CWE-ou-minkata/Sources/Plasma/PubUtilLib/plPhysX/plPXPhysical.cpp

/*==LICENSE==*

CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

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along with this program. If not, see <http://www.gnu.org/licenses/>.

Additional permissions under GNU GPL version 3 section 7

If you modify this Program, or any covered work, by linking or
combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
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(or a modified version of those libraries),
containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
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*==LICENSE==*/
#include "plPXPhysical.h"

#include "NxPhysics.h"
#include "NxCooking.h"

#include "hsResMgr.h"
#include "hsStream.h"
#include "hsTimer.h"
#include "plProfile.h"
#include "hsQuat.h"
#include "hsSTLStream.h"

#include "plSimulationMgr.h"
#include "../plPhysical/plPhysicalSDLModifier.h"
#include "../plPhysical/plPhysicalSndGroup.h"
#include "../plPhysical/plPhysicalProxy.h"
#include "../pnSceneObject/plSimulationInterface.h"
#include "../pnSceneObject/plCoordinateInterface.h"

#include "../pnKeyedObject/plKey.h"
#include "../pnMessage/plCorrectionMsg.h"
#include "../pnMessage/plNodeRefMsg.h"
#include "../pnMessage/plObjRefMsg.h"
#include "../pnMessage/plSDLModifierMsg.h"
#include "../plMessage/plSimStateMsg.h"
#include "../plMessage/plSimInfluenceMsg.h"
#include "../plMessage/plLinearVelocityMsg.h"
#include "../plMessage/plAngularVelocityMsg.h"
#include "../plDrawable/plDrawableGenerator.h"
#include "../plNetClient/plNetClientMgr.h"
#include "../plNetTransport/plNetTransportMember.h"
#include "../plStatusLog/plStatusLog.h"
#include "plPXConvert.h"
#include "plPXPhysicalControllerCore.h"
#include "plPXSubWorld.h"

#include "../plModifier/plDetectorLog.h"


#if 0
	#define SpamMsg(x) x
#else
	#define SpamMsg(x)
#endif
              
#define LogActivate(func) if (fActor->isSleeping()) SimLog("%s activated by %s", GetKeyName(), func);

plProfile_Extern(MaySendLocation);
plProfile_Extern(LocationsSent);
plProfile_Extern(PhysicsUpdates);

static void ClearMatrix(hsMatrix44 &m)
{
	m.fMap[0][0] = 0.0f; m.fMap[0][1] = 0.0f; m.fMap[0][2] = 0.0f; m.fMap[0][3]  = 0.0f;
	m.fMap[1][0] = 0.0f; m.fMap[1][1] = 0.0f; m.fMap[1][2] = 0.0f; m.fMap[1][3]  = 0.0f;
	m.fMap[2][0] = 0.0f; m.fMap[2][1] = 0.0f; m.fMap[2][2] = 0.0f; m.fMap[2][3]  = 0.0f;
	m.fMap[3][0] = 0.0f; m.fMap[3][1] = 0.0f; m.fMap[3][2] = 0.0f; m.fMap[3][3]  = 0.0f;
	m.NotIdentity();
}

int	plPXPhysical::fNumberAnimatedPhysicals = 0;
int	plPXPhysical::fNumberAnimatedActivators = 0;

/////////////////////////////////////////////////////////////////
//
// plPXPhysical IMPLEMENTATION
//
/////////////////////////////////////////////////////////////////

plPXPhysical::plPXPhysical()
	: fSDLMod(nil)
	, fActor(nil)
	, fLOSDBs(plSimDefs::kLOSDBNone)
	, fGroup(plSimDefs::kGroupMax)
	, fReportsOn(0)
	, fLastSyncTime(0.0f)
	, fProxyGen(nil)
	, fSndGroup(nil)
	, fWorldHull(nil)
	, fSaveTriangles(nil)
	, fHullNumberPlanes(0)
	, fWeWereHit(false)
	, fHitForce(0,0,0)
	, fHitPos(0,0,0)
	, fInsideConvexHull(false)
{
}

plPXPhysical::~plPXPhysical()
{
	SpamMsg(plSimulationMgr::Log("Destroying physical %s", GetKeyName()));

	if (fActor)
	{
		// Grab any mesh we may have (they need to be released manually)
		NxConvexMesh* convexMesh = nil;
		NxTriangleMesh* triMesh = nil;
		NxShape* shape = fActor->getShapes()[0];
		if (NxConvexShape* convexShape = shape->isConvexMesh())
			convexMesh = &convexShape->getConvexMesh();
		else if (NxTriangleMeshShape* trimeshShape = shape->isTriangleMesh())
			triMesh = &trimeshShape->getTriangleMesh();

		if (!fActor->isDynamic())
			plPXPhysicalControllerCore::RebuildCache();

		if (fActor->isDynamic() && fActor->readBodyFlag(NX_BF_KINEMATIC))
		{
			if (fGroup == plSimDefs::kGroupDynamic)
				fNumberAnimatedPhysicals--;
			else
				fNumberAnimatedActivators--;
		}

		// Release the actor
		NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
		scene->releaseActor(*fActor);
		fActor = nil;

		// Now that the actor is freed, release the mesh
		if (convexMesh)
			plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*convexMesh);
		if (triMesh)
			plSimulationMgr::GetInstance()->GetSDK()->releaseTriangleMesh(*triMesh);

		// Release the scene, so it can be cleaned up if no one else is using it
		plSimulationMgr::GetInstance()->ReleaseScene(fWorldKey);
	}

	if (fWorldHull)
		delete [] fWorldHull;
	if (fSaveTriangles)
		delete [] fSaveTriangles;

	delete fProxyGen;

	// remove sdl modifier
	plSceneObject* sceneObj = plSceneObject::ConvertNoRef(fObjectKey->ObjectIsLoaded());
	if (sceneObj && fSDLMod)
	{
		sceneObj->RemoveModifier(fSDLMod);
	}
	delete fSDLMod;
}

static void MakeBoxFromHull(NxConvexMesh* convexMesh, NxBoxShapeDesc& box)
{
	NxConvexMeshDesc desc;
	convexMesh->saveToDesc(desc);

	hsScalar minX, minY, minZ, maxX, maxY, maxZ;
	minX = minY = minZ = FLT_MAX;
	maxX = maxY = maxZ = -FLT_MAX;

	for (int i = 0; i < desc.numVertices; i++)
	{
		float* point = (float*)(((char*)desc.points) + desc.pointStrideBytes*i);
		float x = point[0];
		float y = point[1];
		float z = point[2];

		minX = hsMinimum(minX, x);
		minY = hsMinimum(minY, y);
		minZ = hsMinimum(minZ, z);
		maxX = hsMaximum(maxX, x);
		maxY = hsMaximum(maxY, y);
		maxZ = hsMaximum(maxZ, z);
	}

	float xWidth = maxX - minX;
	float yWidth = maxY - minY;
	float zWidth = maxZ - minZ;
	box.dimensions.x = xWidth / 2;
	box.dimensions.y = yWidth / 2;
	box.dimensions.z = zWidth / 2;

