int main(int argc, char **argv)
{
//init and PVD
bool initialized = false;
NxPhysicsSDK *physicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!physicsSDK)
return 0;
else
physicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
physicsSDK->setParameter(NX_CONTINUOUS_CD, true);
initialized = true;
//create a scene
bool sceneInit = false;
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, -9.81f, 0);
gScene = physicsSDK->createScene(sceneDesc);
if (gScene != NULL)
sceneInit = true;
//create a plane
{
NxActorDesc actorDesc;
NxPlaneShapeDesc planeDesc;
//planeDesc.normal = NxVec3(0, 0, 1);
//planeDesc.d = -10.0f;
actorDesc.shapes.pushBack(&planeDesc);
gScene->createActor(actorDesc);
}
//create material
NxMaterial *defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.3f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
//create a box
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.angularDamping = 0.5;
bodyDesc.linearVelocity = NxVec3(1, 0, 0);
actorDesc.body = &bodyDesc;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(2.0f, 3.0f, 4.0f);
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.density = 10.0f;
actorDesc.globalPose.t = NxVec3(10.0f, 10.0f, 10.0f);
gScene->createActor(actorDesc)->userData = NULL;
}
//create a cloth
{
// Create the objects in the scene
NxActor* sphere1 = CreateSphere(NxVec3(-1, 0, -0.5), 1, 10);
NxActor* box1 = CreateBox(NxVec3(1, 0, -1), NxVec3(1, 1, 1), 10);
NxActor* box2 = CreateBox(NxVec3(0, 6.5, 0), NxVec3(5, 0.5, 0.5), 10);
NxActor* box3 = CreateBox(NxVec3(0, 6.5, -7), NxVec3(5, 0.5, 0.5), 10);
box2->setLinearDamping(5);
box3->setLinearDamping(5);
NxD6JointDesc d6Desc;
d6Desc.actor[0] = NULL;
d6Desc.actor[1] = box2;
NxVec3 globalAnchor(0, 7, 0);
d6Desc.localAnchor[0] = globalAnchor;
box2->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
box3->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box3->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
d6Desc.localAxis[0] = NxVec3(1, 0, 0);
d6Desc.localNormal[0] = NxVec3(0, 1, 0);
d6Desc.localAxis[1] = NxVec3(1, 0, 0);
d6Desc.localNormal[1] = NxVec3(0, 1, 0);
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.yMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.zMotion = NX_D6JOINT_MOTION_FREE;
NxJoint* d6Joint = gScene->createJoint(d6Desc);
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(4, 7, 0);
clothDesc.thickness = 0.2;
//clothDesc.density = 1;
clothDesc.bendingStiffness = 0.5;
clothDesc.stretchingStiffness = 1;
//clothDesc.dampingCoefficient = 0.5;
clothDesc.friction = 0.5;
//clothDesc.collisionResponseCoefficient = 1;
//clothDesc.attachmentResponseCoefficient = 1;
//clothDesc.solverIterations = 5;
//clothDesc.flags |= NX_CLF_STATIC;
//clothDesc.flags |= NX_CLF_DISABLE_COLLISION;
//clothDesc.flags |= NX_CLF_VISUALIZATION;
//clothDesc.flags |= NX_CLF_GRAVITY;
clothDesc.flags |= NX_CLF_BENDING;
//clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING;
//clothDesc.flags |= NX_CLF_COMDAMPING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags &= ~NX_CLF_HARDWARE;
clothDesc.flags |= NX_CLF_FLUID_COLLISION;
clothDesc.selfCollisionThickness = 10.0f;
NxReal w = 8;
NxReal h = 7;
NxReal d = 0.05;
NxClothMeshDesc meshDesc;
bool mInitDone = false;
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
meshDesc.numVertices = (numX + 1) * (numY + 1);
meshDesc.numTriangles = numX*numY * 2;
meshDesc.pointStrideBytes = sizeof(NxVec3);
meshDesc.triangleStrideBytes = 3 * sizeof(NxU32);
