Beispiel #1
0
const float CPhysicManager::getActorRadius(physx::PxRigidDynamic* actor)
{
    PxShape* buff;
    PxU32 num =  actor->getShapes(&buff,actor->getNbShapes());
    if(num == 1) {
        PxSphereGeometry geom;
        if(buff->getSphereGeometry(geom)) {
            return geom.radius;
        }
    }
    return 0;
}
Beispiel #2
0
osg::Node* createNodeForActor( PxRigidActor* actor )
{
    if ( !actor ) return NULL;
    std::vector<PxShape*> shapes( actor->getNbShapes() );
    
    osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
    transform->setMatrix( toMatrix(PxMat44(actor->getGlobalPose())) );
    
    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
    transform->addChild( geode.get() );
    
    PxU32 num = actor->getShapes( &(shapes[0]), actor->getNbShapes() );
    for ( PxU32 i=0; i<num; ++i )
    {
        PxShape* shape = shapes[i];
        osg::Matrix localMatrix = toMatrix( PxMat44(actor->getGlobalPose()) );
        osg::Vec3 localPos = toVec3( shape->getLocalPose().p );
        osg::Quat localQuat(shape->getLocalPose().q.x, shape->getLocalPose().q.y,
                            shape->getLocalPose().q.z, shape->getLocalPose().q.w);
        
        switch ( shape->getGeometryType() )
        {
        case PxGeometryType::eSPHERE:
            {
                PxSphereGeometry sphere;
                shape->getSphereGeometry( sphere );
                
                osg::Sphere* sphereShape = new osg::Sphere(localPos, sphere.radius);
                geode->addDrawable( new osg::ShapeDrawable(sphereShape) );
            }
            break;
        case PxGeometryType::ePLANE:
            // TODO
            break;
        case PxGeometryType::eCAPSULE:
            {
                PxCapsuleGeometry capsule;
                shape->getCapsuleGeometry( capsule );
                
                osg::Capsule* capsuleShape = new osg::Capsule(
                    localPos, capsule.radius, capsule.halfHeight * 2.0f);
                capsuleShape->setRotation( localQuat );
                geode->addDrawable( new osg::ShapeDrawable(capsuleShape) );
            }
            break;
        case PxGeometryType::eBOX:
            {
                PxBoxGeometry box;
                shape->getBoxGeometry( box );
                
                osg::Box* boxShape = new osg::Box(localPos,
                    box.halfExtents[0] * 2.0f, box.halfExtents[1] * 2.0f, box.halfExtents[2] * 2.0f);
                boxShape->setRotation( localQuat );
                geode->addDrawable( new osg::ShapeDrawable(boxShape) );
            }
            break;
        case PxGeometryType::eCONVEXMESH:
            {
                PxConvexMeshGeometry convexMeshGeom;
                shape->getConvexMeshGeometry( convexMeshGeom );
                // TODO: consider convexMeshGeom.scale
                
                PxConvexMesh* convexMesh = convexMeshGeom.convexMesh;
                if ( convexMesh )
                {
                    /*for ( unsigned int i=0; i<convexMesh->getNbPolygons(); ++i )
                    {
                        
                    }*/
                    // TODO
                }
            }
            break;
        case PxGeometryType::eTRIANGLEMESH:
            {
                PxTriangleMeshGeometry triangleMeshGeom;
                shape->getTriangleMeshGeometry( triangleMeshGeom );
                // TODO: consider triangleMeshGeom.scale
                
                PxTriangleMesh* triangleMesh = triangleMeshGeom.triangleMesh;
                if ( triangleMesh )
                {
                    osg::ref_ptr<osg::Vec3Array> va = new osg::Vec3Array( triangleMesh->getNbVertices() );
                    for ( unsigned int i=0; i<va->size(); ++i )
                        (*va)[i] = toVec3( *(triangleMesh->getVertices() + i) ) * localMatrix;
                    
                    osg::ref_ptr<osg::DrawElements> de;
                    if ( triangleMesh->getTriangleMeshFlags()&PxTriangleMeshFlag::eHAS_16BIT_TRIANGLE_INDICES )
                    {
                        osg::DrawElementsUShort* de16 = new osg::DrawElementsUShort(GL_TRIANGLES);
                        de = de16;
                        
                        const PxU16* indices = (const PxU16*)triangleMesh->getTriangles();
                        for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
                        {
                            de16->push_back( indices[3 * i + 0] );
                            de16->push_back( indices[3 * i + 1] );
                            de16->push_back( indices[3 * i + 2] );
                        }
                    }
                    else
                    {
                        osg::DrawElementsUInt* de32 = new osg::DrawElementsUInt(GL_TRIANGLES);
                        de = de32;
                        
                        const PxU32* indices = (const PxU32*)triangleMesh->getTriangles();
                        for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
                        {
                            de32->push_back( indices[3 * i + 0] );
                            de32->push_back( indices[3 * i + 1] );
                            de32->push_back( indices[3 * i + 2] );
                        }
                    }
                    geode->addDrawable( createGeometry(va.get(), NULL, NULL, de.get()) );
                }
            }
            break;
        case PxGeometryType::eHEIGHTFIELD:
            {
                PxHeightFieldGeometry hfGeom;
                shape->getHeightFieldGeometry( hfGeom );
                // TODO: consider hfGeom.*scale
                
                PxHeightField* heightField = hfGeom.heightField;
                if ( heightField )
                {
                    // TODO
                }
            }
            break;
        }
    }
    return transform.release();
}