	//hsMatrix44 mat;
	//box.localPose.getRowMajor44(&mat.fMap[0][0]);
	hsPoint3 trans(minX + (xWidth / 2), minY + (yWidth / 2), minZ + (zWidth / 2));
	//mat.SetTranslate(&trans);
	//box.localPose.setRowMajor44(&mat.fMap[0][0]);

	hsMatrix44 boxL2W;
	boxL2W.Reset();
	boxL2W.SetTranslate(&trans);
	plPXConvert::Matrix(boxL2W, box.localPose);

}

void plPXPhysical::IMakeHull(NxConvexMesh* convexMesh, hsMatrix44 l2w)
{
	NxConvexMeshDesc desc;
	convexMesh->saveToDesc(desc);

	// make sure there are some triangles to work with
    if (desc.numTriangles == 0)
		return;

	// get rid of any we may have already had
	if (fSaveTriangles)
		delete [] fSaveTriangles;

	fHullNumberPlanes = desc.numTriangles;
	fSaveTriangles = TRACKED_NEW hsPoint3[fHullNumberPlanes*3];

	for (int i = 0; i < desc.numTriangles; i++)
	{
		UInt32* triangle = (UInt32*)(((char*)desc.triangles) + desc.triangleStrideBytes*i);
		float* vertex1 = (float*)(((char*)desc.points) + desc.pointStrideBytes*triangle[0]);
		float* vertex2 = (float*)(((char*)desc.points) + desc.pointStrideBytes*triangle[1]);
		float* vertex3 = (float*)(((char*)desc.points) + desc.pointStrideBytes*triangle[2]);
		hsPoint3 pt1(vertex1[0],vertex1[1],vertex1[2]);
		hsPoint3 pt2(vertex2[0],vertex2[1],vertex2[2]);
		hsPoint3 pt3(vertex3[0],vertex3[1],vertex3[2]);

		fSaveTriangles[(i*3)+0] = pt1;
		fSaveTriangles[(i*3)+1] = pt2;
		fSaveTriangles[(i*3)+2] = pt3;
	}
}

void plPXPhysical::ISetHullToWorldWTriangles()
{
	// if we have a detector hull and the world hasn't been updated
	if (fWorldHull == nil)
	{
		fWorldHull = TRACKED_NEW hsPlane3[fHullNumberPlanes];
		// use the local2world from the physics engine so that it matches the transform of the positions from the triggerees
		hsMatrix44 l2w;
		plPXConvert::Matrix(fActor->getGlobalPose(), l2w);
		int i;
		for( i = 0; i < fHullNumberPlanes; i++ )
		{
			hsPoint3 pt1 = fSaveTriangles[i*3];
			hsPoint3 pt2 = fSaveTriangles[(i*3)+1];
			hsPoint3 pt3 = fSaveTriangles[(i*3)+2];

			// local to world translation
			pt1 = l2w * pt1;
			pt2 = l2w * pt2;
			pt3 = l2w * pt3;

			hsPlane3 plane(&pt1, &pt2, &pt3);
			fWorldHull[i] = plane;
		}
	}
}


hsBool plPXPhysical::IsObjectInsideHull(const hsPoint3& pos)
{
	if (fSaveTriangles)
	{
		ISetHullToWorldWTriangles();
		int i;
		for( i = 0; i < fHullNumberPlanes; i++ )
		{
			if (!ITestPlane(pos, fWorldHull[i]))
				return false;
		}
		return true;
	}
	return false;
}

hsBool plPXPhysical::Should_I_Trigger(hsBool enter, hsPoint3& pos)
{
	// see if we are inside the detector hull, if so, then don't trigger
	bool trigger = false;
	bool inside = IsObjectInsideHull(pos);
	if ( !inside)
	{
		trigger = true;
		fInsideConvexHull = enter;
	}
	else
	{
		// catch those rare cases on slow machines that miss the collision before avatar penetrated the face
		if (enter && !fInsideConvexHull)
		{
#ifdef PHYSX_SAVE_TRIGGERS_WORKAROUND
			trigger = true;
			fInsideConvexHull = enter;
			DetectorLogSpecial("**>Saved a missing enter collision: %s",GetObjectKey()->GetName());
#else
			DetectorLogSpecial("**>Could have saved a missing enter collision: %s",GetObjectKey()->GetName());
#endif PHYSX_SAVE_TRIGGERS_WORKAROUND
		}
	}

	return trigger;
}


hsBool plPXPhysical::Init()
{
	hsBool	startAsleep = false;

	fGroup = fRecipe.group;
	fReportsOn = fRecipe.reportsOn;
	fObjectKey = fRecipe.objectKey;
	fSceneNode = fRecipe.sceneNode;

	NxActorDesc actorDesc;
	NxSphereShapeDesc sphereDesc;
	NxConvexShapeDesc convexShapeDesc;
	NxTriangleMeshShapeDesc trimeshShapeDesc;
	NxBoxShapeDesc boxDesc;

	plPXConvert::Matrix(fRecipe.l2s, actorDesc.globalPose);

	switch (fRecipe.bounds)
	{
	case plSimDefs::kSphereBounds:
		{
			hsMatrix44 sphereL2W;
			sphereL2W.Reset();
			sphereL2W.SetTranslate(&fRecipe.offset);

			sphereDesc.radius = fRecipe.radius;
			plPXConvert::Matrix(sphereL2W, sphereDesc.localPose);
			sphereDesc.group = fRecipe.group;
 			actorDesc.shapes.pushBack(&sphereDesc);
		}
		break;
	case plSimDefs::kHullBounds:
		// FIXME PHYSX - Remove when hull detection is fixed
		// If this is read time (ie, meshStream is nil), turn the convex hull
		// into a box.  That way the data won't have to change when convex hulls
		// actually work right.
		if (fRecipe.group == plSimDefs::kGroupDetector && fRecipe.meshStream == nil)
		{
#ifdef USE_BOXES_FOR_DETECTOR_HULLS
			MakeBoxFromHull(fRecipe.convexMesh, boxDesc);
			plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*fRecipe.convexMesh);
			boxDesc.group = fRecipe.group;
			actorDesc.shapes.push_back(&boxDesc);
#else
#ifdef USE_PHYSX_CONVEXHULL_WORKAROUND
			// make a hull of planes for testing IsInside
			IMakeHull(fRecipe.convexMesh,fRecipe.l2s);
#endif  // USE_PHYSX_CONVEXHULL_WORKAROUND
			convexShapeDesc.meshData = fRecipe.convexMesh;
			convexShapeDesc.userData = fRecipe.meshStream;
			convexShapeDesc.group = fRecipe.group;
			actorDesc.shapes.pushBack(&convexShapeDesc);
#endif // USE_BOXES_FOR_DETECTOR_HULLS
		}
		else
		{
			convexShapeDesc.meshData = fRecipe.convexMesh;
			convexShapeDesc.userData = fRecipe.meshStream;
			convexShapeDesc.group = fRecipe.group;
			actorDesc.shapes.pushBack(&convexShapeDesc);
		}
		break;
	case plSimDefs::kBoxBounds:
		{
			boxDesc.dimensions = plPXConvert::Point(fRecipe.bDimensions);

			hsMatrix44 boxL2W;
			boxL2W.Reset();
			boxL2W.SetTranslate(&fRecipe.bOffset);
			plPXConvert::Matrix(boxL2W, boxDesc.localPose);

			boxDesc.group = fRecipe.group;
			actorDesc.shapes.push_back(&boxDesc);
		}
		break;
	case plSimDefs::kExplicitBounds:
	case plSimDefs::kProxyBounds:
		if (fRecipe.group == plSimDefs::kGroupDetector)
		{
			SimLog("Someone using an Exact on a detector region: %s", GetKeyName());
		}
		trimeshShapeDesc.meshData = fRecipe.triMesh;
		trimeshShapeDesc.userData = fRecipe.meshStream;
		trimeshShapeDesc.group = fRecipe.group;
		actorDesc.shapes.pushBack(&trimeshShapeDesc);
		break;
	default:
		hsAssert(false, "Unknown geometry type during read.");
		return false;
		break;
	}

