//-----------------------------------------------------------------------------
// Constructor
//-----------------------------------------------------------------------------
CPhysicEngine::CPhysicEngine (void)
{
// Creacion e inicializacion del objeto principal de PhysX
int nVersion = NX_PHYSICS_SDK_VERSION;
NxSDKCreateError errorCode;
m_pPhysicsSDK = NxCreatePhysicsSDK (NX_PHYSICS_SDK_VERSION, Globals::g_pUserAllocator, this, NxPhysicsSDKDesc(), &errorCode);
if (!m_pPhysicsSDK) return;
#ifdef _DEBUG
m_pPhysicsSDK->getFoundationSDK().getRemoteDebugger()->connect ("localhost", 5425);
#endif
// Set the physics parameters
m_pPhysicsSDK->setParameter (NX_SKIN_WIDTH, 0.001f);
// Set the debug visualization parameters
m_pPhysicsSDK->setParameter (NX_VISUALIZATION_SCALE, 1);
m_pPhysicsSDK->setParameter (NX_VISUALIZE_COLLISION_SHAPES, 1);
m_pPhysicsSDK->setParameter (NX_VISUALIZE_ACTOR_AXES, 1);
// Inicializacion del motor de cooking para procesamiento de triangleMeshes
NxInitCooking();
// Creacion del gestor de controllers
m_pControllerMgr = NxCreateControllerManager ( Globals::g_pUserAllocator );
}
//-------------------------------------------------------------------------------------------------
bool sdPhysicsSystem::CreateEmptyScene(uint uiSize)
{
NIASSERT(!m_pkScene);
NIASSERT(!m_pkControllerManager);
float fSize = (float)uiSize;
float fWalkHeight = 4000.f;
NxBounds3 nxBound;
nxBound.setCenterExtents(NxVec3(fSize * 0.5f, fSize * 0.5f, 0.f), NxVec3(fSize * 0.5f, fSize * 0.5f, fWalkHeight *0.5f));
NxSceneDesc nxSceneDesc;
nxSceneDesc.gravity = NxVec3(0.f, 0.f, -9.8f);
nxSceneDesc.simType = NX_SIMULATION_SW;
nxSceneDesc.maxBounds = &nxBound;
nxSceneDesc.upAxis = 2; ///< Z up
nxSceneDesc.bpType = NX_BP_TYPE_SAP_MULTI;
nxSceneDesc.nbGridCellsX = 8u;
nxSceneDesc.nbGridCellsY = 8u;
nxSceneDesc.subdivisionLevel = 5;
m_pkScene = m_pkPhysicsSDK->createScene(nxSceneDesc);
NIASSERT(m_pkScene);
m_pkControllerManager = NxCreateControllerManager(m_pkAllocator);
NIASSERT(m_pkControllerManager);
return true;
}
//初始化这个服务
efd::AsyncResult PhysxCharacterMovementService::OnInit()
{
efd::MessageService* pMessageService =
m_pServiceManager->GetSystemServiceAs<efd::MessageService>();
EE_ASSERT(pMessageService);
//要接收PhysX 消息
pMessageService->Subscribe(this, egfPhysX::kCAT_egfPhysXMessage);
EE_ASSERT(efdPhysX::PhysXSDKManager::GetManager());
EE_ASSERT(m_pAllocator);
m_pkNxControllerManager = NxCreateControllerManager(m_pAllocator);
EE_ASSERT(m_pkNxControllerManager);
return efd::AsyncResult_Complete;
}
//----------------------------------------------------------------------------
// Init data
//----------------------------------------------------------------------------
bool CPhysicsManager::Init ()
{
m_bIsOk = true;
m_pMyAllocator = new CPhysicUserAllocator;
assert(m_pMyAllocator);
m_bIsOk = (m_pMyAllocator != NULL);
if (m_bIsOk)
{
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: Inicializando la libreria PhysX");
// Initialize PhysicsSDK
NxPhysicsSDKDesc desc;
NxSDKCreateError errorCode = NXCE_NO_ERROR;
m_pPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, m_pMyAllocator, NULL, desc, &errorCode);
/*Precompilation Directives*/
#if defined( _DEBUG )
#define USE_DEBUGGER
#ifdef USE_DEBUGGER
m_pPhysicsSDK->getFoundationSDK().getRemoteDebugger()->connect("127.0.0.1");
#endif
#endif
m_bIsOk = (m_pPhysicsSDK != NULL);
if (m_bIsOk)
{
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: Creado el PhysXSDK");
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: -------PhsX Settings---");
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: El valor del SkinWidth es: %f",
m_InitParams.m_fSkinWidth);
//TODO por XML m_pPhysicsSDK->setParameter(NX_SKIN_WIDTH, m_InitParams.m_fSkinWidth);
