| 1 | // Copyright (C) 2023 The Qt Company Ltd. |
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| 2 | // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only |
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| 3 | |
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| 4 | #include "qphysxstaticbody_p.h" |
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| 5 | |
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| 6 | #include "PxPhysics.h" |
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| 7 | #include "PxRigidActor.h" |
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| 8 | #include "PxRigidStatic.h" |
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| 9 | |
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| 10 | #include "qphysicsutils_p.h" |
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| 11 | #include "qphysicsworld_p.h" |
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| 12 | #include "qstaticrigidbody_p.h" |
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| 13 | #include "qstaticphysxobjects_p.h" |
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| 14 | |
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| 15 | QT_BEGIN_NAMESPACE |
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| 16 | |
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| 17 | static inline bool fuzzyEquals(const physx::PxTransform &a, const physx::PxTransform &b) |
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| 18 | { |
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| 19 | return qFuzzyCompare(p1: a.p.x, p2: b.p.x) && qFuzzyCompare(p1: a.p.y, p2: b.p.y) && qFuzzyCompare(p1: a.p.z, p2: b.p.z) |
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| 20 | && qFuzzyCompare(p1: a.q.x, p2: b.q.x) && qFuzzyCompare(p1: a.q.y, p2: b.q.y) |
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| 21 | && qFuzzyCompare(p1: a.q.z, p2: b.q.z) && qFuzzyCompare(p1: a.q.w, p2: b.q.w); |
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| 22 | } |
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| 23 | |
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| 24 | QPhysXStaticBody::QPhysXStaticBody(QStaticRigidBody *frontEnd) : QPhysXRigidBody(frontEnd) { } |
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| 25 | |
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| 26 | DebugDrawBodyType QPhysXStaticBody::getDebugDrawBodyType() |
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| 27 | { |
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| 28 | return DebugDrawBodyType::Static; |
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| 29 | } |
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| 30 | |
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| 31 | void QPhysXStaticBody::sync(float deltaTime, QHash<QQuick3DNode *, QMatrix4x4> &transformCache) |
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| 32 | { |
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| 33 | auto *staticBody = static_cast<QStaticRigidBody *>(frontendNode); |
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| 34 | const physx::PxTransform poseNew = QPhysicsUtils::toPhysXTransform(position: staticBody->scenePosition(), |
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| 35 | rotation: staticBody->sceneRotation()); |
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| 36 | const physx::PxTransform poseOld = actor->getGlobalPose(); |
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| 37 | |
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| 38 | // For performance we only update static objects if they have been moved |
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| 39 | if (!fuzzyEquals(a: poseNew, b: poseOld)) |
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| 40 | actor->setGlobalPose(pose: poseNew); |
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| 41 | QPhysXActorBody::sync(deltaTime, transformCache); |
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| 42 | } |
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| 43 | |
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| 44 | void QPhysXStaticBody::createActor(QPhysXWorld * /*physX*/) |
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| 45 | { |
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| 46 | auto &s_physx = StaticPhysXObjects::getReference(); |
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| 47 | const physx::PxTransform trf = QPhysicsUtils::toPhysXTransform(position: frontendNode->scenePosition(), |
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| 48 | rotation: frontendNode->sceneRotation()); |
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| 49 | actor = s_physx.physics->createRigidStatic(pose: trf); |
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| 50 | } |
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| 51 | |
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| 52 | QT_END_NAMESPACE |
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| 53 | |
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