	//  Now fill out the body, or dynamic part of the physical
	NxBodyDesc bodyDesc;
	if (fRecipe.mass != 0)
	{
		bodyDesc.mass = fRecipe.mass;
		actorDesc.body = &bodyDesc;

		if (GetProperty(plSimulationInterface::kPinned))
		{
			bodyDesc.flags |= NX_BF_FROZEN;
			startAsleep = true;				// put it to sleep if they are going to be frozen
		}

		if (fRecipe.group != plSimDefs::kGroupDynamic || GetProperty(plSimulationInterface::kPhysAnim))
		{
			SetProperty(plSimulationInterface::kPassive, true);

			// Even though the code for animated physicals and animated activators are the same
			// keep these code snippets separated for fine tuning. Thanks.
			if (fRecipe.group == plSimDefs::kGroupDynamic)
			{
				// handle the animated physicals.... make kinematic for now.
				fNumberAnimatedPhysicals++;
				bodyDesc.flags |= NX_BF_KINEMATIC;
				startAsleep = true;
			}
			else
			{
				// handle the animated activators.... 
				fNumberAnimatedActivators++;
				bodyDesc.flags |= NX_BF_KINEMATIC;
				startAsleep = true;
			}

		}
	}
	else
	{
		if ( GetProperty(plSimulationInterface::kPhysAnim) )
			SimLog("An animated physical that has no mass: %s", GetKeyName());
	}

	actorDesc.userData = this;
	actorDesc.name = GetKeyName();

	// Put the dynamics into actor group 1.  The actor groups are only used for
	// deciding who we get contact reports for.
	if (fRecipe.group == plSimDefs::kGroupDynamic)
		actorDesc.group = 1;

	NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
	try
	{
		fActor = scene->createActor(actorDesc);
	} catch (...)
	{
		hsAssert(false, "Actor creation crashed");
		return false;
	}
	hsAssert(fActor, "Actor creation failed");
	if (!fActor)
		return false;

	NxShape* shape = fActor->getShapes()[0];
	shape->setMaterial(plSimulationMgr::GetInstance()->GetMaterialIdx(scene, fRecipe.friction, fRecipe.restitution));

	// Turn on the trigger flags for any detectors.
	//
	// Normally, we'd set these flags on the shape before it's created.  However,
	// in the case where the detector is going to be animated, it'll have a rigid
	// body too, and that will cause problems at creation.  According to Ageia,
	// a detector shape doesn't actually count as a shape, so the SDK will have
	// problems trying to calculate an intertial tensor.  By letting it be
	// created as a normal dynamic first, then setting the flags, we work around
	// that problem.
	if (fRecipe.group == plSimDefs::kGroupDetector)
	{
		shape->setFlag(NX_TRIGGER_ON_ENTER, true);
		shape->setFlag(NX_TRIGGER_ON_LEAVE, true);
	}

	if (GetProperty(plSimulationInterface::kStartInactive) || startAsleep)
	{
		if (!fActor->isSleeping())
		{
			if (plSimulationMgr::fExtraProfile)
				SimLog("Deactivating %s in SetPositionAndRotationSim", GetKeyName());
			fActor->putToSleep();
		}
	}

	if (GetProperty(plSimulationInterface::kDisable))
		IEnable(false);
	if (GetProperty(plSimulationInterface::kSuppressed_DEAD))
		IEnable(false);

	plNodeRefMsg* refMsg = TRACKED_NEW plNodeRefMsg(fSceneNode, plRefMsg::kOnCreate, -1, plNodeRefMsg::kPhysical); 
	hsgResMgr::ResMgr()->AddViaNotify(GetKey(), refMsg, plRefFlags::kActiveRef);

  	// only dynamic physicals without noSync need SDLs
	if ( fRecipe.group == plSimDefs::kGroupDynamic && !fProps.IsBitSet(plSimulationInterface::kNoSynchronize) )
	{
		// add SDL modifier
		plSceneObject* sceneObj = plSceneObject::ConvertNoRef(fObjectKey->ObjectIsLoaded());
		hsAssert(sceneObj, "nil sceneObject, failed to create and attach SDL modifier");

		delete fSDLMod;
		fSDLMod = TRACKED_NEW plPhysicalSDLModifier;
		sceneObj->AddModifier(fSDLMod);
	}

	return true;
}

/////////////////////////////////////////////////////////////////
//
// MESSAGE HANDLING
//
/////////////////////////////////////////////////////////////////

// MSGRECEIVE
hsBool plPXPhysical::MsgReceive( plMessage* msg )
{
	if(plGenRefMsg *refM = plGenRefMsg::ConvertNoRef(msg))
	{
		return HandleRefMsg(refM);
	}
	else if(plSimulationMsg *simM = plSimulationMsg::ConvertNoRef(msg))
	{
		plLinearVelocityMsg* velMsg = plLinearVelocityMsg::ConvertNoRef(msg);
		if(velMsg)
		{
			SetLinearVelocitySim(velMsg->Velocity());
			return true;
		}
		plAngularVelocityMsg* angvelMsg = plAngularVelocityMsg::ConvertNoRef(msg);
		if(angvelMsg)
		{
			SetAngularVelocitySim(angvelMsg->AngularVelocity());
			return true;
		}

		
		return false;
	}
	// couldn't find a local handler: pass to the base
	else
		return plPhysical::MsgReceive(msg);
}

// IHANDLEREFMSG
// there's two things we hold references to: subworlds
// and the simulation manager.
// right now, we're only worrying about the subworlds
hsBool plPXPhysical::HandleRefMsg(plGenRefMsg* refMsg)
{
	UInt8 refCtxt = refMsg->GetContext();

	switch (refMsg->fType) {
	case kPhysRefWorld: {
		switch (refCtxt) {
		case plRefMsg::kOnCreate:
		case plRefMsg::kOnRequest:
			// PotS files specify a plHKSubWorld as the subworld key. For everything else,
			// the subworlds are a plSceneObject key. For sanity purposes, we will allow
			// references to the plPXSubWorld here. HOWEVER, we will need to grab the target
			// and replace our reference...
			if (plPXSubWorld* subWorldIface = plPXSubWorld::ConvertNoRef(refMsg->GetRef())) {
				hsAssert(subWorldIface->GetOwnerKey(), "subworld owner is NULL?! Uh oh...");
				plGenRefMsg* replaceRefMsg = new plGenRefMsg(GetKey(), plRefMsg::kOnReplace, 0, kPhysRefWorld);
				hsgResMgr::ResMgr()->AddViaNotify(subWorldIface->GetOwnerKey(), replaceRefMsg, plRefFlags::kActiveRef);
			}
		// fall-thru is intentional :)
		case plRefMsg::kOnReplace:
			// loading into a subworld
			if (plSceneObject* subSO = plSceneObject::ConvertNoRef(refMsg->GetRef())) {
				fWorldKey = subSO->GetKey();