meshDesc.vertexMassStrideBytes = sizeof(NxReal);
meshDesc.vertexFlagStrideBytes = sizeof(NxU32);
meshDesc.points = (NxVec3*)malloc(sizeof(NxVec3)*meshDesc.numVertices);
meshDesc.triangles = (NxU32*)malloc(sizeof(NxU32)*meshDesc.numTriangles * 3);
meshDesc.vertexMasses = 0;
meshDesc.vertexFlags = 0;
meshDesc.flags = 0;
int i, j;
NxVec3 *p = (NxVec3*)meshDesc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(-d*j, 0.0f, -d*i);
p++;
}
}
NxU32 *id = (NxU32*)meshDesc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX + 1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX + 1);
NxU32 i3 = i2 + 1;
if ((j + i) % 2) {
*id++ = i0;
*id++ = i2;
*id++ = i1;
*id++ = i1;
*id++ = i2;
*id++ = i3;
}
else {
*id++ = i0;
*id++ = i2;
*id++ = i3;
*id++ = i0;
*id++ = i3;
*id++ = i1;
}
}
}
// if we want tearing we must tell the cooker
// this way it will generate some space for particles that will be generated during tearing
if (meshDesc.flags & NX_CLF_TEARABLE)
meshDesc.flags |= NX_CLOTH_MESH_TEARABLE;
//cooking
static NxCookingInterface *gCooking = 0;
gCooking = NxGetCookingLib(NX_PHYSICS_SDK_VERSION);
gCooking->NxInitCooking();
gCooking->NxCookClothMesh(meshDesc, UserStream("e:\\cooked.bin", false));
//Meshdata Buffers
NxMeshData mReceiveBuffers;
// here we setup the buffers through which the SDK returns the dynamic cloth data
// we reserve more memory for vertices than the initial mesh takes
// because tearing creates new vertices
// the SDK only tears cloth as long as there is room in these buffers
NxU32 numVertices = meshDesc.numVertices;
NxU32 numTriangles = meshDesc.numTriangles;
NxU32 maxVertices = 2 * numVertices;
mReceiveBuffers.verticesPosBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesNormalBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesPosByteStride = sizeof(NxVec3);
mReceiveBuffers.verticesNormalByteStride = sizeof(NxVec3);
mReceiveBuffers.maxVertices = maxVertices;
mReceiveBuffers.numVerticesPtr = (NxU32*)malloc(sizeof(NxU32));
// the number of triangles is constant, even if the cloth is torn
NxU32 maxIndices = 3 * numTriangles;
mReceiveBuffers.indicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxIndices);
mReceiveBuffers.indicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxIndices = maxIndices;
mReceiveBuffers.numIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// the parent index information would be needed if we used textured cloth
NxU32 maxParentIndices = maxVertices;
mReceiveBuffers.parentIndicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxParentIndices);
mReceiveBuffers.parentIndicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxParentIndices = maxParentIndices;
mReceiveBuffers.numParentIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// init the buffers in case we want to draw the mesh
// before the SDK as filled in the correct values
*mReceiveBuffers.numVerticesPtr = 0;
*mReceiveBuffers.numIndicesPtr = 0;
clothDesc.clothMesh = physicsSDK->createClothMesh(UserStream("e:\\cooked.bin", true));
clothDesc.meshData = mReceiveBuffers;
NxCloth *mCloth;
mCloth = gScene->createCloth(clothDesc);
mCloth->attachToShape(*box2->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
mCloth->attachToShape(*box3->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
//create fluid 1
{
//fluid = CreateFluid(NxVec3(0, 12, -3.5), 15, 0.1, gScene);
}
//create fluid 2
{
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[max_particles];
unsigned initParticlesNum = 0;
//Create particle filled sphere in buffer.
