void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxSphereShapeDesc sphereDesc;
bodyDesc.solverIterationCount = 20;
// wheel
sphereDesc.radius = rad;
sphereDesc.materialIndex = wheelMaterialIndex;
actorDesc.shapes.pushBack(&sphereDesc);
bodyDesc.mass = 400;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = pos;
wheel = scene.createActor(actorDesc);
// roll axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
rollAxis = scene.createActor(actorDesc);
// revolute joint connecting wheel with rollAxis
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = wheel;
revJointDesc.actor[1] = rollAxis;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,0,1));
rollJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// prismatic joint connecting rollAxis with holder
NxPrismaticJointDesc prisJointDesc;
prisJointDesc.actor[0] = rollAxis;
prisJointDesc.actor[1] = holder;
prisJointDesc.setGlobalAnchor(pos);
prisJointDesc.setGlobalAxis(NxVec3(0,1,0));
scene.createJoint(prisJointDesc);
// add springs and dampers to the suspension (i.e. the related actors)
float springLength = 0.1f;
NxSpringAndDamperEffector * springNdamp = scene.createSpringAndDamperEffector(NxSpringAndDamperEffectorDesc());
springNdamp->setBodies(rollAxis, pos, holder, pos + NxVec3(0,springLength,0));
springNdamp->setLinearSpring(0, springLength, 2*springLength, 100000, 100000);
springNdamp->setLinearDamper(-1, 1, 1e5, 1e5);
// disable collision detection
scene.setActorPairFlags(*wheel, *holder, NX_IGNORE_PAIR);
}
BoxActor::BoxActor(NxScene &scene, const VC3 &sizes, const VC3 &position, const VC3 &localPosition, bool ccd, float ccdMaxThickness)
{
NxBodyDesc bodyDesc;
//bodyDesc.solverIterationCount = 2;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(sizes.x, sizes.y, sizes.z);
boxDesc.localPose.t.set(NxVec3(localPosition.x, localPosition.y + sizes.y, localPosition.z));
// CCD, but for thin objects only... --jpk
if (ccd && (sizes.x*2 < ccdMaxThickness || sizes.y*2 < ccdMaxThickness || sizes.z*2 < ccdMaxThickness))
{
VC3 ccdSizes = sizes * 0.6f;
boxDesc.ccdSkeleton = CreateCCDSkeleton(ccdSizes);
boxDesc.shapeFlags |= NX_SF_DYNAMIC_DYNAMIC_CCD;
// also, in this case, a minimal skin width too.
boxDesc.skinWidth = 0.002f;
}
NxActorDesc actorDesc;
actorDesc.body = &bodyDesc;
actorDesc.density = 10.f;
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.globalPose.t.set(NxVec3(position.x, position.y, position.z));
// !!!!!!!!!!!!!!
//actorDesc.managedHwSceneIndex = 1;
actor = scene.createActor(actorDesc);
this->scene = &scene;
init();
}
CarActor::CarActor(NxScene &scene, const VC3 &position)
{
NxBoxShapeDesc boxDesc1;
//boxDesc1.dimensions = NxVec3(2.65f, 0.55f, 1.05f);
boxDesc1.dimensions = NxVec3(1.05f, 0.55f, 2.65f);
boxDesc1.localPose.t.set(NxVec3(0, boxDesc1.dimensions.y, 0));
NxBoxShapeDesc boxDesc2;
//boxDesc2.dimensions = NxVec3(1.30f, 0.77f - boxDesc1.dimensions.y, 0.84f);
boxDesc2.dimensions = NxVec3(0.84f, 0.77f - boxDesc1.dimensions.y, 1.30f);
boxDesc2.localPose.t.set(NxVec3(0, (boxDesc1.dimensions.y * 2.f) + boxDesc2.dimensions.y, 0));
NxBodyDesc bodyDesc;
NxActorDesc actorDesc;
actorDesc.body = &bodyDesc;
actorDesc.density = 10.f;
actorDesc.shapes.pushBack(&boxDesc1);
actorDesc.shapes.pushBack(&boxDesc2);
actorDesc.globalPose.t.set(NxVec3(position.x, position.y, position.z));
actor = scene.createActor(actorDesc);
this->scene = &scene;
init();
}
void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.solverIterationCount = 20;
// steer axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
steerAxis = scene.createActor(actorDesc);
wheel.create(scene, pos, rad, steerAxis);
// revolute joint connecting steerAxis with the holder
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = steerAxis;
revJointDesc.actor[1] = holder;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,1,0));
steerJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// disable collision detection
scene.setActorPairFlags(*wheel.wheel, *holder, NX_IGNORE_PAIR);
}
/**
* @brief
* Constructor
*/
BodySphere::BodySphere(PLPhysics::World &cWorld, float fRadius, bool bStatic) :
PLPhysics::BodySphere(cWorld, ((World&)cWorld).CreateBodyImpl(), fRadius)
{
// Get the PhysX physics scene
NxScene *pPhysXScene = ((World&)cWorld).GetPhysXScene();
if (pPhysXScene) {
// Create body
NxBodyDesc BodyDesc;
BodyDesc.angularDamping = 0.5f;
// [TODO] Do we need this setting?