				// Cyan produced files will never have plPXSubWorld as this is a H'uru-ism.
				// Let us make a default one such that we can play with default subworlds at runtime.
				// HAAAAAAAAAX!!!
				plPXSubWorld* subWorldIface = plPXSubWorld::ConvertNoRef(subSO->GetGenericInterface(plPXSubWorld::Index()));
				if (!subWorldIface) {
					subWorldIface = new plPXSubWorld();

					// This can be simplified if/when incorporating zrax' String Theory library
					std::string strKeyName = std::string(subSO->GetKeyName()) + "_DefSubWorld";
					const char *cKeyName = strKeyName.c_str();

					hsgResMgr::ResMgr()->NewKey(cKeyName,
												subWorldIface, GetKey()->GetUoid().GetLocation());

					plObjRefMsg* subIfaceRef = new plObjRefMsg(subSO->GetKey(), plRefMsg::kOnCreate, 0, plObjRefMsg::kInterface);
					// this will send the reference immediately
					hsgResMgr::ResMgr()->SendRef(subWorldIface, subIfaceRef, plRefFlags::kActiveRef);
				}

				// Now, we can initialize the physical...
				Init();
				IGetTransformGlobal(fCachedLocal2World);
				return true;
			}
		}
		break;
		case plRefMsg::kOnDestroy: {
			// our world was deleted out from under us: move to the main world
			// NOTE: this was not implemented even before the PXSubWorld rewrite.
			//       not going to bother!
//			hsAssert(0, "Lost world");
		}
		break;
	}
	break;
	
	case  kPhysRefSndGroup: {
		switch (refCtxt) 
		{
		case plRefMsg::kOnCreate:
		case plRefMsg::kOnRequest:
			fSndGroup = plPhysicalSndGroup::ConvertNoRef( refMsg->GetRef() );
			break;

		case plRefMsg::kOnDestroy:
			fSndGroup = nil;
			break;
		}
	}
	break;

	default:
		hsAssert(0, "Unknown ref type, who sent us this?");
		break;
	}

	return true;
}

void plPXPhysical::IEnable(hsBool enable)
{
 	fProps.SetBit(plSimulationInterface::kDisable, !enable);
	if (!enable)
	{
		fActor->raiseActorFlag(NX_AF_DISABLE_COLLISION);
		if (fActor->isDynamic())
			fActor->raiseBodyFlag(NX_BF_FROZEN);
		else
			plPXPhysicalControllerCore::RebuildCache();
	}
	else
	{
		fActor->clearActorFlag(NX_AF_DISABLE_COLLISION);

		// PHYSX FIXME - after re-enabling a possible detector, we need to check to see if any avatar is already in the PhysX turdy hull detector region
		plSimulationMgr::GetInstance()->UpdateAvatarInDetector(fWorldKey, this);

		if (fActor->isDynamic())
			fActor->clearBodyFlag(NX_BF_FROZEN);
		else
			plPXPhysicalControllerCore::RebuildCache();
	}
}

plPhysical& plPXPhysical::SetProperty(int prop, hsBool status)
{
	if (GetProperty(prop) == status)
	{
		const char* propName = "(unknown)";
		switch (prop)
		{
		case plSimulationInterface::kDisable:			propName = "kDisable";				break;
		case plSimulationInterface::kPinned:			propName = "kPinned";				break;
 		case plSimulationInterface::kPassive:			propName = "kPassive";				break;
		case plSimulationInterface::kPhysAnim:			propName = "kPhysAnim";				break;
		case plSimulationInterface::kStartInactive:		propName = "kStartInactive";		break;
		case plSimulationInterface::kNoSynchronize:		propName = "kNoSynchronize";		break;
		}

		const char* name = "(unknown)";
		if (GetKey())
			name = GetKeyName();
		if (plSimulationMgr::fExtraProfile)
			plSimulationMgr::Log("Warning: Redundant physical property set (property %s, value %s) on %s", propName, status ? "true" : "false", name);
	}

	switch (prop)
	{
	case plSimulationInterface::kDisable:
		IEnable(!status);
		break;

	case plSimulationInterface::kPinned:
		if (fActor->isDynamic())
		{
			// if the body is already unpinned and you unpin it again,
			// you'll wipe out its velocity. hence the check.
			hsBool current = fActor->readBodyFlag(NX_BF_FROZEN);
			if (status != current)
			{
				if (status)
                    fActor->raiseBodyFlag(NX_BF_FROZEN);
				else
				{
					fActor->clearBodyFlag(NX_BF_FROZEN);
					LogActivate("SetProperty");
					fActor->wakeUp();
				}
			}
		}
		break;
	}

	fProps.SetBit(prop, status);

	return *this;
}

plProfile_Extern(SetTransforms);

#define kMaxNegativeZPos -2000.f

bool CompareMatrices(const hsMatrix44 &matA, const hsMatrix44 &matB, float tolerance)
{
	return 
		(fabs(matA.fMap[0][0] - matB.fMap[0][0]) < tolerance) &&
		(fabs(matA.fMap[0][1] - matB.fMap[0][1]) < tolerance) &&
		(fabs(matA.fMap[0][2] - matB.fMap[0][2]) < tolerance) &&
		(fabs(matA.fMap[0][3] - matB.fMap[0][3]) < tolerance) &&

		(fabs(matA.fMap[1][0] - matB.fMap[1][0]) < tolerance) &&
		(fabs(matA.fMap[1][1] - matB.fMap[1][1]) < tolerance) &&
		(fabs(matA.fMap[1][2] - matB.fMap[1][2]) < tolerance) &&
		(fabs(matA.fMap[1][3] - matB.fMap[1][3]) < tolerance) &&

		(fabs(matA.fMap[2][0] - matB.fMap[2][0]) < tolerance) &&
		(fabs(matA.fMap[2][1] - matB.fMap[2][1]) < tolerance) &&
		(fabs(matA.fMap[2][2] - matB.fMap[2][2]) < tolerance) &&
		(fabs(matA.fMap[2][3] - matB.fMap[2][3]) < tolerance) &&

		(fabs(matA.fMap[3][0] - matB.fMap[3][0]) < tolerance) &&
		(fabs(matA.fMap[3][1] - matB.fMap[3][1]) < tolerance) &&
		(fabs(matA.fMap[3][2] - matB.fMap[3][2]) < tolerance) &&
		(fabs(matA.fMap[3][3] - matB.fMap[3][3]) < tolerance);
}

