qphysxstaticbody.cpp

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// Copyright (C) 2023 The Qt Company Ltd.

// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only

// Qt-Security score:significant reason:default

#include "qphysxstaticbody_p.h"

#include "PxPhysics.h"

#include "PxRigidActor.h"

#include "PxRigidStatic.h"

#include "qphysicsutils_p.h"

#include "qphysicsworld_p.h"

#include "qstaticrigidbody_p.h"

#include "qstaticphysxobjects_p.h"

QT_BEGIN_NAMESPACE

QPhysXStaticBody::QPhysXStaticBody(QStaticRigidBody *frontEnd) : QPhysXRigidBody(frontEnd) { }

DebugDrawBodyType QPhysXStaticBody::getDebugDrawBodyType()

    return DebugDrawBodyType::Static;

void QPhysXStaticBody::sync(float deltaTime, QHash<QQuick3DNode *, QMatrix4x4> &transformCache)

    auto *staticBody = static_cast<QStaticRigidBody *>(frontendNode);

    const physx::PxTransform poseNew = QPhysicsUtils::toPhysXTransform(staticBody->scenePosition(),

                                                                       staticBody->sceneRotation());

    const physx::PxTransform poseOld = actor->getGlobalPose();

    if (!poseNew.isSane()) {

        qWarning() << "StaticRigidBody: position/rotation is not finite, keeping previous pose.";

    } else if (!QPhysicsUtils::fuzzyEquals(poseNew, poseOld)) {

        // For performance we only update static objects if they have been moved

        actor->setGlobalPose(poseNew);

    const bool disabledPrevious = actor->getActorFlags() & physx::PxActorFlag::eDISABLE_SIMULATION;

    const bool disabled = !staticBody->simulationEnabled();

    if (disabled != disabledPrevious) {

        actor->setActorFlag(physx::PxActorFlag::eDISABLE_SIMULATION, disabled);

    QPhysXActorBody::sync(deltaTime, transformCache);

void QPhysXStaticBody::createActor(QPhysXWorld * /*physX*/)

    auto &s_physx = StaticPhysXObjects::getReference();

    physx::PxTransform trf = QPhysicsUtils::toPhysXTransform(frontendNode->scenePosition(),

                                                              frontendNode->sceneRotation());

    if (!trf.isSane()) {

        qWarning() << "PhysicsNode: position/rotation is not finite, using identity instead.";

        trf = physx::PxTransform(physx::PxIdentity);

    actor = s_physx.physics->createRigidStatic(trf);

QT_END_NAMESPACE