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

/*==LICENSE==*

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

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*==LICENSE==*/
#include "plPXPhysicalControllerCore.h"
#include "plSimulationMgr.h"
#include "plPXPhysical.h"
#include "plPXConvert.h"
#include "pnSceneObject/plSimulationInterface.h"
#include "pnSceneObject/plSceneObject.h"
#include "plAvatar/plArmatureMod.h"
#include "pnSceneObject/plCoordinateInterface.h"
#include "plDrawable/plDrawableGenerator.h"
#include "plPhysical/plPhysicalProxy.h"
#include "pnMessage/plSetNetGroupIDMsg.h"
#include "plMessage/plCollideMsg.h"
#include "plModifier/plDetectorLog.h"

#include "plSurface/hsGMaterial.h"      // For our proxy
#include "plSurface/plLayerInterface.h" // For our proxy

#include "NxPhysics.h"
#include "NxCapsuleController.h"
#include "NxCapsuleShape.h"
#include "ControllerManager.h"

static ControllerManager gControllerMgr;
static std::vector<plPXPhysicalControllerCore*> gControllers;
static bool gRebuildCache = false;

#ifndef PLASMA_EXTERNAL_RELEASE
bool plPXPhysicalControllerCore::fDebugDisplay = false;
#endif // PLASMA_EXTERNAL_RELEASE
int plPXPhysicalControllerCore::fPXControllersMax = 0;

#define kCCTSkinWidth 0.1f
#define kCCTStepOffset 0.7f
#define kCCTZOffset ((fRadius + (fHeight / 2)) + kCCTSkinWidth)
#define kPhysHeightCorrection 0.8f
#define kPhysZOffset ((kCCTZOffset + (kPhysHeightCorrection / 2)) - 0.05f)
#define kAvatarMass 200.0f

static class PXControllerHitReport : public NxUserControllerHitReport
{
public:
    virtual NxControllerAction onShapeHit(const NxControllerShapeHit& hit)
    {
        plPXPhysicalControllerCore* controller = (plPXPhysicalControllerCore*)hit.controller->getUserData();
        NxActor& actor = hit.shape->getActor();
        plPXPhysical* phys = (plPXPhysical*)actor.userData;
        hsVector3 normal = plPXConvert::Vector(hit.worldNormal);

#ifndef PLASMA_EXTERNAL_RELEASE
        plDbgCollisionInfo info;
        info.fNormal = normal;
        info.fSO = plSceneObject::ConvertNoRef(phys->GetObjectKey()->ObjectIsLoaded());

        NxCapsule capsule;
        controller->GetWorldSpaceCapsule(capsule);
        info.fOverlap = hit.shape->checkOverlapCapsule(capsule);

        controller->fDbgCollisionInfo.Append(info);
#endif PLASMA_EXTERNAL_RELEASE

        // If the avatar hit a movable physical, apply some force to it.
        if (actor.isDynamic())
        {
            if (!actor.readBodyFlag(NX_BF_KINEMATIC) && !actor.readBodyFlag(NX_BF_FROZEN))
            {
                // Don't apply force when standing on top of an object.
                if (normal.fZ < 0.85f)
                {
                    hsVector3 velocity = controller->GetLinearVelocity();
                    velocity.fZ = 0.0f;
                    float length = velocity.Magnitude();
                    if (length > 0)
                    {
                        // Only allow horizontal pushes for now
                        NxVec3 hitDir = hit.worldPos - hit.controller->getPosition();
                        hitDir.z = 0.0f;
                        hitDir.normalize();

                        // Get controller speed along the hitDir
                        float cctProj = velocity.fX * hitDir.x + velocity.fY * hitDir.y;
                        length = length + cctProj / 2.0f;

                        // Get hit actors speed along the hitDir
                        float hitProj = actor.getLinearVelocity().dot(hitDir);
                        if (hitProj > 0)
                            length -= hitProj;

                        length *= kAvatarMass;

