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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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
JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
(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 "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/plSDLModifierMsg.h"
#include "plMessage/plSimStateMsg.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 "plModifier/plDetectorLog.h"

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


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

PhysRecipe::PhysRecipe()
    : mass(0.f)
    , friction(0.f)
    , restitution(0.f)
    , bounds(plSimDefs::kBoundsMax)
    , group(plSimDefs::kGroupMax)
    , reportsOn(0)
    , objectKey(nil)
    , sceneNode(nil)
    , worldKey(nil)
    , convexMesh(nil)
    , triMesh(nil)
    , radius(0.f)
    , offset(0.f, 0.f, 0.f)
    , meshStream(nil)
{
    l2s.Reset();
}

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)
    , fBoundsType(plSimDefs::kBoundsMax)
    , fLOSDBs(plSimDefs::kLOSDBNone)
    , fGroup(plSimDefs::kGroupMax)
    , fReportsOn(0)
    , fLastSyncTime(0.0f)
    , fProxyGen(nil)
    , fSceneNode(nil)
    , fWorldKey(nil)
    , fSndGroup(nil)
    , fMass(0.f)
    , fWeWereHit(false)
    , fHitForce(0,0,0)
    , fHitPos(0,0,0)
{
}

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

    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);
    }

    delete fProxyGen;

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

bool plPXPhysical::Init(PhysRecipe& recipe)
{
    bool    startAsleep = false;
    fBoundsType = recipe.bounds;
    fGroup = recipe.group;
    fReportsOn = recipe.reportsOn;
    fObjectKey = recipe.objectKey;
    fSceneNode = recipe.sceneNode;
    fWorldKey = recipe.worldKey;

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

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

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

            sphereDesc.radius = recipe.radius;
            plPXConvert::Matrix(sphereL2W, sphereDesc.localPose);
            sphereDesc.group = fGroup;
            actorDesc.shapes.pushBack(&sphereDesc);
        }
        break;
    case plSimDefs::kHullBounds:
        {
            convexShapeDesc.meshData = recipe.convexMesh;
            convexShapeDesc.userData = recipe.meshStream;
            convexShapeDesc.group = fGroup;
            actorDesc.shapes.pushBack(&convexShapeDesc);
        }
        break;
    case plSimDefs::kBoxBounds:
        {
            boxDesc.dimensions = plPXConvert::Point(recipe.bDimensions);

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

            boxDesc.group = fGroup;
            actorDesc.shapes.push_back(&boxDesc);
        }
        break;
    case plSimDefs::kExplicitBounds:
    case plSimDefs::kProxyBounds:
        if (fGroup == plSimDefs::kGroupDetector)
        {
            SimLog("Someone using an Exact on a detector region: %s", GetKeyName().c_str());
        }
        trimeshShapeDesc.meshData = recipe.triMesh;
        trimeshShapeDesc.userData = recipe.meshStream;
        trimeshShapeDesc.group = fGroup;
        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;
    fMass = recipe.mass;
    if (recipe.mass != 0)
    {
        bodyDesc.mass = recipe.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 (fGroup != 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 (fGroup == 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().c_str());
    }

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

    // Put the dynamics into actor group 1.  The actor groups are only used for
    // deciding who we get contact reports for.
    if (fGroup == 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, recipe.friction, recipe.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 (fGroup == 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().c_str());
            fActor->putToSleep();
        }
    }

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

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

    if (fWorldKey)
    {
        plGenRefMsg* ref = new plGenRefMsg(GetKey(), plRefMsg::kOnCreate, 0, kPhysRefWorld);
        hsgResMgr::ResMgr()->AddViaNotify(fWorldKey, ref, plRefFlags::kActiveRef);
    }