m_pPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.1f);
//CODI PER PRINTAR INFO DELS JOINTS
m_pPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
m_pPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
m_pPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 1);
m_pPhysicsSDK->setParameter(NX_CONTINUOUS_CD, 1);
// Create a scene
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: El valor de la gravedad es: %f",
m_InitParams.m_fGravity);
NxSceneDesc sceneDesc;
//TODO por XML sceneDesc.gravity = NxVec3(0.0f, m_InitParams.m_fGravity, 0.0f);
sceneDesc.gravity = NxVec3(0.0f, -9.8f, 0.0f);
m_pScene = m_pPhysicsSDK->createScene(sceneDesc);
m_bIsOk = (m_pScene != NULL);
if (m_bIsOk)
{
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: Solo hay un material, con los siguientes params");
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: DefaultMaterial->Restitution %f:",
m_InitParams.m_Restitution_DefMat);
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: DefaultMaterial->StaticFriction %f:",
m_InitParams.m_StaticFriction_DefMat);
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: DefaultMaterial->DynamicFriction %f:",
m_InitParams.m_DynamicFriction_DefMat);
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: ----END PhsX Settings---");
// Set default material
NxMaterial* defaultMaterial = m_pScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(m_InitParams.m_Restitution_DefMat);
defaultMaterial->setStaticFriction(m_InitParams.m_StaticFriction_DefMat);
defaultMaterial->setDynamicFriction(m_InitParams.m_DynamicFriction_DefMat);
//Collision Flags
//m_pScene->setGroupCollisionFlag(ECG_ARMA,ECG_ESCENARI,true);
//Create a controllerManager
m_pControllerManager = NxCreateControllerManager(m_pMyAllocator);
m_bIsOk = (m_pControllerManager != NULL);
if (m_bIsOk)
{
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: Creado el controlador de caracteres");
m_pCookingMesh = new CPhysicCookingMesh();
assert(m_pCookingMesh);
m_bIsOk = m_pCookingMesh->Init(m_pPhysicsSDK, m_pMyAllocator);
if (m_bIsOk) {
LOGGER->AddNewLog(ELL_INFORMATION, "PhysicsManager:: Creado el CookingMesh");
}
} //m_bIsOk m_pControllerManager?*/
}//isOk m_pScene?
}//isOk m_pPhysicsSDK ?
}//isOk m_pMyAllocator ?
if (!m_bIsOk)
{
std::string msg_error = "PhysicsManager::Init-> Error en la inicializacion de PhysX";
LOGGER->AddNewLog(ELL_ERROR, msg_error.c_str());
Release();
throw CException(__FILE__, __LINE__, msg_error);
}
return m_bIsOk;
}
/***********************************************************
init function
***********************************************************/
void PhysXEngine::Init()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK)
return;
if (gPhysicsSDK->getFoundationSDK().getRemoteDebugger())
gPhysicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01f);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = NxVec3(0,-9.8f,0);
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// add a cube and a plane
//CreatePlane(NxVec3(0, 0, 0), NxVec3(0, 1, 0));
CreateBox(NxVec3(0, 4, 0), 3.0f, 3.0f, 3.0f, 10, false);
CreateBox(NxVec3(7, 10, 7), 2.0f, 3.0f, 2.0f, 10, true);
CreateBox(NxVec3(20, 1, 20), 30.0f, 1.0f, 30.0f, 10, false);
// init time
_lasttime = SynchronizedTimeHandler::getInstance()->GetCurrentTimeDouble();
// init character controllers
gManager = NxCreateControllerManager(gAllocator);
//float TimeStep = 1.0f / 60.0f;
gScene->setTiming();
// Start the first frame of the simulation
if (gScene)
StartPhysics();
}
ControllerManager::ControllerManager()
{
mAllocator = new ControllerAllocator();
mManager = NxCreateControllerManager(mAllocator);
}
void CreateControllerManager(NxUserAllocator* a)
{
gManager = NxCreateControllerManager(a);
}
