void Lux::Physics::CapsuleCollider::SetHalfHeight(float a_HalfHeight)
{
LuxAssert(a_HalfHeight > 0.0f);
m_HalfHeight = a_HalfHeight;
if (m_Shape)
{
m_Shape->setGeometry(PxCapsuleGeometry(m_Radius, m_HalfHeight));
}
}
// add some physics objects into the scene
void AddPhyObjects()
{
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
gScene->addActor(*groundPlane);
PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(PxVec3(0, -5, -10));
gScene->addActor(*dynamic);
// add capsule into the scene
shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
body = gPhysics->createRigidDynamic(localTmC);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
// add a static box as the trigger
shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
body = gPhysics->createRigidDynamic(localTmTrigger);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
body->attachShape(*shape);
body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
gScene->addActor(*body);
shape->release();
}
PxActor* World::addCapsule(const float radius, const float height, const ofVec3f& pos, const ofQuaternion& rot, float mass)
{
assert(inited);
return createRigidBody(PxCapsuleGeometry(radius, height), mass, pos, rot);
}
/**
* Method is used to add new dynamic actor to physics scene.
* @param entity is pointer to scene entity which will be added to physics simulation.
* @param type is enumeration of shape type.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addDynamicActor(SceneEntity* entity, ShapeType type, PxU32 filterGroup, PxU32 filterMask)
{
PxRigidDynamic* actor = nullptr;
PxVec3 position = PxVec3(entity->entityState.position[0],entity->entityState.position[1],entity->entityState.position[2]);
PxQuat orientation = PxQuat(entity->entityState.orientation[0],entity->entityState.orientation[1],entity->entityState.orientation[2],entity->entityState.orientation[3]);
PxReal density = 1.0f;
PxTransform transformation = PxTransform(position,orientation);
if(type == BOX)
{
float x = (entity->entityGeometry.geometryBox->max.x() - entity->entityGeometry.geometryBox->min.x())*entity->entityState.scale.x()*0.5f;
float y = (entity->entityGeometry.geometryBox->max.y() - entity->entityGeometry.geometryBox->min.y())*entity->entityState.scale.y()*0.5f;
float z = (entity->entityGeometry.geometryBox->max.z() - entity->entityGeometry.geometryBox->min.z())*entity->entityState.scale.z()*0.5f;
PxVec3 dimensions(x,y,z);
actor = PxCreateDynamic(*physicsSDK,transformation,PxBoxGeometry(dimensions),*materials[0].second,density);
PxRigidBodyExt::updateMassAndInertia(*actor, density);
}
else if(type == SPHERE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxSphereGeometry(radius),*materials[0].second,density);
}
else if(type == CAPSULE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxCapsuleGeometry(radius/2, radius),*materials[0].second,density);
}
else if(type == CONVEX)
{
/*int vertsCount = entity->entityGeometry.geometryMesh->getVerticesAmount();
AyumiUtils::Vertex<>* verts = entity->entityGeometry.geometryMesh->getVertices();
PxVec3* convexVerts = new PxVec3[vertsCount];
for(int i = 0; i < vertsCount; ++i)
convexVerts[i] = PxVec3(verts[i].x,verts[i].y,verts[i].z);
PxConvexMeshDesc convexDesc;
convexDesc.points.count = entity->entityGeometry.geometryMesh->getVerticesAmount();
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = convexVerts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
MemoryWriteBuffer buf;
if(cooking->cookConvexMesh(convexDesc, buf))
{
PxConvexMesh* convexMesh = physicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
actor = PxCreateDynamic(*physicsSDK,transformation,PxConvexMeshGeometry(convexMesh,PxMeshScale()),*materials[0].second,density);
}
else
{
Logger::getInstance()->saveLog(Log<string>("Convex Mesh creation error occurred!"));
return;
}*/
//delete[] convexVerts;
}
else
{
Logger::getInstance()->saveLog(Log<string>("Dynamic Actor shape creation error occurred!"));
return;
}
if(!actor)
Logger::getInstance()->saveLog(Log<string>("Static Actor creation error occurred!"));
PxRigidBodyExt::updateMassAndInertia(*actor, density);
actor->setAngularDamping(0.75);
actor->setLinearVelocity(PxVec3(0,0,0));
actor->setName(entity->entityName.c_str());
setupFiltering(actor,filterGroup,filterMask);
scene->addActor(*actor);
DynamicActor* d = new DynamicActor();
d->entityLogic = entity;
d->entityPhysics = actor;
d->shapesAmount = actor->getNbShapes();
d->shapes = new PxShape*[d->shapesAmount];
dynamicActors.push_back(d);
}
void PhysXPhysics::VAddCapsule(float radius, float halfHeight, Actor* gameActor, const std::string& densityStr, const std::string& physicsMaterial, bool gravityEnabled, float linearDamping, float angularDamping, Mat4x4 relativeTransform, const std::string& bodyType)
{
float density = LookupDensity(densityStr);
AddShape(gameActor, &PxCapsuleGeometry(radius, halfHeight), density, physicsMaterial, gravityEnabled, linearDamping, angularDamping, bodyType);
}