NxVec3 fluidPos(0, 2, 0);
NxVec3 offsetPos(0, 12, -3.5);
float distance = 0.1f;
//#ifdef __PPCGEKKO__
// unsigned sideNum = 12;
//#else
unsigned sideNum = 16;
//#endif
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticlesNum = 0;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
CreateParticleSphere(initParticleData, max_particles, false, offsetPos, NxVec3(0, 0, 0), 0.0f, distance, sideNum);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = max_particles;
fluidDesc.kernelRadiusMultiplier = 2.0f;
fluidDesc.restParticlesPerMeter = 10.0f;
fluidDesc.motionLimitMultiplier = 3.0f;
fluidDesc.packetSizeMultiplier = 8;
fluidDesc.collisionDistanceMultiplier = 0.1;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 40.0f;
fluidDesc.restDensity = 1000.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.0f;
fluidDesc.dynamicFrictionForStaticShapes = 0.05f;
fluidDesc.simulationMethod = NX_F_SPH;
fluidDesc.flags &= ~NX_FF_HARDWARE;
//Add initial particles to fluid creation.
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.4f, 0.5f, 0.9f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
}
//simulate
for (int i = 0; i < 3000; i++)
{
gScene->simulate(1.0f / 60.f);
gScene->flushStream();
//GetPhysicsResults
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
// update fluid status
if (i == 400)
{
MyFluid* fluid = gMyFluids[0];
const ParticleSDK* particles = fluid->getParticles();
unsigned particlesNum = fluid->getParticlesNum();
if (!gUpdates)
{
gUpdates = new ParticleUpdateSDK[max_particles];
}
for (unsigned i = 0; i < particlesNum; i++)
{
ParticleUpdateSDK& update = gUpdates[i];
NxVec3& force = update.force;
force.set(0, 0, 0);
NxU32& flags = update.flags;
if (i >= particlesNum/2)
{
flags = 0;
flags |= NX_FP_DELETE;
}
else
{
flags = 0;
}
}
//在这里更改粒子的属性
NxParticleUpdateData updateData;
updateData.bufferFlag = &gUpdates[0].flags;
updateData.bufferFlagByteStride = sizeof(ParticleUpdateSDK);
fluid->getNxFluid()->updateParticles(updateData);
}
}
//release
if (physicsSDK != NULL)
{
if (gScene != NULL)
physicsSDK->releaseScene(*gScene);
gScene = NULL;
NxReleasePhysicsSDK(physicsSDK);
physicsSDK = NULL;
}
return 1;
}
void UnderlayPlating::InstantiateStructure(bool a_IsBuildPoint)
{
//an overlay plate is essentially an "outer cover" for the tile in one of the six cardinal directions
//system is currently setup to handle any combination of the six, but it probably shouldn't be
m_IsBuildPoint = a_IsBuildPoint;
Ogre::SceneManager& sceneManager = GetSceneManager();
//std::cout << "instantiating UnderlayPlating with direction " << m_Direction << std::endl;
m_AtomFlags = RCD_CAN_DESTROY;
//create entity
m_pAtomEntity = sceneManager.createEntity("UnderlayPlating_" + num2string(m_AtomID), "cell_underlay.mesh");
m_pAtomEntitySceneNode->attachObject(m_pAtomEntity);
StopFlashingColour();
//set up the directional offsets
Ogre::Vector3 offsetPos(0, 0, 0);
Ogre::Vector3 lookatPos(0, 0, 0);
btVector3 halfExtents(0.5f, 0.5f, 0.5f);
//std::cout << " new overlay plating" << std::endl;
if(m_Direction & NORTH)
{
offsetPos.z += 0.395f;
lookatPos.z += 1;
halfExtents.setZ(0.005f);
//std::cout << "NORTH " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & SOUTH)
{
offsetPos.z -= 0.395f;
lookatPos.z -= 1;
halfExtents.setZ(0.005f);
//std::cout << "SOUTH " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & EAST)
{
offsetPos.x += 0.395f;
