relative_grid_spacing() const {
nassertr(_error_type == ET_ok, 0.0f);
return _ptr->getRelativeGridSpacing();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_num_particles
// Access: Published
// Description: Gets the number of cloth particles.
////////////////////////////////////////////////////////////////////
unsigned int PhysxCloth::
get_num_particles() {
nassertr(_error_type == ET_ok, 0);
return _ptr->getNumberOfParticles();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_flag
// Access: Published
// Description: Sets the value of a single flag.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_flag(PhysxClothFlag flag, bool value) {
nassertv(_error_type == ET_ok);
NxU32 flags = _ptr->getFlags();
if (value == true) {
flags |= flag;
}
else {
flags &= ~(flag);
}
_ptr->setFlags(flags);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_flag
// Access: Published
// Description: Retrieves the value of a single flag.
////////////////////////////////////////////////////////////////////
bool PhysxCloth::
get_flag(PhysxClothFlag flag) const {
nassertr(_error_type == ET_ok, false);
return (_ptr->getFlags() & flag) ? true : false;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_groups_mask
// Access: Published
// Description: Sets 128-bit mask used for collision filtering.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_groups_mask(const PhysxGroupsMask &mask) {
nassertv(_error_type == ET_ok);
NxGroupsMask _mask = mask.get_mask();
_ptr->setGroupsMask(_mask);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_groups_mask
// Access: Published
// Description: Gets the 128-bit groups mask used for collision
// filtering.
////////////////////////////////////////////////////////////////////
PhysxGroupsMask PhysxCloth::
get_groups_mask() const {
PhysxGroupsMask mask;
nassertr(_error_type == ET_ok, mask);
NxGroupsMask _mask = _ptr->getGroupsMask();
mask.set_mask(_mask);
return mask;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::is_sleeping
// Access: Published
// Description: Returns true if this cloth is sleeping.
//
// When a cloth does not move for a period of time,
// it is no longer simulated in order to save time.
// This state is called sleeping. However, because the
// object automatically wakes up when it is either
// touched by an awake object, or one of its
// properties is changed by the user, the entire sleep
// mechanism should be transparent to the user.
////////////////////////////////////////////////////////////////////
bool PhysxCloth::
is_sleeping() const {
nassertr(_error_type == ET_ok, false);
return _ptr->isSleeping();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::wake_up
// Access: Published
// Description: Wakes up the cloth if it is sleeping.
//
// The wakeCounterValue determines how long until the
// body is put to sleep, a value of zero means that
// the body is sleeping. wake_up(0) is equivalent to
// PhysxCloth::put_to_sleep().
////////////////////////////////////////////////////////////////////
void PhysxCloth::
wake_up(float wakeCounterValue) {
nassertv(_error_type == ET_ok);
_ptr->wakeUp(wakeCounterValue);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::put_to_sleep
// Access: Published
// Description: Forces the cloth to sleep.
//
// The cloth will stay asleep until the next
// call to simulate, and will not wake up until then
// even when otherwise it would (for example a force
// is applied to it). It can however wake up during
// the next do_physics call.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
put_to_sleep() {
nassertv(_error_type == ET_ok);
_ptr->putToSleep();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_sleep_linear_velocity
// Access: Published
// Description: Sets the linear velocity below which an cloth
// may go to sleep. Cloths whose linear velocity is
// above this threshold will not be put to sleep.
//
// Setting the sleep angular/linear velocity only
// makes sense when the BF_energy_sleep_test is not
// set.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_sleep_linear_velocity(float threshold) {
nassertv(_error_type == ET_ok);
_ptr->setSleepLinearVelocity(threshold);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_sleep_linear_velocity
// Access: Published
// Description: Returns the linear velocity below which an soft
// body may go to sleep. cloths whose linear velocity
// is above this threshold will not be put to sleep.
////////////////////////////////////////////////////////////////////
float PhysxCloth::
get_sleep_linear_velocity() const {
nassertr(_error_type == ET_ok, 0.0f);
return _ptr->getSleepLinearVelocity();
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::attach_vertex_to_global_pos
// Access: Published
// Description: Attaches a cloth vertex to a position in world
// space.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
attach_vertex_to_global_pos(unsigned int vertexId, LPoint3f const &pos) {
nassertv(_error_type == ET_ok);
nassertv(!pos.is_nan());
_ptr->attachVertexToGlobalPosition(vertexId, PhysxManager::point3_to_nxVec3(pos));
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::attach_to_shape
// Access: Published
// Description: Attaches the cloth to a shape. All cloth points
// currently inside the shape are attached.
//
// This method only works with primitive and convex
// shapes. Since the inside of a general triangle mesh
// is not clearly defined.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
attach_to_shape(PhysxShape *shape) {
nassertv(_error_type == ET_ok);
nassertv(shape);
NxU32 attachmentFlags = 0; // --TODO--
_ptr->attachToShape(shape->ptr(), attachmentFlags);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::attach_to_colliding_shapes
// Access: Published
// Description: Attaches the cloth to all shapes, currently
// colliding.
//
// This method only works with primitive and convex
// shapes. Since the inside of a general triangle mesh
// is not clearly defined.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
attach_to_colliding_shapes() {
nassertv(_error_type == ET_ok);
NxU32 attachmentFlags = 0; // --TODO--
_ptr->attachToCollidingShapes(attachmentFlags);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::detach_from_shape
// Access: Published
// Description: Detaches the cloth from a shape it has been
// attached to before.