                        hsPoint3 pos((float)hit.worldPos.x, (float)hit.worldPos.y, (float)hit.worldPos.z);
                        phys->SetHitForce(plPXConvert::Vector(hitDir * length), pos);
                        controller->AddDynamicHit(phys);
                    }
                }
            }
        }
        else  // else if the avatar hit a static
        {
            controller->fMovementStrategy->AddContactNormals(normal);
            return NX_ACTION_NONE;
        }
        if (phys && phys->GetProperty(plSimulationInterface::kAvAnimPushable))
        {
            hsQuat inverseRotation = controller->fLocalRotation.Inverse();
            hsVector3 normal = plPXConvert::Vector(hit.worldNormal);
            controller->SetPushingPhysical(phys);
            controller->SetFacingPushingPhysical((inverseRotation.Rotate(&kAvatarForward).InnerProduct(normal) < 0 ? true : false));
        }
        return NX_ACTION_NONE;
    }
    virtual NxControllerAction onControllerHit(const NxControllersHit& hit)
    {
        return NX_ACTION_NONE;
    }
} gControllerHitReport;

plPhysicalControllerCore* plPhysicalControllerCore::Create(plKey ownerSO, float height, float width, bool human)
{
    if (!plPXPhysicalControllerCore::fPXControllersMax || gControllers.size() < plPXPhysicalControllerCore::fPXControllersMax)
    {
        float radius = width / 2.0f;
        float realHeight = height - width;
        return new plPXPhysicalControllerCore(ownerSO, realHeight, radius, human);
    }
    return nil;
}

plPXPhysicalControllerCore::plPXPhysicalControllerCore(plKey ownerSO, float height, float radius, bool human)
    : plPhysicalControllerCore(ownerSO, height, radius),
    fController(nil),
    fActor(nil),
    fProxyGen(nil),
    fKinematicCCT(true),
    fHuman(human)
{
    ICreateController(fLocalPosition);
    fActor->raiseActorFlag(NX_AF_DISABLE_COLLISION);
    gControllers.push_back(this);
}
plPXPhysicalControllerCore::~plPXPhysicalControllerCore()
{
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        if (gControllers[i] == this)
        {
            gControllers.erase(gControllers.begin()+i);
            break;
        }
    }
    IDeleteController();

    // Release any queued messages we may have
    int numMsgs = fQueuedCollideMsgs.size();
    if (numMsgs)
    {
        for (int i = 0; i < numMsgs; ++i)
            delete fQueuedCollideMsgs[i];

        fQueuedCollideMsgs.clear();
    }

    delete fProxyGen;
}

void plPXPhysicalControllerCore::Enable(bool enable)
{
    if (fEnabled != enable)
    {
        fEnabled = enable;
        if (fEnabled)
        {
            // Defer until the next physics update.
            fEnableChanged = true;
        }
        else
        {
            if (!fKinematicCCT)
            {
                // Dynamic controllers are forced kinematic
                fActor->raiseBodyFlag(NX_BF_KINEMATIC);
                NxShape* shape = fActor->getShapes()[0];
                shape->setGroup(plSimDefs::kGroupAvatarKinematic);
            }
        }
    }
}

void plPXPhysicalControllerCore::SetSubworld(plKey world) 
{
    if (fWorldKey != world)
    {
        SimLog("Changing subworlds!");

        // Inform detectors in the old world that we are leaving
        IInformDetectors(false);
        IDeleteController();

        // We need our real global location here, not the interpolated location
        fLocalRotation.MakeMatrix(&fLastGlobalLoc);
        fLastGlobalLoc.SetTranslate(&fLocalPosition);
        if (fWorldKey)
        {
            hsMatrix44 prevSubL2W;
            fPrevSubworldW2L.GetInverse(&prevSubL2W);
            fLastGlobalLoc = prevSubL2W * fLastGlobalLoc;
        }
        // Update our scene object so the change isn't wiped out
        plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
        if (so)
        {
            hsMatrix44 globalLocInv;
            fLastGlobalLoc.GetInverse(&globalLocInv);
            so->SetTransform(fLastGlobalLoc, globalLocInv);
            so->FlushTransform();
        }

        // Update Local Position and rotation
        fWorldKey = world;
        const plCoordinateInterface* subworldCI = GetSubworldCI();
        if (subworldCI)
        {
            fPrevSubworldW2L = subworldCI->GetWorldToLocal();
            hsMatrix44 l2s = fPrevSubworldW2L * fLastGlobalLoc;
            l2s.GetTranslate(&fLocalPosition);
            fLocalRotation.SetFromMatrix44(l2s);
        }
        else
        {
            fPrevSubworldW2L.Reset();
            fLastGlobalLoc.GetTranslate(&fLocalPosition);
            fLocalRotation.SetFromMatrix44(fLastGlobalLoc);
        }

        fLastLocalPosition = fLocalPosition;

