NxScene* plSimulationMgr::GetScene(plKey world)
{
if (!world)
world = GetKey();
NxScene* scene = fScenes[world];
if (!scene)
{
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, 0, -32.174049f);
sceneDesc.userTriggerReport = &gSensorReport;
sceneDesc.userContactReport = &gContactReport;
scene = fSDK->createScene(sceneDesc);
// See "Advancing The Simulation State" in the PhysX SDK Documentation
// This will cause PhysX to only update for our step size. If we call simulate
// faster than that, PhysX will return immediately. If we call it slower than that,
// PhysX will do some extra steps for us (isn't that nice?).
// Anyway, this should be a good way to make us independent of the framerate.
// If not, I blame the usual suspects (Tye, eap, etc...)
scene->setTiming(kDefaultStepSize);
// Most physicals use the default friction and restitution values, so we
// make them the default.
NxMaterial* mat = scene->getMaterialFromIndex(0);
float rest = mat->getRestitution();
float sfriction = mat->getStaticFriction();
float dfriction = mat->getDynamicFriction();
mat->setRestitution(0.5);
mat->setStaticFriction(0.5);
mat->setDynamicFriction(0.5);
// By default we just leave all the collision groups enabled, since
// PhysX already makes sure that things like statics and statics don't
// collide. However, we do make it so the avatar and dynamic blockers
// only block avatars and dynamics.
for (int i = 0; i < plSimDefs::kGroupMax; i++)
{
scene->setGroupCollisionFlag(i, plSimDefs::kGroupAvatarBlocker, false);
scene->setGroupCollisionFlag(i, plSimDefs::kGroupDynamicBlocker, false);
scene->setGroupCollisionFlag(i, plSimDefs::kGroupLOSOnly, false);
scene->setGroupCollisionFlag(plSimDefs::kGroupLOSOnly, i, false);
}
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupAvatar, false);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupAvatarBlocker, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupDynamic, plSimDefs::kGroupDynamicBlocker, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupStatic, true);
scene->setGroupCollisionFlag( plSimDefs::kGroupStatic, plSimDefs::kGroupAvatar, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupDynamic, true);
// The dynamics are in actor group 1, everything else is in 0. Request
// a callback for whenever a dynamic touches something.
scene->setActorGroupPairFlags(0, 1, NX_NOTIFY_ON_TOUCH);
scene->setActorGroupPairFlags(1, 1, NX_NOTIFY_ON_TOUCH);
fScenes[world] = scene;
}
return scene;
}
Data(bool useHardware, bool useHardwareOnly, bool useMultithreading, PhysicsParams *params)
: sdk(0),
scene(0),
crashed(false),
statsNumActors(0),
statsNumDynamicActors(0),
statsNumDynamicActorsInAwakeGroups(0),
statsMaxDynamicActorsInAwakeGroups(0),
statsSimulationTime(0),
statsSimulationWaitTime(0),
statsSimulationStartWaitTime(0),
startSimulationTime(0),
statsContacts(0),
ccd(false),
ccdMaxThickness(0.5f),
runningInHardware(false),
physicslib_fluid_containment_actor(0),
physicslib_fluid_containment_shape(0),
physicslib_fluid_containment_sphere_actor(0),
physicslib_fluid_containment_sphere_shape(0)
{
if (params == NULL)
{
params = &physics_defaultParams;
::Logger::getInstance()->debug("PhysicsLib - No physics params given, using defaults.");
}
if (params->scriptRunner == NULL)
{
::Logger::getInstance()->warning("PhysicsLib - No script runner given, collision groups, etc. will be initialized to default values.");
}
NxPhysicsSDKDesc sdkDesc;
if(!useHardware)
sdkDesc.flags |= NX_SDKF_NO_HARDWARE;
sdk = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, 0, getLogger(), sdkDesc);
//sdk = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
// HACK: ...