lookatPos.x += 1;
halfExtents.setX(0.005f);
//std::cout << "EAST " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & WEST)
{
offsetPos.x -= 0.395f;
lookatPos.x -= 1;
halfExtents.setX(0.005f);
//std::cout << "WEST " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & UP)
{
offsetPos.y += 0.395f;
lookatPos.y += 1;
halfExtents.setY(0.005f);
//std::cout << "UP " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & DOWN)
{
offsetPos.y -= 0.395f;
lookatPos.y -= 1;
halfExtents.setY(0.005f);
//std::cout << "DOWN " << (isPhysical ? "plating" : "trigger") << std::endl;
}
m_pAtomEntitySceneNode->setPosition(offsetPos);
m_pAtomEntitySceneNode->lookAt(lookatPos, Ogre::Node::TS_LOCAL);
m_pAtomEntitySceneNode->yaw(Ogre::Degree(90));
//create physics body and initialise to starting position
m_pCollisionShape = new btBoxShape(halfExtents);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), OGRE2BT(m_pAtomEntitySceneNode->_getDerivedPosition())));
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, m_pCollisionShape, btVector3(0,0,0));
m_pRigidBody = new btRigidBody(groundRigidBodyCI);
m_pRigidBody->setUserPointer(this);
//add new rigid body to world
btDiscreteDynamicsWorld& dynamicsWorld = GetDynamicsWorld();
if(m_IsBuildPoint)
{
SetEntityVisible(false);
m_pAtomEntity->setMaterialName("cell_highlight_material");
dynamicsWorld.addRigidBody(m_pRigidBody, COLLISION_BUILDPOINT, RAYCAST_BUILD);
//todo: is this working?
//m_pRigidBody->setCollisionFlags(m_pRigidBody->CF_NO_CONTACT_RESPONSE);
}
else
{
dynamicsWorld.addRigidBody(m_pRigidBody, COLLISION_STRUCTURE, RAYCAST_BUILD|COLLISION_OBJ|COLLISION_MOB);
}
InitCollisionShapeDebugDraw(Ogre::ColourValue::Red);
}
void FGWCondition::paintEvent(QPaintEvent *)
{
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing);
QFontMetrics fm = painter.fontMetrics();
if (fm.ascent() + fm.descent() != m_fontHeight)
{
m_fontHeight = fm.ascent() + fm.descent();
updateTransforms();
}
// Y-Axis label
QTransform transform;
transform.rotate(270);
transform.translate(-(height() + fm.width(m_yAxisLabel)) / 2, fm.ascent());
painter.setTransform(transform);
painter.drawText(QPointF(0, 0), m_yAxisLabel);
// X-Axis label
transform.reset();
painter.setTransform(transform);
painter.drawText(QPointF((width() - fm.width(m_xAxisLabel)) / 2, height() - fm.descent()), m_xAxisLabel);
// The actual graph
if (m_forceCondition)
{
QPointF startPos(-1.0, 0.0);
QPointF startViewPos = m_model2View.map(startPos);
QPointF endPos(1.0, 0.0);
QPointF endViewPos = m_model2View.map(endPos);
double negativeSaturation = m_forceCondition->negativeSaturation();
if (m_forceCondition->negativeCoefficient() < 0.0)
{
negativeSaturation = -negativeSaturation;
}
double positiveSaturation = m_forceCondition->positiveSaturation();
if (m_forceCondition->positiveCoefficient() < 0.0)
{
positiveSaturation = -positiveSaturation;
}
double negativeDeadBandValue = CLIP11(m_forceCondition->offset() - m_forceCondition->deadBand());
double positiveDeadBandValue = CLIP11(m_forceCondition->offset() + m_forceCondition->deadBand());
double negCoeff = m_forceCondition->negativeCoefficient();
double negCoeffValue = 1000.0;
if (0.001 < fabs(negCoeff))
{
negCoeffValue = (1.0 / fabs(negCoeff)) - 1.0;
}
negCoeffValue *= m_forceCondition->negativeSaturation();
double negativeSaturationValue = negativeDeadBandValue - negCoeffValue;
if (negativeSaturationValue < -1.0)
