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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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,
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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/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 "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(), 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)
    , fWorldHull(nil)
    , fSaveTriangles(nil)
    , fHullNumberPlanes(0)
    , fMass(0.f)
    , 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(PhysRecipe& recipe)
{
    hsBool  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:
        // 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 (fGroup == plSimDefs::kGroupDetector && recipe.meshStream == nil)
        {
#ifdef USE_BOXES_FOR_DETECTOR_HULLS
            MakeBoxFromHull(recipe.convexMesh, boxDesc);
            plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*recipe.convexMesh);
            boxDesc.group = fGroup;
            actorDesc.shapes.push_back(&boxDesc);
#else
#ifdef USE_PHYSX_CONVEXHULL_WORKAROUND
            // make a hull of planes for testing IsInside
            IMakeHull(recipe.convexMesh,recipe.l2s);
#endif  // USE_PHYSX_CONVEXHULL_WORKAROUND
            convexShapeDesc.meshData = recipe.convexMesh;
            convexShapeDesc.userData = recipe.meshStream;
            convexShapeDesc.group = fGroup;
            actorDesc.shapes.pushBack(&convexShapeDesc);
#endif // USE_BOXES_FOR_DETECTOR_HULLS
        }
        else
        {
            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());
        }
        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());
    }

    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 (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());
            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);

    if (fWorldKey)
    {
        plGenRefMsg* ref = TRACKED_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 = 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();
    plKey refKey = refMsg->GetRef()->GetKey();
    plKey ourKey = GetKey();
    PhysRefType refType = PhysRefType(refMsg->fType);

    const char* 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(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");

    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, 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)
{
#ifdef HS_DEBUGGING
    plKey oldNode = GetSceneNode();
    char msg[1024];
    if (newNode)
        sprintf(msg,"Physical object %s cannot change scenes. Already in %s, trying to switch to %s.",fObjectKey->GetName(),oldNode->GetName(),newNode->GetName());
    else
        sprintf(msg,"Physical object %s cannot change scenes. Already in %s, trying to switch to <nil key>.",fObjectKey->GetName(),oldNode->GetName());
    hsAssert(oldNode == newNode, msg);
#endif  // HS_DEBUGGING
}

/////////////////////////////////////////////////////////////////////
//
// 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, TRACKED_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;
    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(fWorldKey)
            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);
}

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
//
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);
}

// 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;
}