physxSDK = sdk;
if(sdk)
{
if(sdk->getHWVersion() == NX_HW_VERSION_NONE)
useHardware = false;
if (params->ccd)
{
sdk->setParameter(NX_CONTINUOUS_CD, true);
sdk->setParameter(NX_CCD_EPSILON, 0.001f);
}
this->ccd = params->ccd;
this->ccdMaxThickness = params->ccdMaxThickness;
NxSceneDesc sceneDesc;
sceneDesc.gravity = NxVec3(params->gravity.x, params->gravity.y, params->gravity.z);
sceneDesc.userContactReport = &contactReport;
//sceneDesc.userNotify = &userNotify;
if(useHardware)
{
sceneDesc.simType = NX_SIMULATION_HW;
if (useHardwareOnly)
{
sceneDesc.flags |= NX_SF_RESTRICTED_SCENE;
}
}
else
{
sceneDesc.simType = NX_SIMULATION_SW;
}
if (!useMultithreading)
{
// Disable threading
sceneDesc.flags = 0;
}
runningInHardware = useHardware;
sceneDesc.flags |= NX_SF_ENABLE_ACTIVETRANSFORMS;
scene = sdk->createScene(sceneDesc);
if(scene)
{
NxMaterial *defaultMaterial = scene->getMaterialFromIndex(0);
defaultMaterial->setStaticFriction(params->defaultStaticFriction);
defaultMaterial->setDynamicFriction(params->defaultDynamicFriction);
defaultMaterial->setRestitution(params->defaultRestitution);
#ifdef PROJECT_CLAW_PROTO
// Create material for cops (larger friction, no restitution)
NxMaterialDesc materialDesc;
materialDesc.restitution = 0.0f;
materialDesc.restitutionCombineMode = NX_CM_MIN;
materialDesc.staticFriction = 10.0f;
materialDesc.dynamicFriction = 10.0f;
unitMaterial = scene->createMaterial(materialDesc);
#endif
sdk->setParameter(NX_VISUALIZATION_SCALE, 1.f);
#ifndef PROJECT_SHADOWGROUNDS
sdk->setParameter(NX_SKIN_WIDTH, 0.01f);
#endif
// NEW: the new scriptable collision/contact group initialization
int contactFlags1 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#ifdef PHYSICS_FEEDBACK
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#else
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
#endif
if (params->scriptRunner != NULL)
{
bool ok = params->scriptRunner->runPhysicsLibScript("physics_init", "set_contacts");
if (!ok)
::Logger::getInstance()->error("PhysicsLib - Failed to run physics_init:set_contacts script (script/sub may not be loaded or did not return expected value).");
}
for (int i = 0; i < PHYSICS_MAX_COLLISIONGROUPS; i++)
{
for (int j = 0; j < PHYSICS_MAX_COLLISIONGROUPS; j++)
{
if (physicslib_group_cont[i][j] != physicslib_group_cont[j][i])
{
::Logger::getInstance()->error("PhysicsLib - Improperly mirrored physics contacts data (group1 -> group2 does not have same flag as group2 -> group1).");
::Logger::getInstance()->debug("contacts data group numbers follow:");
::Logger::getInstance()->debug(int2str(i));
::Logger::getInstance()->debug(int2str(j));
}
if (physicslib_group_cont[i][j] == PHYSICSLIB_GROUP_CONTACT_FLAGS1)
scene->setActorGroupPairFlags(i, j, contactFlags1);
else if (physicslib_group_cont[i][j] == PHYSICSLIB_GROUP_CONTACT_FLAGS2)
scene->setActorGroupPairFlags(i, j, contactFlags2);
}
}
if (params->scriptRunner != NULL)
{
bool ok = params->scriptRunner->runPhysicsLibScript("physics_init", "set_collisions");
if (!ok)
::Logger::getInstance()->error("PhysicsLib - Failed to run physics_init:set_collision script (script/sub may not be loaded or did not return expected value).");
}
for (int i = 0; i < PHYSICS_MAX_COLLISIONGROUPS; i++)
{
for (int j = 0; j < PHYSICS_MAX_COLLISIONGROUPS; j++)
{
if (physicslib_group_coll[i][j] != physicslib_group_coll[j][i])
{
::Logger::getInstance()->error("PhysicsLib - Improperly mirrored physics collision data (group1 -> group2 does not have same flag as group2 -> group1).");
::Logger::getInstance()->debug("collision data group numbers follow:");
::Logger::getInstance()->debug(int2str(i));
::Logger::getInstance()->debug(int2str(j));
}
scene->setGroupCollisionFlag(i, j, physicslib_group_coll[i][j]);
}
}
// OLD SCHEISSE...
/*
// Contact groups
{
int contactFlags1 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#ifdef PHYSICS_FEEDBACK
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#else
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
#endif
//int contactFlags3 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags1);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
//scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags1);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_UNITS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_UNITS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_STATIC, contactFlags1);
//scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_UNITS, contactFlags3);
}
// Collision groups
{
// claw
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_CLAW, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_NOCOLLISION, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_CLAW, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
// Model particles
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Doors
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_DOORS, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_DOORS, PHYSICS_COLLISIONGROUP_STATIC, false);
// Units and model particles
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_UNITS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_UNITS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
// Fluids
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Fluids w/ detailed collision
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Fluid containment
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_STATIC, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_UNITS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, false);
// No collision
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_STATIC, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_UNITS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_NOCOLLISION, false);
}
*/
}
}
}