// Called after the simulation has run....sends new positions to the various scene objects
// *** want to do this in response to an update message....
void plPXPhysical::SendNewLocation(hsBool synchTransform, hsBool isSynchUpdate)
{
	// we only send if:
	// - the body is active or forceUpdate is on
	// - the mass is non-zero
	// - the physical is not passive
	hsBool bodyActive = !fActor->isSleeping();
	hsBool dynamic = fActor->isDynamic();
	
	if ((bodyActive || isSynchUpdate) && dynamic)// && fInitialTransform)
	{
		plProfile_Inc(MaySendLocation);

		if (!GetProperty(plSimulationInterface::kPassive))
		{
			hsMatrix44 curl2w = fCachedLocal2World;
			// we're going to cache the transform before sending so we can recognize if it comes back
			IGetTransformGlobal(fCachedLocal2World);

			if (!CompareMatrices(curl2w, fCachedLocal2World, .0001f))
			{
				plProfile_Inc(LocationsSent);
				plProfile_BeginLap(PhysicsUpdates, GetKeyName());

				// quick peek at the translation...last time it was corrupted because we applied a non-unit quaternion
// 				hsAssert(real_finite(fCachedLocal2World.fMap[0][3]) &&
// 						 real_finite(fCachedLocal2World.fMap[1][3]) &&
// 						 real_finite(fCachedLocal2World.fMap[2][3]), "Bad transform outgoing");

				if (fCachedLocal2World.GetTranslate().fZ < kMaxNegativeZPos)
				{
					SimLog("Physical %s fell to %.1f (%.1f is the max).  Suppressing.", GetKeyName(), fCachedLocal2World.GetTranslate().fZ, kMaxNegativeZPos);
					// Since this has probably been falling for a while, and thus not getting any syncs,
					// make sure to save it's current pos so we'll know to reset it later
					DirtySynchState(kSDLPhysical, plSynchedObject::kBCastToClients);
					IEnable(false);
				}

				hsMatrix44 w2l;
				fCachedLocal2World.GetInverse(&w2l);
				plCorrectionMsg *pCorrMsg = TRACKED_NEW plCorrectionMsg(GetObjectKey(), fCachedLocal2World, w2l, synchTransform);
				pCorrMsg->Send();
				if (fProxyGen)
					fProxyGen->SetTransform(fCachedLocal2World, w2l);
				plProfile_EndLap(PhysicsUpdates, GetKeyName());
			}
		}
	}
}

void plPXPhysical::ApplyHitForce()
{
	if (fActor && fWeWereHit)
	{
		fActor->addForceAtPos(plPXConvert::Vector(fHitForce), plPXConvert::Point(fHitPos), NX_FORCE);
		fWeWereHit = false;
	}
}


void plPXPhysical::ISetTransformGlobal(const hsMatrix44& l2w)
{
	hsAssert(fActor->isDynamic(), "Shouldn't move a static actor");
	fActor->wakeUp();

	NxMat34 mat;

	if (fWorldKey)
	{
		plSceneObject* so = plSceneObject::ConvertNoRef(fWorldKey->ObjectIsLoaded());
		hsAssert(so, "Scene object not loaded while accessing subworld.");
		// physical to subworld (simulation space)
		hsMatrix44 p2s = so->GetCoordinateInterface()->GetWorldToLocal() * l2w;
		plPXConvert::Matrix(p2s, mat);
		if (fProxyGen)
		{
			hsMatrix44 w2l;
			p2s.GetInverse(&w2l);
			fProxyGen->SetTransform(p2s, w2l);
		}
	}
	// No need to localize
	else
	{
		plPXConvert::Matrix(l2w, mat);
		if (fProxyGen)
		{
			hsMatrix44 w2l;
			l2w.GetInverse(&w2l);
			fProxyGen->SetTransform(l2w, w2l);
		}
	}

	// This used to check for the kPhysAnim flag, however animated detectors
	// are also kinematic but not kPhysAnim, therefore, this would break on PhysX
	// SDKs (yes, I'm looking at you, 2.6.4) that actually obey the ***GlobalPose
	// rules set forth in the SDK documentation.
	if (fActor->readBodyFlag(NX_BF_KINEMATIC))
		fActor->moveGlobalPose(mat);
	else
		fActor->setGlobalPose(mat);
}

// the physical may have several parents between it and the subworld object,
// but the *havok* transform is only one level away from the subworld.
// to avoid any confusion about this difference, we avoid referring to the 
// subworld as "parent" and use, for example, "l2s" (local-to-sub) instead
// of the canonical plasma "l2p" (local-to-parent)
void plPXPhysical::IGetTransformGlobal(hsMatrix44& l2w) const
{
	plPXConvert::Matrix(fActor->getGlobalPose(), l2w);

	if (fWorldKey)
	{
		plSceneObject* so = plSceneObject::ConvertNoRef(fWorldKey->ObjectIsLoaded());
		hsAssert(so, "Scene object not loaded while accessing subworld.");
		if (so->GetCoordinateInterface())
		{
			const hsMatrix44& s2w = so->GetCoordinateInterface()->GetLocalToWorld();
			l2w = s2w * l2w;
		}
	}
}

void plPXPhysical::IGetPositionSim(hsPoint3& pos) const
{
	pos = plPXConvert::Point(fActor->getGlobalPosition());
}

void plPXPhysical::IGetRotationSim(hsQuat& rot) const
{
	rot = plPXConvert::Quat(fActor->getGlobalOrientationQuat());
}
void plPXPhysical::ISetPositionSim(const hsPoint3& pos)
{
	if (GetProperty(plSimulationInterface::kPhysAnim))
		fActor->moveGlobalPosition(plPXConvert::Point(pos));
	else
		fActor->setGlobalPosition(plPXConvert::Point(pos));
}

void plPXPhysical::ISetRotationSim(const hsQuat& rot)
{
	if (GetProperty(plSimulationInterface::kPhysAnim))
		fActor->moveGlobalOrientation(plPXConvert::Quat(rot));
	else
		fActor->setGlobalOrientation(plPXConvert::Quat(rot));
}

// This form is assumed by convention to be global.
void plPXPhysical::SetTransform(const hsMatrix44& l2w, const hsMatrix44& w2l, hsBool force)
{
//	hsAssert(real_finite(l2w.fMap[0][3]) && real_finite(l2w.fMap[1][3]) && real_finite(l2w.fMap[2][3]), "Bad transform incoming");


	// make sure the physical is dynamic.
	//  also make sure there is some difference between the matrices...
	// ... but not when a subworld... because the subworld maybe animating and if the object is still then it is actually moving within the subworld
	if (force || (fActor->isDynamic() && (fWorldKey || !CompareMatrices(l2w, fCachedLocal2World, .0001f))) )
	{
		ISetTransformGlobal(l2w);
		plProfile_Inc(SetTransforms);
	}
	else
	{
		if ( !fActor->isDynamic()  && plSimulationMgr::fExtraProfile)
			SimLog("Setting transform on non-dynamic: %s.", GetKeyName());
	}
}