{
double negCoeffVisible = negativeDeadBandValue + 1.0;
double ratio = negCoeffVisible / negCoeffValue;
negativeSaturation *= ratio;
negativeSaturationValue = -1.0;
}
double posCoeff = m_forceCondition->positiveCoefficient();
double posCoeffValue = 1000.0;
if (0.001 < fabs(posCoeff))
{
posCoeffValue = (1.0 / fabs(posCoeff)) - 1.0;
}
posCoeffValue *= m_forceCondition->positiveSaturation();
double positiveSaturationValue = positiveDeadBandValue + posCoeffValue;
if (1.0 < positiveSaturationValue)
{
double posCoeffVisible = 1.0 - positiveDeadBandValue;
double ratio = posCoeffVisible / posCoeffValue;
positiveSaturation *= ratio;
positiveSaturationValue = 1.0;
}
QPointF offsetPos(m_forceCondition->offset(), 0.0);
QPointF offsetViewPos = m_model2View.map(offsetPos);
QPointF negativeSaturationPos(-1.0, negativeSaturation);
QPointF negativeSaturationViewPos = m_model2View.map(negativeSaturationPos);
QPointF negativeCoefficientPos(negativeSaturationValue, negativeSaturation);
QPointF negativeCoefficientViewPos = m_model2View.map(negativeCoefficientPos);
QPointF negativeDeadBandPos(negativeDeadBandValue, 0.0);
QPointF negativeDeadBandViewPos = m_model2View.map(negativeDeadBandPos);
QPointF positiveDeadBandPos(positiveDeadBandValue, 0.0);
QPointF positiveDeadBandViewPos = m_model2View.map(positiveDeadBandPos);
QPointF positiveCoefficientPos(positiveSaturationValue, positiveSaturation);
QPointF positiveCoefficientViewPos = m_model2View.map(positiveCoefficientPos);
QPointF positiveSaturationPos(1.0, positiveSaturation);
QPointF positiveSaturationViewPos = m_model2View.map(positiveSaturationPos);
painter.setPen(Qt::black);
painter.setBrush(Qt::green);
QPolygon envelope;
envelope << startViewPos.toPoint()
<< negativeSaturationViewPos.toPoint()
<< negativeCoefficientViewPos.toPoint()
<< negativeDeadBandViewPos.toPoint()
<< positiveDeadBandViewPos.toPoint()
<< positiveCoefficientViewPos.toPoint()
<< positiveSaturationViewPos.toPoint()
<< endViewPos.toPoint();
painter.drawPolygon(envelope);
painter.setBrush(QBrush(Qt::red));
painter.drawEllipse(negativeCoefficientViewPos, m_handleRadius, m_handleRadius);
painter.drawEllipse(negativeDeadBandViewPos, m_handleRadius, m_handleRadius);
painter.drawEllipse(positiveDeadBandViewPos, m_handleRadius, m_handleRadius);
painter.drawEllipse(positiveCoefficientViewPos, m_handleRadius, m_handleRadius);
if (!m_dragHandler->isDragging())
{
double negSatHalfWidth = (negativeCoefficientViewPos.x() - startViewPos.x()) / 2.0;
m_dragHandler->setHitAreaView(NegativeSaturation,
QPointF(startViewPos.x() + negSatHalfWidth, negativeSaturationViewPos.y()),
negSatHalfWidth, m_handleRadius);
m_dragHandler->setHitAreaView(NegativeCoefficient, negativeCoefficientViewPos);
m_dragHandler->setHitAreaView(NegativeDeadBand, negativeDeadBandViewPos);
double offsetHalfWidth = (positiveDeadBandViewPos.x() - negativeDeadBandViewPos.x()) / 2.0;
m_dragHandler->setHitAreaView(Offset, offsetViewPos, offsetHalfWidth, m_handleRadius);
m_dragHandler->setHitAreaView(PositiveDeadBand, positiveDeadBandViewPos);
m_dragHandler->setHitAreaView(PositiveCoefficient, positiveCoefficientViewPos);
double posSatHalfWidth = (endViewPos.x() - positiveCoefficientViewPos.x()) / 2.0;
m_dragHandler->setHitAreaView(PositiveSaturation,
QPointF(endViewPos.x() - posSatHalfWidth, positiveSaturationViewPos.y()),
posSatHalfWidth, m_handleRadius);
}
}
}