        // Create new controller
        ICreateController(fLocalPosition);
        RebuildCache();
    }
}

void plPXPhysicalControllerCore::GetState(hsPoint3& pos, float& zRot)
{
    // Temporarily use the position point while we get the z rotation
    fLocalRotation.NormalizeIfNeeded();
    fLocalRotation.GetAngleAxis(&zRot, (hsVector3*)&pos);

    if (pos.fZ < 0)
        zRot = (2 * float(M_PI)) - zRot; // axis is backwards, so reverse the angle too

    pos = fLocalPosition;
}
void plPXPhysicalControllerCore::SetState(const hsPoint3& pos, float zRot)
{
    plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
    if (so)
    {
        hsQuat worldRot;
        hsVector3 zAxis(0.f, 0.f, 1.f);
        worldRot.SetAngleAxis(zRot, zAxis);

        hsMatrix44 l2w, w2l;
        worldRot.MakeMatrix(&l2w);
        l2w.SetTranslate(&pos);

        // Localize new position and rotation to global coords if we're in a subworld
        const plCoordinateInterface* ci = GetSubworldCI();
        if (ci)
        {
            const hsMatrix44& subworldL2W = ci->GetLocalToWorld();
            l2w = subworldL2W * l2w;
        }
        l2w.GetInverse(&w2l);
        so->SetTransform(l2w, w2l);
        so->FlushTransform();
    }
}

void plPXPhysicalControllerCore::SetMovementStrategy(plMovementStrategy* strategy)
{
    if (fKinematicCCT != strategy->IsKinematic())
    {
        IDeleteController();
        fKinematicCCT = !fKinematicCCT;
        ICreateController(fLocalPosition);
    }

    fMovementStrategy = strategy;
}

void plPXPhysicalControllerCore::SetGlobalLoc(const hsMatrix44& l2w)
{
    fLastGlobalLoc = l2w;

    // Update our local position and rotation
    hsPoint3 prevPosition = fLocalPosition;
    const plCoordinateInterface* subworldCI = GetSubworldCI();
    if (subworldCI)
    {
        hsMatrix44 l2s = fPrevSubworldW2L * l2w;

        l2s.GetTranslate(&fLocalPosition);
        fLocalRotation.SetFromMatrix44(l2s);
    }
    else
    {
        l2w.GetTranslate(&fLocalPosition);
        fLocalRotation.SetFromMatrix44(l2w);
    }

    fLastLocalPosition = fLocalPosition;

    if (fProxyGen)
    {
        hsMatrix44 w2l;
        l2w.GetInverse(&w2l);
        fProxyGen->SetTransform(l2w, w2l);
    }

    // Update the physical position
    if (fKinematicCCT)
    {
        hsVector3 disp(&fLocalPosition, &prevPosition);
        if (disp.Magnitude() > 2.f)
        {
            // Teleport the underlying actor most of the way
            disp.Normalize();
            disp *= 0.001f;

            hsPoint3 teleportPos = fLocalPosition - disp;
            NxVec3 pos(teleportPos.fX, teleportPos.fY, teleportPos.fZ + kPhysZOffset);
            fActor->setGlobalPosition(pos);
        }

        NxExtendedVec3 extPos(fLocalPosition.fX, fLocalPosition.fY, fLocalPosition.fZ + kCCTZOffset);
        fController->setPosition(extPos);
    }
    else
    {
        NxVec3 pos(fLocalPosition.fX, fLocalPosition.fY, fLocalPosition.fZ + kPhysZOffset);
        if (fActor->readBodyFlag(NX_BF_KINEMATIC))
            fActor->moveGlobalPosition(pos);
        else
            fActor->setGlobalPosition(pos);
    }
}