// GETTRANSFORM
void plPXPhysical::GetTransform(hsMatrix44& l2w, hsMatrix44& w2l)
{
	IGetTransformGlobal(l2w);
	l2w.GetInverse(&w2l);
}

hsBool plPXPhysical::GetLinearVelocitySim(hsVector3& vel) const
{
	hsBool result = false;

	if (fActor->isDynamic())
	{
		vel = plPXConvert::Vector(fActor->getLinearVelocity());
		result = true;
	}
	else
		vel.Set(0, 0, 0);

	return result;
}

void plPXPhysical::SetLinearVelocitySim(const hsVector3& vel)
{
	if (fActor->isDynamic())
		fActor->setLinearVelocity(plPXConvert::Vector(vel));
}

void plPXPhysical::ClearLinearVelocity()
{
	SetLinearVelocitySim(hsVector3(0, 0, 0));
}

hsBool plPXPhysical::GetAngularVelocitySim(hsVector3& vel) const
{
	hsBool result = false;
	if (fActor->isDynamic())
	{
		vel = plPXConvert::Vector(fActor->getAngularVelocity());
		result = true;
	}
	else
		vel.Set(0, 0, 0);

	return result;
}

void plPXPhysical::SetAngularVelocitySim(const hsVector3& vel)
{
	if (fActor->isDynamic())
		fActor->setAngularVelocity(plPXConvert::Vector(vel));
}

///////////////////////////////////////////////////////////////
//
// NETWORK SYNCHRONIZATION
//
///////////////////////////////////////////////////////////////

plKey plPXPhysical::GetSceneNode() const
{
	return fSceneNode;
}

void plPXPhysical::SetSceneNode(plKey newNode)
{
    plKey oldNode = GetSceneNode();
    if (oldNode == newNode)
        return;

    // If we don't do this, we get leaked keys and a crash on exit with certain clones
    // Note this has nothing do to with the world that the physical is in
    if (newNode) {
        plNodeRefMsg* refMsg = new plNodeRefMsg(newNode, plNodeRefMsg::kOnRequest, -1, plNodeRefMsg::kPhysical);
        hsgResMgr::ResMgr()->SendRef(GetKey(), refMsg, plRefFlags::kActiveRef);
    }
    if (oldNode)
        oldNode->Release(GetKey());
}

/////////////////////////////////////////////////////////////////////
//
// READING AND WRITING
//
/////////////////////////////////////////////////////////////////////

#include "plPXStream.h"

void plPXPhysical::Read(hsStream* stream, hsResMgr* mgr)
{
	plPhysical::Read(stream, mgr);	
	ClearMatrix(fCachedLocal2World);

	fRecipe.mass = stream->ReadSwapScalar();
	fRecipe.friction = stream->ReadSwapScalar();
	fRecipe.restitution = stream->ReadSwapScalar();
	fRecipe.bounds = (plSimDefs::Bounds)stream->ReadByte();
	fRecipe.group = (plSimDefs::Group)stream->ReadByte();
	fRecipe.reportsOn = stream->ReadSwap32();
	fLOSDBs = stream->ReadSwap16();
	//hack for swim regions currently they are labeled as static av blockers
	if(fLOSDBs==plSimDefs::kLOSDBSwimRegion)
	{
		fRecipe.group=plSimDefs::kGroupMax;
	}
	//
	fRecipe.objectKey = mgr->ReadKey(stream);
	fRecipe.sceneNode = mgr->ReadKey(stream);
	fRecipe.worldKey = mgr->ReadKeyNotifyMe(stream, new plGenRefMsg(GetKey(), plRefMsg::kOnCreate, 0, kPhysRefWorld), plRefFlags::kActiveRef);

	mgr->ReadKeyNotifyMe(stream, TRACKED_NEW plGenRefMsg(GetKey(), plRefMsg::kOnCreate, 0, kPhysRefSndGroup), plRefFlags::kActiveRef);

	hsPoint3 pos;
	hsQuat rot;
	pos.Read(stream);
	rot.Read(stream);
	rot.MakeMatrix(&fRecipe.l2s);
	fRecipe.l2s.SetTranslate(&pos);

	fProps.Read(stream);

	if (fRecipe.bounds == plSimDefs::kSphereBounds)
	{
		fRecipe.radius = stream->ReadSwapScalar();
		fRecipe.offset.Read(stream);
	}
	else if (fRecipe.bounds == plSimDefs::kBoxBounds)
	{
		fRecipe.bDimensions.Read(stream);
		fRecipe.bOffset.Read(stream);
	}
	else
	{
		if (fRecipe.bounds == plSimDefs::kHullBounds)
			fRecipe.convexMesh = IReadHull(stream);
		else
			fRecipe.triMesh = IReadTriMesh(stream);
	}

    // If we do not have a world, specified, we go ahead and init into the main world...
    // This will been done in MsgReceive otherwise
    if (!fRecipe.worldKey)
        Init();

	hsAssert(!fProxyGen, "Already have proxy gen, double read?");

	hsColorRGBA physColor;
	hsScalar opac = 1.0f;

	if (fGroup == plSimDefs::kGroupAvatar)
	{
		// local avatar is light purple and transparent
		physColor.Set(.2f, .1f, .2f, 1.f);
		opac = 0.4f;
	}
	else if (fGroup == plSimDefs::kGroupDynamic)
	{
		// Dynamics are red
		physColor.Set(1.f,0.f,0.f,1.f);
	}
	else if (fGroup == plSimDefs::kGroupDetector)
	{
		if(!fWorldKey)
		{
			// Detectors are blue, and transparent
			physColor.Set(0.f,0.f,1.f,1.f);
			opac = 0.3f;
		}
		else
		{
			// subworld Detectors are green
			physColor.Set(0.f,1.f,0.f,1.f);
			opac = 0.3f;
		}
	}
	else if (fGroup == plSimDefs::kGroupStatic)
	{
		if (GetProperty(plSimulationInterface::kPhysAnim))
			// Statics that are animated are more reddish?
			physColor.Set(1.f,0.6f,0.2f,1.f);
		else
			// Statics are yellow
			physColor.Set(1.f,0.8f,0.2f,1.f);
		// if in a subworld... slightly transparent
		if(fRecipe.worldKey)
			opac = 0.6f;
	}
	else
	{
		// don't knows are grey
		physColor.Set(0.6f,0.6f,0.6f,1.f);
	}

	fProxyGen = TRACKED_NEW plPhysicalProxy(hsColorRGBA().Set(0,0,0,1.f), physColor, opac);
	fProxyGen->Init(this);
}

static bool IIsNxStream(hsStream* s)
{
	char tag[4];
	s->Read(sizeof(tag), tag);

	// PhysX streams begin with the magic string "NXS\x01"
	// Our hacked streams begin with the magic string "HSP\x01"
	if (memcmp("HSP\x01", tag, sizeof(tag)) == 0)
		return false;

	// We're not going to compare to see if it says NXS. We will let the PhysX SDK
	// worry about garbage data. Just rewind the stream back so PhysX can deal with it.
	s->SetPosition(s->GetPosition() - sizeof(tag));
	return true;
}

NxConvexMesh* plPXPhysical::IReadHull(hsStream* s)
{
	if (IIsNxStream(s))
	{
		plPXStream pxs(s);
		return plSimulationMgr::GetInstance()->GetSDK()->createConvexMesh(pxs);
	}
	 else
	{
		std::vector<hsPoint3> verts;
		verts.resize(s->ReadSwap32());
		for (size_t i = 0; i < verts.size(); ++i)
			verts[i].Read(s);

		// Unfortunately, the only way I know of to accomplish this is to cook to a RAM stream,
		// then have PhysX read the cooked data from the RAM stream. Yes, this is very sad.
		// I blame PhysX. It needs to die in a fiaaaaaaaaaaah
		hsRAMStream ram;
		plPXStream pxs(&ram);