//
// If the cloth has not been attached to the shape
// before, the call has no effect.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
detach_from_shape(PhysxShape *shape) {
nassertv(_error_type == ET_ok);
nassertv(shape);
_ptr->detachFromShape(shape->ptr());
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::free_vertex
// Access: Published
// Description: Frees a previously attached cloth point.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
free_vertex(unsigned int vertexId) {
nassertv(_error_type == ET_ok);
_ptr->freeVertex(vertexId);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::attach_vertex_to_shape
// Access: Published
// Description: Attaches a cloth vertex to a local position within
// a shape.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
attach_vertex_to_shape(unsigned int vertexId, PhysxShape *shape, LPoint3f const &localPos) {
nassertv(_error_type == ET_ok);
nassertv(!localPos.is_nan());
nassertv(shape);
NxU32 attachmentFlags = 0; // --TODO--
_ptr->attachVertexToShape(vertexId, shape->ptr(),
PhysxManager::point3_to_nxVec3(localPos),
attachmentFlags);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_vertex_attachment_status
// Access: Published
// Description: Return the attachment status of the given vertex.
////////////////////////////////////////////////////////////////////
PhysxEnums::PhysxVertexAttachmentStatus PhysxCloth::
get_vertex_attachment_status(unsigned int vertexId) const {
nassertr(_error_type == ET_ok, VAS_none);
// --TODO-- nassertr(vertexId < _ptr->getNumberOfParticles(), VAS_none);
return (PhysxVertexAttachmentStatus) _ptr->getVertexAttachmentStatus(vertexId);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_vertex_attachment_shape
// Access: Published
// Description: Returns the pointer to an attached shape pointer
// of the given vertex. If the vertex is not attached
// or attached to a global position, NULL is returned.
////////////////////////////////////////////////////////////////////
PhysxShape *PhysxCloth::
get_vertex_attachment_shape(unsigned int vertexId) const {
nassertr(_error_type == ET_ok, NULL);
// --TODO-- nassertr(vertexId < _ptr->getNumberOfParticles(), NULL);
NxShape *shapePtr = _ptr->getVertexAttachmentShape(vertexId);
PhysxShape *shape = shapePtr ? (PhysxShape *)(shapePtr->userData) : NULL;
return shape;
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_vertex_attachment_pos
// Access: Published
// Description: Returns the attachment position of the given
// vertex. If the vertex is attached to shape, the
// position local to the shape's pose is returned. If
// the vertex is not attached, the return value is
// undefined.
////////////////////////////////////////////////////////////////////
LPoint3f PhysxCloth::
get_vertex_attachment_pos(unsigned int vertexId) const {
nassertr(_error_type == ET_ok, LPoint3f::zero());
// --TODO-- nassertr(vertexId < _ptr->getNumberOfParticles(), LPoint3f::zero());
return PhysxManager::nxVec3_to_point3(_ptr->getVertexAttachmentPosition(vertexId));
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_external_acceleration
// Access: Published
// Description: Sets an external acceleration which affects all non
// attached particles of the cloth.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_external_acceleration(LVector3f const &acceleration) {
nassertv(_error_type == ET_ok);
nassertv_always(!acceleration.is_nan());
_ptr->setExternalAcceleration(PhysxManager::vec3_to_nxVec3(acceleration));
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::set_wind_acceleration
// Access: Published
// Description: Sets an acceleration acting normal to the cloth
// surface at each vertex.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
set_wind_acceleration(LVector3f const &acceleration) {
nassertv(_error_type == ET_ok);
nassertv_always(!acceleration.is_nan());
_ptr->setWindAcceleration(PhysxManager::vec3_to_nxVec3(acceleration));
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_external_acceleration
// Access: Published
// Description: Retrieves the external acceleration which affects
// all non attached particles of the cloth.
////////////////////////////////////////////////////////////////////
LVector3f PhysxCloth::
get_external_acceleration() const {
nassertr(_error_type == ET_ok, LVector3f::zero());
return PhysxManager::nxVec3_to_vec3(_ptr->getExternalAcceleration());
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::get_wind_acceleration
// Access: Published
// Description: Retrieves the acceleration acting normal to the
// cloth surface at each vertex
////////////////////////////////////////////////////////////////////
LVector3f PhysxCloth::
get_wind_acceleration() const {
nassertr(_error_type == ET_ok, LVector3f::zero());
return PhysxManager::nxVec3_to_vec3(_ptr->getWindAcceleration());
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::add_force_at_vertex
// Access: Published
// Description: Applies a force (or impulse) defined in the
// global coordinate frame, to a particular vertex
// of the cloth.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
add_force_at_vertex(LVector3f const &force, int vertexId, PhysxForceMode mode) {
nassertv(_error_type == ET_ok);
_ptr->addForceAtVertex(PhysxManager::vec3_to_nxVec3(force),
vertexId,
(NxForceMode) mode);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::add_force_at_pos
// Access: Published
// Description: Applies a radial force (or impulse) at a
// particular position. All vertices within radius
// will be affected with a quadratic drop-off.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
add_force_at_pos(LPoint3f const &pos, float magnitude, float radius, PhysxForceMode mode) {
nassertv(_error_type == ET_ok);
_ptr->addForceAtPos(PhysxManager::point3_to_nxVec3(pos),
magnitude,
radius,
(NxForceMode) mode);
}
////////////////////////////////////////////////////////////////////
// Function: PhysxCloth::add_directed_force_at_pos
// Access: Published
// Description: Applies a directed force (or impulse) at a
// particular position. All vertices within radius
// will be affected with a quadratic drop-off.
////////////////////////////////////////////////////////////////////
void PhysxCloth::
add_directed_force_at_pos(LPoint3f const &pos, LVector3f const &force, float radius, PhysxForceMode mode) {
nassertv(_error_type == ET_ok);
_ptr->addDirectedForceAtPos(PhysxManager::point3_to_nxVec3(pos),
PhysxManager::vec3_to_nxVec3(force),
radius,
(NxForceMode) mode);
}
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