// BodyDesc.maxAngularVelocity = 10.0f;
NxSphereShapeDesc SphereDesc;
SphereDesc.radius = m_fRadius;
NxActorDesc ActorDesc;
ActorDesc.shapes.pushBack(&SphereDesc);
if (!bStatic)
ActorDesc.body = &BodyDesc;
ActorDesc.density = 10.0f;
// [TODO] Do we need this setting?
// ActorDesc.globalPose.t = pos;
NxActor *pPhysXActor = pPhysXScene->createActor(ActorDesc);
// Initialize the PhysX physics actor
((BodyImpl&)GetBodyImpl()).InitializePhysXActor(*this, *pPhysXActor);
}
}
void create(NxScene& scene )
{
NxBodyDesc bodyDesc;
NxBoxShapeDesc boxDesc0;
NxBoxShapeDesc boxDesc1;
bodyDesc.solverIterationCount = 20;
// tractor actor (two shapes)
NxActorDesc tractorDesc;
bodyDesc.mass = 5000;
tractorDesc.body = &bodyDesc;
tractorDesc.globalPose.t = NxVec3(0,0,0);
boxDesc0.dimensions = NxVec3(3.5,3,4);
boxDesc0.localPose.t = NxVec3(3.5,4,0);
tractorDesc.shapes.pushBack(&boxDesc0);
//boxDesc1.dimensions = NxVec3(8.5,0.7,3);
//boxDesc1.localPose.t = NxVec3(8.7,1.3,0);
//tractorDesc.shapes.pushBack(&boxDesc1);
tractor = scene.createActor(tractorDesc);
//sPhysObject* pPhys = new sPhysObject;
//pPhys->iID = 5;
//tractor->userData = ( void* )pPhys;
// remove collision between lower truck parts and ground
//scene.setShapePairFlags(*tractor->getShapes()[1], *ground.getShapes()[0], NX_IGNORE_PAIR);
//scene.setShapePairFlags(*trailer->getShapes()[1], *ground.getShapes()[0], NX_IGNORE_PAIR);
// wheels
float staticFriction = 1.2f;
float dynamicFriction = 1.0f;
steerWheels[0].create(scene, NxVec3(3.5,1.5,4), 1.5, tractor);
steerWheels[1].create(scene, NxVec3(3.5,1.5,-4), 1.5, tractor);
frontWheels[0].create(scene, NxVec3(16,1.5,4), 1.5, tractor);
frontWheels[1].create(scene, NxVec3(16,1.5,-4), 1.5, tractor);
}
bool plPXPhysical::Init(PhysRecipe& recipe)
{
bool startAsleep = false;
fBoundsType = recipe.bounds;
fGroup = recipe.group;
fReportsOn = recipe.reportsOn;
fObjectKey = recipe.objectKey;
fSceneNode = recipe.sceneNode;
fWorldKey = recipe.worldKey;
NxActorDesc actorDesc;
NxSphereShapeDesc sphereDesc;
NxConvexShapeDesc convexShapeDesc;
NxTriangleMeshShapeDesc trimeshShapeDesc;
NxBoxShapeDesc boxDesc;
plPXConvert::Matrix(recipe.l2s, actorDesc.globalPose);
switch (fBoundsType)
{
case plSimDefs::kSphereBounds:
{
hsMatrix44 sphereL2W;
sphereL2W.Reset();
sphereL2W.SetTranslate(&recipe.offset);
sphereDesc.radius = recipe.radius;
plPXConvert::Matrix(sphereL2W, sphereDesc.localPose);
sphereDesc.group = fGroup;
actorDesc.shapes.pushBack(&sphereDesc);
}
break;
case plSimDefs::kHullBounds:
// FIXME PHYSX - Remove when hull detection is fixed
// If this is read time (ie, meshStream is nil), turn the convex hull
// into a box. That way the data won't have to change when convex hulls
// actually work right.