		NxConvexMeshDesc desc;
		desc.numVertices = verts.size();
		desc.pointStrideBytes = sizeof(hsPoint3);
		desc.points = &verts[0];
		desc.flags = NX_CF_COMPUTE_CONVEX | NX_CF_USE_UNCOMPRESSED_NORMALS;
		if (!NxCookConvexMesh(desc, pxs))
		{
			SimLog("Failed to cook hull for '%s'", GetKeyName());
			return NULL;
		}

		ram.Rewind();
		return plSimulationMgr::GetInstance()->GetSDK()->createConvexMesh(pxs);
	}
}

NxTriangleMesh* plPXPhysical::IReadTriMesh(hsStream* s)
{
	if (IIsNxStream(s))
	{
		plPXStream pxs(s);
		return plSimulationMgr::GetInstance()->GetSDK()->createTriangleMesh(pxs);
	}
	else
	{
		std::vector<hsPoint3> verts;
		verts.resize(s->ReadSwap32());
		for (size_t i = 0; i < verts.size(); ++i)
			verts[i].Read(s);
		std::vector<UInt32> indices;
		UInt32 numTriangles = s->ReadSwap32();
		indices.resize(numTriangles * 3);
		for (size_t i = 0; i < indices.size(); ++i)
			indices[i] = s->ReadSwap32();

		// Unfortunately, the only way I know of to accomplish this is to cook to a RAM stream,
		// then have PhysX read the cooked data from the RAM stream. Yes, this is very sad.
		// I blame PhysX. It needs to die in a fiaaaaaaaaaaah
		hsRAMStream ram;
		plPXStream pxs(&ram);

		NxTriangleMeshDesc desc;
		desc.numVertices = verts.size();
		desc.pointStrideBytes = sizeof(hsPoint3);
		desc.points = &verts[0];
		desc.numTriangles = numTriangles;
		desc.triangleStrideBytes = sizeof(UInt32) * 3;
		desc.triangles = &indices[0];
		desc.flags = 0;
		if (!NxCookTriangleMesh(desc, pxs))
		{
			SimLog("Failed to cook trimesh for '%s'", GetKeyName());
			return NULL;
		}

		ram.Rewind();
		return plSimulationMgr::GetInstance()->GetSDK()->createTriangleMesh(pxs);
	}
}

void plPXPhysical::Write(hsStream* stream, hsResMgr* mgr)
{
	plPhysical::Write(stream, mgr);

	hsAssert(fActor, "nil actor");
	hsAssert(fActor->getNbShapes() == 1, "Can only write actors with one shape. Writing first only.");
	NxShape* shape = fActor->getShapes()[0];

	NxMaterialIndex matIdx = shape->getMaterial();
	NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
	NxMaterial* mat = scene->getMaterialFromIndex(matIdx);
	float friction = mat->getStaticFriction();
	float restitution = mat->getRestitution();

	stream->WriteSwapScalar(fActor->getMass());
	stream->WriteSwapScalar(friction);
	stream->WriteSwapScalar(restitution);
	stream->WriteByte(fRecipe.bounds);
	stream->WriteByte(fGroup);
	stream->WriteSwap32(fReportsOn);
	stream->WriteSwap16(fLOSDBs);
	mgr->WriteKey(stream, fObjectKey);
	mgr->WriteKey(stream, fSceneNode);
	mgr->WriteKey(stream, fWorldKey);
	mgr->WriteKey(stream, fSndGroup);

	hsPoint3 pos;
	hsQuat rot;
	IGetPositionSim(pos);
	IGetRotationSim(rot);
	pos.Write(stream);
	rot.Write(stream);

	fProps.Write(stream);

	if (fRecipe.bounds == plSimDefs::kSphereBounds)
	{
		const NxSphereShape* sphereShape = shape->isSphere();
		stream->WriteSwapScalar(sphereShape->getRadius());
		hsPoint3 localPos = plPXConvert::Point(sphereShape->getLocalPosition());
		localPos.Write(stream);
	}
	else if (fRecipe.bounds == plSimDefs::kBoxBounds)
	{
		const NxBoxShape* boxShape = shape->isBox();
		hsPoint3 dim = plPXConvert::Point(boxShape->getDimensions());
		dim.Write(stream);
		hsPoint3 localPos = plPXConvert::Point(boxShape->getLocalPosition());
		localPos.Write(stream);
	}
	else
	{
		if (fRecipe.bounds == plSimDefs::kHullBounds)
			hsAssert(shape->isConvexMesh(), "Hull shape isn't a convex mesh");
		else
			hsAssert(shape->isTriangleMesh(), "Exact shape isn't a trimesh");

		// We hide the stream we used to create this mesh away in the shape user data.
		// Pull it out and write it to disk.
		hsVectorStream* vecStream = (hsVectorStream*)shape->userData;
		stream->Write(vecStream->GetEOF(), vecStream->GetData());
		delete vecStream;
	}
}

//
// TESTING SDL
// Send phys sendState msg to object's plPhysicalSDLModifier
//
hsBool plPXPhysical::DirtySynchState(const char* SDLStateName, UInt32 synchFlags )
{
	if (GetObjectKey())
	{
		plSynchedObject* so=plSynchedObject::ConvertNoRef(GetObjectKey()->ObjectIsLoaded());
		if (so)
		{
			fLastSyncTime = hsTimer::GetSysSeconds();
			return so->DirtySynchState(SDLStateName, synchFlags);
		}
	}

	return false;
}

void plPXPhysical::GetSyncState(hsPoint3& pos, hsQuat& rot, hsVector3& linV, hsVector3& angV)
{
	IGetPositionSim(pos);
	IGetRotationSim(rot);
	GetLinearVelocitySim(linV);
	GetAngularVelocitySim(angV);
}

void plPXPhysical::SetSyncState(hsPoint3* pos, hsQuat* rot, hsVector3* linV, hsVector3* angV)
{
	bool initialSync =	plNetClientApp::GetInstance()->IsLoadingInitialAgeState() &&
						plNetClientApp::GetInstance()->GetJoinOrder() == 0;

	// If the physical has fallen out of the sim, and this is initial age state, and we're
	// the first person in, reset it to the original position.  (ie, prop the default state
	// we've got right now)
	if (pos && pos->fZ < kMaxNegativeZPos && initialSync)
	{
		SimLog("Physical %s loaded out of range state.  Forcing initial state to server.", GetKeyName());
		DirtySynchState(kSDLPhysical, plSynchedObject::kBCastToClients);
		return;
	}

	if (pos)
		ISetPositionSim(*pos);
	if (rot)
		ISetRotationSim(*rot);

	if (linV)
		SetLinearVelocitySim(*linV);
	if (angV)
		SetAngularVelocitySim(*angV);

	SendNewLocation(false, true);
}

void plPXPhysical::ExcludeRegionHack(hsBool cleared)
{
	NxShape* shape = fActor->getShapes()[0];
	shape->setFlag(NX_TRIGGER_ON_ENTER, !cleared);
	shape->setFlag(NX_TRIGGER_ON_LEAVE, !cleared);
	fGroup = cleared ? plSimDefs::kGroupExcludeRegion : plSimDefs::kGroupDetector;
	shape->setGroup(fGroup);
	/*if switching a static need to inform the controller that it needs to rebuild
	the collision cache otherwise will still think that the detector is still static or that
	the static is still a detector*/
	plPXPhysicalControllerCore::RebuildCache();