void plPXPhysicalControllerCore::GetPositionSim(hsPoint3& pos)
{
    if (fKinematicCCT)
    {
        const NxExtendedVec3& extPos = fController->getPosition();
        pos.Set((float)extPos.x, (float)extPos.y, (float)extPos.z - kCCTZOffset);
    }
    else
    {
        NxVec3 nxPos = fActor->getGlobalPosition();
        pos.Set(nxPos.x, nxPos.y, nxPos.z - kPhysZOffset);
    }
}

void plPXPhysicalControllerCore::Move(hsVector3 displacement, unsigned int collideWith, unsigned int &collisionResults)
{
    NxU32 colFlags = 0;

    fController->move(plPXConvert::Vector(displacement), collideWith, 0.00001f, colFlags);

    collisionResults = 0;
    if (colFlags & NXCC_COLLISION_DOWN)
        collisionResults |= kBottom;
    if (colFlags & NXCC_COLLISION_UP)
        collisionResults |= kTop;
    if (colFlags & NXCC_COLLISION_SIDES)
        collisionResults |= kSides;
}

void plPXPhysicalControllerCore::SetLinearVelocitySim(const hsVector3& linearVel)
{
    if (!fKinematicCCT)
    {
        NxVec3 vel = plPXConvert::Vector(linearVel);
        fActor->setLinearVelocity(vel);
    }
}

int plPXPhysicalControllerCore::SweepControllerPath(const hsPoint3& startPos, const hsPoint3& endPos, bool vsDynamics, bool vsStatics,
                            uint32_t& vsSimGroups, std::vector<plControllerSweepRecord>& hits)
{
    NxSweepQueryHit queryHit[10];

    unsigned int flags = NX_SF_ALL_HITS;
    if (vsDynamics)
        flags |= NX_SF_DYNAMICS;
    if (vsStatics)
        flags |= NX_SF_STATICS;

    NxVec3 vec;
    vec.x = endPos.fX - startPos.fX;
    vec.y = endPos.fY - startPos.fY;
    vec.z = endPos.fZ - startPos.fZ;

    NxShape* shape = fActor->getShapes()[0];
    NxCapsuleShape* capShape = shape->isCapsule();
    float radius = capShape->getRadius();
    float height = capShape->getHeight();

    NxCapsule capsule;
    capsule.p0 = plPXConvert::Point(startPos);
    capsule.p0.z = capsule.p0.z + radius;
    capsule.radius = radius;
    capsule.p1 = capsule.p0;
    capsule.p1.z = capsule.p1.z + height;

    NxScene *scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
    int numHits = scene->linearCapsuleSweep(capsule, vec, flags, nil, 10, queryHit, nil, vsSimGroups);
    if (numHits)
    {
        for (int i = 0; i < numHits; ++i)
        {
            plControllerSweepRecord currentHit;
            currentHit.ObjHit = (plPhysical*)queryHit[i].hitShape->getActor().userData;
            if (currentHit.ObjHit)
            {
                currentHit.Point = plPXConvert::Point(queryHit[i].point);
                currentHit.Normal = plPXConvert::Vector(queryHit[i].normal);
                hits.push_back(currentHit);
            }
        }
    }

    return hits.size();
}

void plPXPhysicalControllerCore::LeaveAge()
{
    SetPushingPhysical(nil);
    if (fWorldKey)
        SetSubworld(nil);

    // Disable all collisions
    fActor->raiseActorFlag(NX_AF_DISABLE_COLLISION);
}

void plPXPhysicalControllerCore::GetWorldSpaceCapsule(NxCapsule& cap) const
{
    NxShape* shape = fActor->getShapes()[0];
    NxCapsuleShape* capShape = shape->isCapsule();
    capShape->getWorldCapsule(cap);
}

plDrawableSpans* plPXPhysicalControllerCore::CreateProxy(hsGMaterial* mat, hsTArray<uint32_t>& idx, plDrawableSpans* addTo)
{
    // FIXME
    plDrawableSpans* myDraw = addTo;
    bool blended = ((mat->GetLayer(0)->GetBlendFlags() & hsGMatState::kBlendMask));
    float radius = fRadius;
    myDraw = plDrawableGenerator::GenerateSphericalDrawable(fLocalPosition, radius,
        mat, fLastGlobalLoc, blended,
        nil, &idx, myDraw);