if (fGroup == plSimDefs::kGroupDetector && recipe.meshStream == nil)
{
#ifdef USE_BOXES_FOR_DETECTOR_HULLS
MakeBoxFromHull(recipe.convexMesh, boxDesc);
plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*recipe.convexMesh);
boxDesc.group = fGroup;
actorDesc.shapes.push_back(&boxDesc);
#else
#ifdef USE_PHYSX_CONVEXHULL_WORKAROUND
// make a hull of planes for testing IsInside
IMakeHull(recipe.convexMesh,recipe.l2s);
#endif // USE_PHYSX_CONVEXHULL_WORKAROUND
convexShapeDesc.meshData = recipe.convexMesh;
convexShapeDesc.userData = recipe.meshStream;
convexShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&convexShapeDesc);
#endif // USE_BOXES_FOR_DETECTOR_HULLS
}
else
{
convexShapeDesc.meshData = recipe.convexMesh;
convexShapeDesc.userData = recipe.meshStream;
convexShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&convexShapeDesc);
}
break;
case plSimDefs::kBoxBounds:
{
boxDesc.dimensions = plPXConvert::Point(recipe.bDimensions);
hsMatrix44 boxL2W;
boxL2W.Reset();
boxL2W.SetTranslate(&recipe.bOffset);
plPXConvert::Matrix(boxL2W, boxDesc.localPose);
boxDesc.group = fGroup;
actorDesc.shapes.push_back(&boxDesc);
}
break;
case plSimDefs::kExplicitBounds:
case plSimDefs::kProxyBounds:
if (fGroup == plSimDefs::kGroupDetector)
{
SimLog("Someone using an Exact on a detector region: %s", GetKeyName().c_str());
}
trimeshShapeDesc.meshData = recipe.triMesh;
trimeshShapeDesc.userData = recipe.meshStream;
trimeshShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&trimeshShapeDesc);
break;
default:
hsAssert(false, "Unknown geometry type during read.");
return false;
break;
}
// Now fill out the body, or dynamic part of the physical
NxBodyDesc bodyDesc;
fMass = recipe.mass;
if (recipe.mass != 0)
{
bodyDesc.mass = recipe.mass;
actorDesc.body = &bodyDesc;
if (GetProperty(plSimulationInterface::kPinned))
{
bodyDesc.flags |= NX_BF_FROZEN;
startAsleep = true; // put it to sleep if they are going to be frozen
}
if (fGroup != plSimDefs::kGroupDynamic || GetProperty(plSimulationInterface::kPhysAnim))
{
SetProperty(plSimulationInterface::kPassive, true);
// Even though the code for animated physicals and animated activators are the same
// keep these code snippets separated for fine tuning. Thanks.
if (fGroup == plSimDefs::kGroupDynamic)
{
// handle the animated physicals.... make kinematic for now.
fNumberAnimatedPhysicals++;
bodyDesc.flags |= NX_BF_KINEMATIC;
startAsleep = true;
}
else
{
// handle the animated activators....
fNumberAnimatedActivators++;
bodyDesc.flags |= NX_BF_KINEMATIC;
startAsleep = true;
}
}
}
else
{
if ( GetProperty(plSimulationInterface::kPhysAnim) )
SimLog("An animated physical that has no mass: %s", GetKeyName().c_str());
}
actorDesc.userData = this;
actorDesc.name = GetKeyName().c_str();
// Put the dynamics into actor group 1. The actor groups are only used for
// deciding who we get contact reports for.
if (fGroup == plSimDefs::kGroupDynamic)
actorDesc.group = 1;
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
try
{
fActor = scene->createActor(actorDesc);
} catch (...)