}
hsBool plPXPhysical::OverlapWithCapsule(NxCapsule& cap)
{
	NxShape* shape = fActor->getShapes()[0];
	return shape->checkOverlapCapsule(cap);
}

hsBool plPXPhysical::IsDynamic() const
{
	return fGroup == plSimDefs::kGroupDynamic &&
		!GetProperty(plSimulationInterface::kPhysAnim);
}

#include "../plSurface/hsGMaterial.h"
#include "../plSurface/plLayerInterface.h"

// Some helper functions for pulling info out of a PhysX trimesh description
inline hsPoint3& GetTrimeshVert(NxTriangleMeshDesc& desc, int idx)
{
	return *((hsPoint3*)(((char*)desc.points)+desc.pointStrideBytes*idx));
}

void GetTrimeshTri(NxTriangleMeshDesc& desc, int idx, UInt16* out)
{
	if (hsCheckBits(desc.flags, NX_MF_16_BIT_INDICES))
	{
		UInt16* descTris = ((UInt16*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
		out[0] = descTris[0];
		out[1] = descTris[1];
		out[2] = descTris[2];
	}
	else
	{
		UInt32* descTris = ((UInt32*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
		out[0] = (UInt16)descTris[0];
		out[1] = (UInt16)descTris[1];
		out[2] = (UInt16)descTris[2];
	}
}

// Some helper functions for pulling info out of a PhysX trimesh description
inline hsPoint3& GetConvexVert(NxConvexMeshDesc& desc, int idx)
{
	return *((hsPoint3*)(((char*)desc.points)+desc.pointStrideBytes*idx));
}

void GetConvexTri(NxConvexMeshDesc& desc, int idx, UInt16* out)
{
	if (hsCheckBits(desc.flags, NX_MF_16_BIT_INDICES))
	{
		UInt16* descTris = ((UInt16*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
		out[0] = descTris[0];
		out[1] = descTris[1];
		out[2] = descTris[2];
	}
	else
	{
		UInt32* descTris = ((UInt32*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
		out[0] = (UInt16)descTris[0];
		out[1] = (UInt16)descTris[1];
		out[2] = (UInt16)descTris[2];
	}
}

// Make a visible object that can be viewed by users for debugging purposes.
plDrawableSpans* plPXPhysical::CreateProxy(hsGMaterial* mat, hsTArray<UInt32>& idx, plDrawableSpans* addTo)
{
	plDrawableSpans* myDraw = addTo;
	hsMatrix44 l2w, unused;
	GetTransform(l2w, unused);
	
	hsBool blended = ((mat->GetLayer(0)->GetBlendFlags() & hsGMatState::kBlendMask));

	NxShape* shape = fActor->getShapes()[0];

	NxTriangleMeshShape* trimeshShape = shape->isTriangleMesh();
	if (trimeshShape)
	{
		NxTriangleMeshDesc desc;
		trimeshShape->getTriangleMesh().saveToDesc(desc);

		hsTArray<hsPoint3>	pos;
		hsTArray<UInt16>	tris;

		const int kMaxTris = 10000;
		const int kMaxVerts = 32000;
		if ((desc.numVertices < kMaxVerts) && (desc.numTriangles < kMaxTris))
		{
			pos.SetCount(desc.numVertices);
			tris.SetCount(desc.numTriangles * 3);

			for (int i = 0; i < desc.numVertices; i++ )
				pos[i] = GetTrimeshVert(desc, i);

			for (int i = 0; i < desc.numTriangles; i++)
				GetTrimeshTri(desc, i, &tris[i*3]);

			myDraw = plDrawableGenerator::GenerateDrawable(pos.GetCount(), 
											pos.AcquireArray(),
											nil,	// normals - def to avg (smooth) norm
											nil,	// uvws
											0,		// uvws per vertex
											nil,	// colors - def to white
											true,	// do a quick fake shade
											nil,	// optional color modulation
											tris.GetCount(),
											tris.AcquireArray(),
											mat,
											l2w,
											blended,
											&idx,
											myDraw);
		}
		else
		{
			int curTri = 0;
			int trisToDo = desc.numTriangles;
			while (trisToDo > 0)
			{
				int trisThisRound = trisToDo > kMaxTris ? kMaxTris : trisToDo;
				
				trisToDo -= trisThisRound;

				pos.SetCount(trisThisRound * 3);
				tris.SetCount(trisThisRound * 3);

				for (int i = 0; i < trisThisRound; i++)
				{
					GetTrimeshTri(desc, curTri, &tris[i*3]);
					pos[i*3 + 0] = GetTrimeshVert(desc, tris[i*3+0]);
					pos[i*3 + 1] = GetTrimeshVert(desc, tris[i*3+1]);
					pos[i*3 + 2] = GetTrimeshVert(desc, tris[i*3+2]);

					curTri++;
				}
				myDraw = plDrawableGenerator::GenerateDrawable(pos.GetCount(), 
												pos.AcquireArray(),
												nil,	// normals - def to avg (smooth) norm
												nil,	// uvws
												0,		// uvws per vertex
												nil,	// colors - def to white
												true,	// do a quick fake shade
												nil,	// optional color modulation
												tris.GetCount(),
												tris.AcquireArray(),
												mat,
												l2w,
												blended,
												&idx,
												myDraw);
			}
		}
	}

	NxConvexShape* convexShape = shape->isConvexMesh();
	if (convexShape)
	{
		NxConvexMeshDesc desc;
		convexShape->getConvexMesh().saveToDesc(desc);

		hsTArray<hsPoint3>	pos;
		hsTArray<UInt16>	tris;

		pos.SetCount(desc.numVertices);
		tris.SetCount(desc.numTriangles * 3);

		for (int i = 0; i < desc.numVertices; i++ )
			pos[i] = GetConvexVert(desc, i);

		for (int i = 0; i < desc.numTriangles; i++)
			GetConvexTri(desc, i, &tris[i*3]);

		myDraw = plDrawableGenerator::GenerateDrawable(pos.GetCount(), 
			pos.AcquireArray(),
			nil,	// normals - def to avg (smooth) norm
			nil,	// uvws
			0,		// uvws per vertex
			nil,	// colors - def to white
			true,	// do a quick fake shade
			nil,	// optional color modulation
			tris.GetCount(),
			tris.AcquireArray(),
			mat,
			l2w,
			blended,
			&idx,
			myDraw);
	}

	NxSphereShape* sphere = shape->isSphere();
	if (sphere)
	{
		float radius = sphere->getRadius();
		hsPoint3 offset = plPXConvert::Point(sphere->getLocalPosition());
		myDraw = plDrawableGenerator::GenerateSphericalDrawable(offset, radius,
			mat, l2w, blended,
			nil, &idx, myDraw);
	}

	NxBoxShape* box = shape->isBox();
	if (box)
	{
		hsPoint3 dim = plPXConvert::Point(box->getDimensions());
		myDraw = plDrawableGenerator::GenerateBoxDrawable(dim.fX*2.f, dim.fY*2.f, dim.fZ*2.f,
			mat,l2w,blended,
			nil,&idx,myDraw);
	}
	return myDraw;
}