    // only dynamic physicals without noSync need SDLs
    if ( fGroup == 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 = new plPhysicalSDLModifier;
        sceneObj->AddModifier(fSDLMod);
    }

    return true;
}

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

// MSGRECEIVE
bool 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
bool plPXPhysical::HandleRefMsg(plGenRefMsg* refMsg)
{
    uint8_t refCtxt = refMsg->GetContext();
    plKey refKey = refMsg->GetRef()->GetKey();
    plKey ourKey = GetKey();
    PhysRefType refType = PhysRefType(refMsg->fType);

    plString refKeyName = refKey ? refKey->GetName() : "MISSING";

    if (refType == kPhysRefWorld)
    {
        if (refCtxt == plRefMsg::kOnCreate || refCtxt == plRefMsg::kOnRequest)
        {
            // Cache the initial transform, since we assume the sceneobject already knows
            // that and doesn't need to be told again
            IGetTransformGlobal(fCachedLocal2World);
        }
        if (refCtxt == plRefMsg::kOnDestroy)
        {
            // our world was deleted out from under us: move to the main world
//          hsAssert(0, "Lost world");
        }
    }
    else if (refType == kPhysRefSndGroup)
    {
        switch (refCtxt)
        {
        case plRefMsg::kOnCreate:
        case plRefMsg::kOnRequest:
            fSndGroup = plPhysicalSndGroup::ConvertNoRef( refMsg->GetRef() );
            break;

        case plRefMsg::kOnDestroy:
            fSndGroup = nil;
            break;
        }
    }
    else
    {
        hsAssert(0, "Unknown ref type, who sent us this?");
    }

    return true;
}

void plPXPhysical::IEnable(bool 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);

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

plPhysical& plPXPhysical::SetProperty(int prop, bool 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;
        }

        plString 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.c_str());
    }

    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.
            bool 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(bool synchTransform, bool isSynchUpdate)
{
    // we only send if:
    // - the body is active or forceUpdate is on
    // - the mass is non-zero
    // - the physical is not passive
    bool bodyActive = !fActor->isSleeping();
    bool 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().c_str());

                // 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().c_str(), 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 = new plCorrectionMsg(GetObjectKey(), fCachedLocal2World, w2l, synchTransform);
                pCorrMsg->Send();
                if (fProxyGen)
                    fProxyGen->SetTransform(fCachedLocal2World, w2l);
                plProfile_EndLap(PhysicsUpdates, GetKeyName().c_str());
            }
        }
    }
}

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");

    // If we wake up normal dynamic actors, they might explode.
    // However, kinematics won't update if they are asleep. Thankfully, kinematics don't
    //          explode, move, or cause spontaneous nuclear warfare.
    if (fActor->readBodyFlag(NX_BF_KINEMATIC))
        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.");
        // We'll hit this at export time, when the ci isn't ready yet, so do a check
        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, bool 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().c_str());
    }
}

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

bool plPXPhysical::GetLinearVelocitySim(hsVector3& vel) const
{
    bool 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));
}

bool plPXPhysical::GetAngularVelocitySim(hsVector3& vel) const
{
    bool 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)
{
    // Not Supported
}

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

#include "plPXStream.h"

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

    PhysRecipe recipe;
    recipe.mass = stream->ReadLEScalar();
    recipe.friction = stream->ReadLEScalar();
    recipe.restitution = stream->ReadLEScalar();
    recipe.bounds = (plSimDefs::Bounds)stream->ReadByte();
    recipe.group = (plSimDefs::Group)stream->ReadByte();
    recipe.reportsOn = stream->ReadLE32();
    fLOSDBs = stream->ReadLE16();
    //hack for swim regions currently they are labeled as static av blockers
    if(fLOSDBs==plSimDefs::kLOSDBSwimRegion)
    {
        recipe.group=plSimDefs::kGroupMax;
    }
    //
    recipe.objectKey = mgr->ReadKey(stream);
    recipe.sceneNode = mgr->ReadKey(stream);
    recipe.worldKey = mgr->ReadKey(stream);

