qphysicscommands.cpp

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// Copyright (C) 2021 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
 
#include "qphysicsworld_p.h"
#include "qphysicscommands_p.h"
#include "qphysicsutils_p.h"
#include "qdynamicrigidbody_p.h"
#include "PxPhysicsAPI.h"
 
QT_BEGIN_NAMESPACE
 
static bool isKinematicBody(physx::PxRigidBody &body)
{
    return static_cast<bool>(body.getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC);
}
 
QPhysicsCommandApplyCentralForce::QPhysicsCommandApplyCentralForce(const QVector3D &inForce)
    : QPhysicsCommand(), force(inForce)
{
}
 
void QPhysicsCommandApplyCentralForce::execute(const QDynamicRigidBody &rigidBody,
                                               physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
    body.addForce(QPhysicsUtils::toPhysXType(force));
}
 
QPhysicsCommandApplyForce::QPhysicsCommandApplyForce(const QVector3D &inForce,
                                                     const QVector3D &inPosition)
    : QPhysicsCommand(), force(inForce), position(inPosition)
{
}
 
void QPhysicsCommandApplyForce::execute(const QDynamicRigidBody &rigidBody,
                                        physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
    physx::PxRigidBodyExt::addForceAtPos(body, QPhysicsUtils::toPhysXType(force),
                                         QPhysicsUtils::toPhysXType(position));
}
 
QPhysicsCommandApplyTorque::QPhysicsCommandApplyTorque(const QVector3D &inTorque)
    : QPhysicsCommand(), torque(inTorque)
{
}
 
void QPhysicsCommandApplyTorque::execute(const QDynamicRigidBody &rigidBody,
                                         physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
    body.addTorque(QPhysicsUtils::toPhysXType(torque));
}
 
QPhysicsCommandApplyCentralImpulse::QPhysicsCommandApplyCentralImpulse(const QVector3D &inImpulse)
    : QPhysicsCommand(), impulse(inImpulse)
{
}
 
void QPhysicsCommandApplyCentralImpulse::execute(const QDynamicRigidBody &rigidBody,
                                                 physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
    body.addForce(QPhysicsUtils::toPhysXType(impulse), physx::PxForceMode::eIMPULSE);
}
 
QPhysicsCommandApplyImpulse::QPhysicsCommandApplyImpulse(const QVector3D &inImpulse,
                                                         const QVector3D &inPosition)
    : QPhysicsCommand(), impulse(inImpulse), position(inPosition)
{
}
 
void QPhysicsCommandApplyImpulse::execute(const QDynamicRigidBody &rigidBody,
                                          physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
    physx::PxRigidBodyExt::addForceAtPos(body, QPhysicsUtils::toPhysXType(impulse),
                                         QPhysicsUtils::toPhysXType(position),
                                         physx::PxForceMode::eIMPULSE);
}
 
QPhysicsCommandApplyTorqueImpulse::QPhysicsCommandApplyTorqueImpulse(const QVector3D &inImpulse)
    : QPhysicsCommand(), impulse(inImpulse)
{
}
 
void QPhysicsCommandApplyTorqueImpulse::execute(const QDynamicRigidBody &rigidBody,
                                                physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    if (isKinematicBody(body))
        return;
 
    body.addTorque(QPhysicsUtils::toPhysXType(impulse), physx::PxForceMode::eIMPULSE);
}
 
QPhysicsCommandSetAngularVelocity::QPhysicsCommandSetAngularVelocity(
        const QVector3D &inAngularVelocity)
    : QPhysicsCommand(), angularVelocity(inAngularVelocity)
{
}
 
void QPhysicsCommandSetAngularVelocity::execute(const QDynamicRigidBody &rigidBody,
                                                physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    body.setAngularVelocity(QPhysicsUtils::toPhysXType(angularVelocity));
}
 
QPhysicsCommandSetLinearVelocity::QPhysicsCommandSetLinearVelocity(
        const QVector3D &inLinearVelocity)
    : QPhysicsCommand(), linearVelocity(inLinearVelocity)
{
}
 
void QPhysicsCommandSetLinearVelocity::execute(const QDynamicRigidBody &rigidBody,
                                               physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    body.setLinearVelocity(QPhysicsUtils::toPhysXType(linearVelocity));
}
 