/*
    plSceneObject* so = plSceneObject::ConvertNoRef(fOwner->ObjectIsLoaded());
    if (so)
    {
        bool blended = ((mat->GetLayer(0)->GetBlendFlags() & hsGMatState::kBlendMask));

        myDraw = plDrawableGenerator::GenerateConicalDrawable(fRadius*10, fHeight*10,
            mat, so->GetLocalToWorld(), blended,
            nil, &idx, myDraw);
    }
*/
    return myDraw;
}

void plPXPhysicalControllerCore::AddDynamicHit(plPXPhysical* phys)
{
    int numHits = fDynamicHits.size();
    for (int i = 0; i < numHits; ++i)
    {
        if (fDynamicHits[i] == phys)
            return;
    }

    fDynamicHits.push_back(phys);
}

void plPXPhysicalControllerCore::Apply(float delSecs)
{
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        if (gRebuildCache && controller->fController)
            controller->fController->reportSceneChanged();

#ifndef PLASMA_EXTERNAL_RELEASE
        controller->fDbgCollisionInfo.SetCount(0);
#endif

        controller->IDispatchQueuedMsgs();
        controller->IApply(delSecs);
        controller->IProcessDynamicHits();
    }

    gRebuildCache = false;
}
void plPXPhysicalControllerCore::Update(int numSubSteps, float alpha)
{
    gControllerMgr.updateControllers();

    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];

        controller->IUpdate(numSubSteps, alpha);

#ifndef PLASMA_EXTERNAL_RELEASE
        if (fDebugDisplay)
            controller->IDrawDebugDisplay(i);
#endif
    }
}
void plPXPhysicalControllerCore::UpdateNonPhysical(float alpha)
{
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        controller->IUpdateNonPhysical(alpha);
    }
}

void plPXPhysicalControllerCore::RebuildCache() { gRebuildCache = true; }

plPXPhysicalControllerCore* plPXPhysicalControllerCore::GetController(NxActor& actor)
{
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        if (controller->fActor == &actor)
            return controller;
    }

    return nil;
}

bool plPXPhysicalControllerCore::AnyControllersInThisWorld(plKey world)
{
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        if (controller->GetSubworld() == world)
            return true;
    }

    return false;
}
int plPXPhysicalControllerCore::GetNumberOfControllersInThisSubWorld(plKey world)
{
    int count = 0;
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        if (controller->GetSubworld() == world)
            ++count;
    }

    return count;
}
int plPXPhysicalControllerCore::GetControllersInThisSubWorld(plKey world, int maxToReturn, plPXPhysicalControllerCore** bufferout)
{
    int count = 0;
    plPXPhysicalControllerCore* controller;
    int numControllers = gControllers.size();
    for (int i = 0; i < numControllers; ++i)
    {
        controller = gControllers[i];
        if (controller->GetSubworld() == world)
        {
            if (count < maxToReturn)
            {
                bufferout[count] = controller;
                ++count;
            }
        }
    }

    return count;
}

int plPXPhysicalControllerCore::NumControllers() { return gControllers.size(); }

void plPXPhysicalControllerCore::IHandleEnableChanged()
{
    // Defered enable
    fEnableChanged = false;

    if (!fKinematicCCT)
    {
        // Restore dynamic controller
        fActor->clearBodyFlag(NX_BF_KINEMATIC);
        NxShape* shape = fActor->getShapes()[0];
        shape->setGroup(plSimDefs::kGroupAvatar);
    }

    // Enable actor collisions
    if (fActor->readActorFlag(NX_AF_DISABLE_COLLISION))
        fActor->clearActorFlag(NX_AF_DISABLE_COLLISION);
}

void plPXPhysicalControllerCore::IInformDetectors(bool entering)
{
    static const NxU32 kDetectorFlag = 1<<plSimDefs::kGroupDetector;
    static const int kNumShapes = 30;

    DetectorLog("Informing from plPXPhysicalControllerCore::IInformDetectors");