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

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

    fProps.Read(stream);

    if (recipe.bounds == plSimDefs::kSphereBounds)
    {
        recipe.radius = stream->ReadLEScalar();
        recipe.offset.Read(stream);
    }
    else if (recipe.bounds == plSimDefs::kBoxBounds)
    {
        recipe.bDimensions.Read(stream);
        recipe.bOffset.Read(stream);
    }
    else
    {
        // Read in the cooked mesh
        plPXStream pxs(stream);
        if (recipe.bounds == plSimDefs::kHullBounds)
            recipe.convexMesh = plSimulationMgr::GetInstance()->GetSDK()->createConvexMesh(pxs);
        else
            recipe.triMesh = plSimulationMgr::GetInstance()->GetSDK()->createTriangleMesh(pxs);
    }

    Init(recipe);

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

    hsColorRGBA physColor;
    float 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(fWorldKey)
            opac = 0.6f;
    }
    else
    {
        // don't knows are grey
        physColor.Set(0.6f,0.6f,0.6f,1.f);
    }

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

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->WriteLEScalar(fActor->getMass());
    stream->WriteLEScalar(friction);
    stream->WriteLEScalar(restitution);
    stream->WriteByte(fBoundsType);
    stream->WriteByte(fGroup);
    stream->WriteLE32(fReportsOn);
    stream->WriteLE16(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 (fBoundsType == plSimDefs::kSphereBounds)
    {
        const NxSphereShape* sphereShape = shape->isSphere();
        stream->WriteLEScalar(sphereShape->getRadius());
        hsPoint3 localPos = plPXConvert::Point(sphereShape->getLocalPosition());
        localPos.Write(stream);
    }
    else if (fBoundsType == 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 (fBoundsType == 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
//
bool plPXPhysical::DirtySynchState(const char* SDLStateName, uint32_t 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 isLoading = plNetClientApp::GetInstance()->IsLoadingInitialAgeState();
    bool isFirstIn = plNetClientApp::GetInstance()->GetJoinOrder() == 0;
    bool initialSync = isLoading && isFirstIn;

    // 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().c_str());
        DirtySynchState(kSDLPhysical, plSynchedObject::kBCastToClients);
        return;
    }

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

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

    // If we're loading the age, then we should ensure the objects
    // stay asleep if they're supposed to be asleep.
    if (isLoading && GetProperty(plSimulationInterface::kStartInactive) && !fActor->readBodyFlag(NX_BF_KINEMATIC))
        fActor->putToSleep();

    SendNewLocation(false, true);
}

void plPXPhysical::ExcludeRegionHack(bool 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();

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

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

// 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_t* out)
{
    if (hsCheckBits(desc.flags, NX_MF_16_BIT_INDICES))
    {
        uint16_t* descTris = ((uint16_t*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
        out[0] = descTris[0];
        out[1] = descTris[1];
        out[2] = descTris[2];
    }
    else
    {
        uint32_t* descTris = ((uint32_t*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
        out[0] = (uint16_t)descTris[0];
        out[1] = (uint16_t)descTris[1];
        out[2] = (uint16_t)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_t* out)
{
    if (hsCheckBits(desc.flags, NX_MF_16_BIT_INDICES))
    {
        uint16_t* descTris = ((uint16_t*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
        out[0] = descTris[0];
        out[1] = descTris[1];
        out[2] = descTris[2];
    }
    else
    {
        uint32_t* descTris = ((uint32_t*)(((char*)desc.triangles)+desc.pointStrideBytes*idx));
        out[0] = (uint16_t)descTris[0];
        out[1] = (uint16_t)descTris[1];
        out[2] = (uint16_t)descTris[2];
    }
}

// Make a visible object that can be viewed by users for debugging purposes.
plDrawableSpans* plPXPhysical::CreateProxy(hsGMaterial* mat, hsTArray<uint32_t>& idx, plDrawableSpans* addTo)
{
    plDrawableSpans* myDraw = addTo;
    hsMatrix44 l2w, unused;
    GetTransform(l2w, unused);
    
    bool 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_t>    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_t>    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;
}