{
hsAssert(false, "Actor creation crashed");
return false;
}
hsAssert(fActor, "Actor creation failed");
if (!fActor)
return false;
NxShape* shape = fActor->getShapes()[0];
shape->setMaterial(plSimulationMgr::GetInstance()->GetMaterialIdx(scene, recipe.friction, recipe.restitution));
// Turn on the trigger flags for any detectors.
//
// Normally, we'd set these flags on the shape before it's created. However,
// in the case where the detector is going to be animated, it'll have a rigid
// body too, and that will cause problems at creation. According to Ageia,
// a detector shape doesn't actually count as a shape, so the SDK will have
// problems trying to calculate an intertial tensor. By letting it be
// created as a normal dynamic first, then setting the flags, we work around
// that problem.
if (fGroup == plSimDefs::kGroupDetector)
{
shape->setFlag(NX_TRIGGER_ON_ENTER, true);
shape->setFlag(NX_TRIGGER_ON_LEAVE, true);
}
if (GetProperty(plSimulationInterface::kStartInactive) || startAsleep)
{
if (!fActor->isSleeping())
{
if (plSimulationMgr::fExtraProfile)
SimLog("Deactivating %s in SetPositionAndRotationSim", GetKeyName().c_str());
fActor->putToSleep();
}
}
if (GetProperty(plSimulationInterface::kDisable))
IEnable(false);
if (GetProperty(plSimulationInterface::kSuppressed_DEAD))
IEnable(false);
plNodeRefMsg* refMsg = new plNodeRefMsg(fSceneNode, plRefMsg::kOnCreate, -1, plNodeRefMsg::kPhysical);
hsgResMgr::ResMgr()->AddViaNotify(GetKey(), refMsg, plRefFlags::kActiveRef);
if (fWorldKey)
{
plGenRefMsg* ref = new plGenRefMsg(GetKey(), plRefMsg::kOnCreate, 0, kPhysRefWorld);
hsgResMgr::ResMgr()->AddViaNotify(fWorldKey, ref, plRefFlags::kActiveRef);
}
// only dynamic physicals without noSync need SDLs
if ( fGroup == plSimDefs::kGroupDynamic && !fProps.IsBitSet(plSimulationInterface::kNoSynchronize) )
{
// add SDL modifier
plSceneObject* sceneObj = plSceneObject::ConvertNoRef(fObjectKey->ObjectIsLoaded());
hsAssert(sceneObj, "nil sceneObject, failed to create and attach SDL modifier");
delete fSDLMod;
fSDLMod = new plPhysicalSDLModifier;
sceneObj->AddModifier(fSDLMod);
}
return true;
}
void plPXPhysicalControllerCore::ICreateController(const hsPoint3& pos)
{
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
NxCapsuleControllerDesc desc;
desc.position.x = pos.fX;
desc.position.y = pos.fY;
desc.position.z = pos.fZ;
desc.upDirection = NX_Z;
desc.slopeLimit = kSLOPELIMIT;
desc.skinWidth = kPhysxSkinWidth;
desc.stepOffset = STEP_OFFSET;
desc.callback = &gMyReport;
desc.userData = this;
desc.radius = fRadius;
desc.height = fHeight;
desc.interactionFlag = NXIF_INTERACTION_EXCLUDE;
//desc.interactionFlag = NXIF_INTERACTION_INCLUDE;
fController = (NxCapsuleController*)gControllerMgr.createController(scene, desc);
// Change the avatars shape groups. The avatar doesn't actually use these when
// it's determining collision, but if you're standing still and an object runs
// into you, it'll pass through without this.
NxActor* actor = fController->getActor();
NxShape* shape = actor->getShapes()[0];
shape->setGroup(plSimDefs::kGroupAvatar);
// need to create the non-bouncing object that can be used to trigger things while the avatar is doing behaviors.