QPhysicsCommandSetMass::QPhysicsCommandSetMass(float inMass) : QPhysicsCommand(), mass(inMass) { }
 
void QPhysicsCommandSetMass::execute(const QDynamicRigidBody &rigidBody, physx::PxRigidBody &body)
{
    if (rigidBody.hasStaticShapes()) {
        qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
                      "ignoring.";
        return;
    }
 
    physx::PxRigidBodyExt::setMassAndUpdateInertia(body, mass);
}
 
void QPhysicsCommandSetMassAndInertiaTensor::execute(const QDynamicRigidBody &rigidBody,
                                                     physx::PxRigidBody &body)
{
    if (rigidBody.hasStaticShapes()) {
        qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
                      "ignoring.";
        return;
    }
 
    body.setMass(mass);
    body.setCMassLocalPose(
            physx::PxTransform(QPhysicsUtils::toPhysXType(rigidBody.centerOfMassPosition()),
                               QPhysicsUtils::toPhysXType(rigidBody.centerOfMassRotation())));
    body.setMassSpaceInertiaTensor(QPhysicsUtils::toPhysXType(inertia));
}
 
QPhysicsCommandSetMassAndInertiaMatrix::QPhysicsCommandSetMassAndInertiaMatrix(
        float inMass, const QMatrix3x3 &inInertia)
    : QPhysicsCommand(), mass(inMass), inertia(inInertia)
{
}
 
void QPhysicsCommandSetMassAndInertiaMatrix::execute(const QDynamicRigidBody &rigidBody,
                                                     physx::PxRigidBody &body)
{
    if (rigidBody.hasStaticShapes()) {
        qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
                      "ignoring.";
        return;
    }
 
    physx::PxQuat massFrame;
    physx::PxVec3 diagTensor = physx::PxDiagonalize(QPhysicsUtils::toPhysXType(inertia), massFrame);
    if ((diagTensor.x <= 0.0f) || (diagTensor.y <= 0.0f) || (diagTensor.z <= 0.0f))
        return; // FIXME: print error?
 
    body.setCMassLocalPose(physx::PxTransform(
            QPhysicsUtils::toPhysXType(rigidBody.centerOfMassPosition()), massFrame));
    body.setMass(mass);
    body.setMassSpaceInertiaTensor(diagTensor);
}
 
QPhysicsCommandSetDensity::QPhysicsCommandSetDensity(float inDensity)
    : QPhysicsCommand(), density(inDensity)
{
}
 
void QPhysicsCommandSetDensity::execute(const QDynamicRigidBody &rigidBody,
                                        physx::PxRigidBody &body)
{
    if (rigidBody.hasStaticShapes()) {
        qWarning() << "Cannot set mass or density on a body containing trimesh/heightfield/plane, "
                      "ignoring.";
        return;
    }
 
    const float clampedDensity = qMax(0.0000001, density);
    if (clampedDensity != density) {
        qWarning() << "Clamping density " << density;
        return;
    }
 
    physx::PxRigidBodyExt::updateMassAndInertia(body, clampedDensity);
}
 
QPhysicsCommandSetIsKinematic::QPhysicsCommandSetIsKinematic(bool inIsKinematic)
    : QPhysicsCommand(), isKinematic(inIsKinematic)
{
}
 
void QPhysicsCommandSetIsKinematic::execute(const QDynamicRigidBody &rigidBody,
                                            physx::PxRigidBody &body)
{
    if (rigidBody.hasStaticShapes() && !isKinematic) {
        qWarning() << "Cannot make a body containing trimesh/heightfield/plane non-kinematic, "
                      "ignoring.";
        return;
    }
 
    body.setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, isKinematic);
}
 
QPhysicsCommandSetGravityEnabled::QPhysicsCommandSetGravityEnabled(bool inGravityEnabled)
    : QPhysicsCommand(), gravityEnabled(inGravityEnabled)
{
}
 
void QPhysicsCommandSetGravityEnabled::execute(const QDynamicRigidBody &rigidBody,
                                               physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    body.setActorFlag(physx::PxActorFlag::eDISABLE_GRAVITY, !gravityEnabled);
}
 
QPhysicsCommandReset::QPhysicsCommandReset(QVector3D inPosition, QVector3D inEulerRotation)
    : QPhysicsCommand(), position(inPosition), eulerRotation(inEulerRotation)
{
}
 
void QPhysicsCommandReset::execute(const QDynamicRigidBody &rigidBody, physx::PxRigidBody &body)
{
    Q_UNUSED(rigidBody)
    body.setLinearVelocity(physx::PxVec3(0, 0, 0));
    body.setAngularVelocity(physx::PxVec3(0, 0, 0));
 
    auto *parentNode = rigidBody.parentNode();
    QVector3D scenePosition = parentNode ? parentNode->mapPositionToScene(position) : position;
    // TODO: rotation also needs to be mapped
 
    body.setGlobalPose(physx::PxTransform(
            QPhysicsUtils::toPhysXType(scenePosition),
            QPhysicsUtils::toPhysXType(QQuaternion::fromEulerAngles(eulerRotation))));
}
 
QPhysicsCommandSetMassAndInertiaTensor::QPhysicsCommandSetMassAndInertiaTensor(
        float inMass, const QVector3D &inInertia)
    : QPhysicsCommand(), mass(inMass), inertia(inInertia)
{
}
 
QT_END_NAMESPACE