    NxShape* shapes[kNumShapes];
    NxCapsule capsule;
    GetWorldSpaceCapsule(capsule);
    NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
    int numCollided = scene->overlapCapsuleShapes(capsule, NX_ALL_SHAPES, kNumShapes, shapes, NULL, kDetectorFlag, NULL, true);
    for (int i = 0; i < numCollided; ++i)
    {
        plPXPhysical* physical = (plPXPhysical*)shapes[i]->getActor().userData;
        if (physical && physical->DoReportOn(plSimDefs::kGroupAvatar))
        {
            plCollideMsg* msg = new plCollideMsg();
            msg->fOtherKey = fOwner;
            msg->fEntering = entering;
            msg->AddReceiver(physical->GetObjectKey());

            // Queue until the next sim step
            fQueuedCollideMsgs.push_back(msg);
        }
    }

    DetectorLog("Done informing from plPXPhysicalControllerCore::IInformDetectors");
}

void plPXPhysicalControllerCore::ICreateController(const hsPoint3& pos)
{
    NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);

    if (fKinematicCCT)
    {
        // Use PhysX character controller
        NxCapsuleControllerDesc desc;
        desc.position.x     = pos.fX;
        desc.position.y     = pos.fY;
        desc.position.z     = pos.fZ + kCCTZOffset;
        desc.upDirection    = NX_Z;
        desc.slopeLimit     = kSlopeLimit;
        desc.skinWidth      = kCCTSkinWidth;
        desc.stepOffset     = kCCTStepOffset;
        desc.callback       = &gControllerHitReport;
        desc.userData       = this;
        desc.radius         = fRadius;
        desc.height         = fHeight;
        desc.interactionFlag = NXIF_INTERACTION_EXCLUDE;
        fController = (NxCapsuleController*)gControllerMgr.createController(scene, desc);
        fActor = fController->getActor();

        // Set the actor group - Dynamics are in group 1 and will report on everything in group 0.
        // We don't want notifications
        fActor->setGroup(2);

        // Set the shape group.  Not used by the NxController itself,
        // But required for correct group interactions in the simulation.
        NxShape* shape = fActor->getShapes()[0];
        shape->setGroup(plSimDefs::kGroupAvatarKinematic);

        // In PhysX 2, the kinematic actors scale factor isn't exposed.
        // It is hardcoded at 0.8 which doesn't suit, so we have to manually adjust its dimensions.
        float kineRadius = fRadius + kCCTSkinWidth;
        float kineHeight = fHeight;
        NxCapsuleShape* capShape = shape->isCapsule();
        if (fHuman)
        {
            kineHeight += kPhysHeightCorrection;
            capShape->setLocalPosition(NxVec3(0.0f, (kPhysHeightCorrection / 2.0f), 0.0f));
        }
        capShape->setDimensions(kineRadius, kineHeight);
    }
    else
    {
        // Use dynamic actor for the character controller
        NxCapsuleShapeDesc capDesc;
        capDesc.materialIndex = plSimulationMgr::GetInstance()->GetMaterialIdx(scene, 0.0f, 0.0f);
        capDesc.radius = fRadius + kCCTSkinWidth;
        capDesc.height = fHeight + kPhysHeightCorrection;

        NxBodyDesc bodyDesc;
        bodyDesc.mass = kAvatarMass;
        bodyDesc.flags = NX_BF_DISABLE_GRAVITY;
        bodyDesc.flags |= NX_BF_FROZEN_ROT;

        if (fEnabled)
            capDesc.group = plSimDefs::kGroupAvatar;
        else
        {
            bodyDesc.flags |= NX_BF_KINEMATIC;
            capDesc.group = plSimDefs::kGroupAvatarKinematic;
        }

        NxActorDesc actorDesc;
        actorDesc.shapes.pushBack(&capDesc);
        actorDesc.body = &bodyDesc;
        actorDesc.group = 2;

        actorDesc.globalPose.M.rotX(NxHalfPiF32);
        actorDesc.globalPose.t.x = pos.fX;
        actorDesc.globalPose.t.y = pos.fY;
        actorDesc.globalPose.t.z = pos.fZ + kPhysZOffset;

        fActor = scene->createActor(actorDesc);
    }

    fSeeking = false;

    // Create proxy for the debug display
    /* FIXME
    // the avatar proxy doesn't seem to work... not sure why?
    hsColorRGBA physColor;
    float opac = 1.0f;