NxActorDesc actorDesc;
NxCapsuleShapeDesc capDesc;
capDesc.radius = fRadius;
capDesc.height = fHeight;
capDesc.group = plSimDefs::kGroupAvatar;
actorDesc.shapes.pushBack(&capDesc);
capDesc.materialIndex= plSimulationMgr::GetInstance()->GetMaterialIdx(scene, 0.0,0.0);
actorDesc.globalPose=actor->getGlobalPose();
NxBodyDesc bodyDesc;
bodyDesc.mass = kAvatarMass;
actorDesc.body = &bodyDesc;
bodyDesc.flags = NX_BF_KINEMATIC;
bodyDesc.flags |=NX_BF_DISABLE_GRAVITY ;
actorDesc.name = "AvatarTriggerKinematicGuy";
fSeeking=false;
try
{
fKinematicActor = scene->createActor(actorDesc);
}
catch (...)
{
hsAssert(false, "Actor creation crashed");
}
// set the matrix to be the same as the controller's actor... that should orient it to be the same
//fKinematicActor->setGlobalPose(actor->getGlobalPose());
// the proxy for the debug display
//hsAssert(!fProxyGen, "Already have proxy gen, double read?");
hsColorRGBA physColor;
float opac = 1.0f;
// local avatar is light purple and transparent
physColor.Set(.2f, .1f, .2f, 1.f);
opac = 0.8f;
/*
// the avatar proxy doesn't seem to work... not sure why?
fProxyGen = new plPhysicalProxy(hsColorRGBA().Set(0,0,0,1.f), physColor, opac);
fProxyGen->Init(this);
*/
}
HeightmapActor::HeightmapActor(NxPhysicsSDK &sdk_, NxScene &scene, const unsigned short *buffer, int samplesX, int samplesY, const VC3 &size)
: sdk(sdk_),
heightField(0)
{
NxHeightFieldDesc heightDesc;
heightDesc.nbColumns = samplesX;
heightDesc.nbRows = samplesY;
heightDesc.verticalExtent = -1000;
heightDesc.convexEdgeThreshold = 0;
heightDesc.samples = new NxU32[samplesX * samplesY];
heightDesc.sampleStride = sizeof(NxU32);
NxU8 *currentByte = (NxU8 *) heightDesc.samples;
for(int row = 0; row < samplesY; ++row)
for(int column = 0; column < samplesX; ++column)
{
NxHeightFieldSample *currentSample = (NxHeightFieldSample *) currentByte;
//int sample = buffer[row * samplesX + column];
//int sample = buffer[column * samplesY + row];
int sample = buffer[(samplesY - row - 1) * samplesX + column];
//int sample = buffer[column * samplesX + row];
sample -= 32768;
currentSample->height = sample;
currentSample->materialIndex0 = 0;
currentSample->materialIndex1 = 0;
currentSample->tessFlag = 0;
currentByte += heightDesc.sampleStride;
}
heightField = sdk.createHeightField(heightDesc);
delete[] (NxU32 *) heightDesc.samples;
if(heightField)
{
float scaleX = size.x / samplesX;
float scaleY = 1.f / 65536.f * size.y;
float scaleZ = size.z / samplesY;
NxHeightFieldShapeDesc shapeDesc;
shapeDesc.heightField = heightField;
shapeDesc.heightScale = scaleY;
shapeDesc.rowScale = scaleZ;
shapeDesc.columnScale = scaleX;
shapeDesc.materialIndexHighBits = 0;
shapeDesc.holeMaterial = 2;
NxVec3 pos;
pos.x = -size.x * 0.5f;
pos.y = size.y * 0.5f;
pos.z = (size.z * 0.5f) - scaleZ;
NxQuat quat;
quat.zero();
quat.fromAngleAxis(90, NxVec3(0, 1, 0));
NxActorDesc actorDesc;
actorDesc.shapes.pushBack(&shapeDesc);
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = quat;
actor = scene.createActor(actorDesc);
}
this->scene = &scene;
init();
}