void PhysXMeshCollider::applyGeometry()
{
if (!mMesh.isLoaded())
{
setGeometry(PxSphereGeometry(0.01f)); // Dummy
return;
}
FPhysXMesh* physxMesh = static_cast<FPhysXMesh*>(mMesh->_getInternal());
if (mMesh->getType() == PhysicsMeshType::Convex)
{
PxConvexMeshGeometry geometry;
geometry.scale = PxMeshScale(toPxVector(getScale()), PxIdentity);
geometry.convexMesh = physxMesh->_getConvex();
setGeometry(geometry);
}
else // Triangle
{
PxTriangleMeshGeometry geometry;
geometry.scale = PxMeshScale(toPxVector(getScale()), PxIdentity);
geometry.triangleMesh = physxMesh->_getTriangle();
setGeometry(geometry);
}
}
int RayCastManagerImpl::CastSweep(const XMFLOAT3& p_origin, XMFLOAT3& p_direction, float p_width, const float& p_range, int& o_flag)
{
if(p_range <= 0.0f)
{
cout << "Physcs. Raytracer. Sweep. Range of sweep was zero or below" << endl;
return -1;
}
// Cast directx things to physx
PxVec3 origin = PxVec3(p_origin.x, p_origin.y, p_origin.z);
PxVec3 direction = PxVec3(p_direction.x, p_direction.y, p_direction.z);
direction.normalize();
PxSweepBuffer hit; // Used to save the hit
/// Paramters for the sweep
// PxGeometry* geometry
bool status = m_utils.m_worldScene->sweep(PxSphereGeometry(p_width), PxTransform(origin), direction, p_range, hit, PxHitFlag::eMESH_BOTH_SIDES);
// hit.block.position;
if(!status && !hit.hasBlock)
{
// No hit detected, return -1 TODOKO Maybee i should return something better?
return -1;
}
// Start with checking static and dynamic rigid bodies
unordered_map<PxRigidActor*, int> idsByRigidBody = m_utils.m_rigidBodyManager->GetIDsByBodies();
if(idsByRigidBody.find(hit.block.actor) != idsByRigidBody.end())
{
PxRigidActor* actorAsRigic = (PxRigidActor*)hit.block.actor;
if(actorAsRigic->isRigidDynamic())
{
PxRigidDynamic* actorsAsDynamic = (PxRigidDynamic*)hit.block.actor;
if(actorsAsDynamic->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
{
o_flag = 0;
}
}
else if(actorAsRigic->isRigidStatic())
{
o_flag = 3;
}
return idsByRigidBody.find(hit.block.actor)->second;
}
else
{
// Nothing
}
// Now comes the difficult task of checking vs character controllers
unordered_map<PxController*, int> idsByCharacterController = m_utils.m_characterControlManager->GetIdsByControllers();
for(auto pairs : idsByCharacterController) // Loop through every pair in the list
{
if(pairs.first->getActor() == hit.block.actor) // The first part contains the actor pointer
{
o_flag = 1;
return pairs.second; // If this is true we found a hit vs character controller, second contains ID
}
}
return -1;
}
// add a bullet in the scene
void AddBullet(const PxVec3& pos, const PxVec3& v)
{
PxShape *shape = gPhysics->createShape(PxSphereGeometry(0.3f), *gMaterial);
PxTransform localTmS(pos);
PxRigidDynamic *body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 100.0f);
body->setLinearVelocity(v);
gScene->addActor(*body);
shape->release();
}
bool ParticleChain::checkPenetration(const Ogre::Vector3 &position, Ogre::Vector3 &closestSurfacePos, Ogre::Vector3 &collisionNormal)
{
PxShape *hit = nullptr;
PxVec3 pxPos = Convert::toPx(position);
if (mPhysXScene->getPxScene()->overlapAny(PxSphereGeometry(0.05f), PxTransform(pxPos), hit))
{
PxVec3 actorCenter = hit->getActor().getWorldBounds().getCenter();
PxVec3 rayDir = actorCenter - pxPos;
rayDir.normalize();
PxVec3 rayOrigin = pxPos - rayDir.multiply(PxVec3(0.2f, 0.2f, 0.2f));
if (mPhysXScene->getPxScene()->overlapAny(PxSphereGeometry(0.05f), PxTransform(rayOrigin), hit)) return false;
PxRaycastHit rayHit;
if (mPhysXScene->getPxScene()->raycastSingle(rayOrigin, rayDir, 0.2f, PxSceneQueryFlag::eIMPACT|PxSceneQueryFlag::eNORMAL|PxSceneQueryFlag::eDISTANCE, rayHit))
{
closestSurfacePos = Convert::toOgre(rayHit.impact);
collisionNormal = Convert::toOgre(rayHit.normal);
return true;
}
}
return false;
}
// 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::addSphere(const float size, const ofVec3f& pos, const ofQuaternion& rot, float mass)
{
assert(inited);
return createRigidBody(PxSphereGeometry(size), 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::VAddSphere(float radius, 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, &PxSphereGeometry(radius), density, physicsMaterial, gravityEnabled, linearDamping, angularDamping, bodyType);
}