    // local avatar is light purple and transparent
    physColor.Set(.2f, .1f, .2f, 1.f);
    opac = 0.8f;

    fProxyGen = new plPhysicalProxy(hsColorRGBA().Set(0,0,0,1.f), physColor, opac);
    fProxyGen->Init(this);
    */
}
void plPXPhysicalControllerCore::IDeleteController()
{
    if (fKinematicCCT)
    {
        gControllerMgr.releaseController(*fController);
        fController = nil;
    }
    else
    {
        NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
        scene->releaseActor(*fActor);
    }

    fActor = nil;
    plSimulationMgr::GetInstance()->ReleaseScene(fWorldKey);
}

void plPXPhysicalControllerCore::IDispatchQueuedMsgs()
{
    int numMsgs = fQueuedCollideMsgs.size();
    if (numMsgs)
    {
        plSimulationMgr* simMgr = plSimulationMgr::GetInstance();
        for (int i = 0; i < numMsgs; ++i)
            simMgr->AddCollisionMsg(fQueuedCollideMsgs[i]);

        fQueuedCollideMsgs.clear();
    }
}
void plPXPhysicalControllerCore::IProcessDynamicHits()
{
    int numHits = fDynamicHits.size();
    if (numHits)
    {
        plPXPhysical* phys;
        plSimulationMgr* simMgr = plSimulationMgr::GetInstance();
        for (int i = 0; i < numHits; ++i)
        {
            phys = fDynamicHits[i];

            // If this is the local avatar, we need to take ownership of this dynamic if we haven't already
            if (fLOSDB == plSimDefs::kLOSDBLocalAvatar && !phys->IsLocallyOwned() && !phys->GetProperty(plSimulationInterface::kNoOwnershipChange))
            {
                plSynchedObject* obj = plSynchedObject::ConvertNoRef(phys->GetObjectKey()->ObjectIsLoaded());
                obj->SetNetGroupConstant(plNetGroup::kNetGroupLocalPhysicals);

                plSetNetGroupIDMsg* setNetGroupID = new plSetNetGroupIDMsg;
                setNetGroupID->fId = plNetGroup::kNetGroupRemotePhysicals;
                setNetGroupID->SetBCastFlag(plMessage::kNetPropagate | plMessage::kNetForce);
                setNetGroupID->SetBCastFlag(plMessage::kLocalPropagate, false);
                setNetGroupID->Send(obj->GetKey());
            }

            phys->ApplyHitForce();
            simMgr->ConsiderSynch(phys, nil);
        }
        fDynamicHits.clear();
    }
}

#ifndef PLASMA_EXTERNAL_RELEASE
#include "../plPipeline/plDebugText.h"

void plPXPhysicalControllerCore::IDrawDebugDisplay(int controllerIdx)
{
    plDebugText &debugTxt = plDebugText::Instance();
    plString debugString;
    int lineHeight = debugTxt.GetFontSize() + 4;
    int x = 10;     // Initial draw position
    static int y = 10;
    if (controllerIdx == 0)
    {
        y = 10;
        debugString = plFormat("Controller Count: {}", gControllers.size());
        debugTxt.DrawString(x, y, debugString.c_str());
        y += lineHeight;
    }

    // Only display avatar collisions if any exist...
    int collisionCount = fDbgCollisionInfo.GetCount();
    if (collisionCount > 0)
    {
        debugString = plFormat("Controller #{} ({}) Collisions:",
            controllerIdx + 1, gControllers[controllerIdx]->fOwner->GetName());
        debugTxt.DrawString(x, y, debugString.c_str());
        y += lineHeight;

        for (int i = 0; i < collisionCount; i++)
        {
            hsVector3 normal = fDbgCollisionInfo[i].fNormal;
            const char* overlapStr = fDbgCollisionInfo[i].fOverlap ? "yes" : "no";
            float angle = hsRadiansToDegrees(acos(normal * hsVector3(0, 0, 1)));
            debugString = plString::Format("\tObj: %s, Normal: (%.2f, %.2f, %.2f), Angle(%.1f), Overlap(%s)",
                    fDbgCollisionInfo[i].fSO->GetKeyName().c_str(),
                    normal.fX, normal.fY, normal.fZ, angle,
                    overlapStr);
            debugTxt.DrawString(x, y, debugString.c_str());
            y += lineHeight;
        }
    }
}
#endif PLASMA_EXTERNAL_RELEASE