PhysXRigidBody::PhysXRigidBody(
PxPhysics* PxDevice, PhysXMaterial* Material, const ERigidBodies Type,
scene::SceneNode* RootNode, const SRigidBodyConstruction &Construct) :
BaseObject ( ),
PhysicsBaseObject ( ),
RigidBody (Type, Construct),
PhysXBaseObject (Material ),
PxActor_ (0 )
{
if (!PxDevice || !RootNode || !Material)
throw io::stringc("Invalid arguments for rigid body");
/* Create dynamic rigid body */
PxBaseActor_ = PxActor_ = PxDevice->createRigidDynamic(
PxTransform(PxMat44(RootNode->getTransformMatrix(true).getArray()))
);
PxBaseActor_->userData = RootNode;
if (!PxActor_)
throw io::stringc("Could not create PhysX actor for rigid body");
/* Create base shape */
switch (Type)
{
case RIGIDBODY_BOX: createBox (Construct); break;
case RIGIDBODY_SPHERE: createSphere (Construct); break;
case RIGIDBODY_CAPSULE: createCapsule (Construct); break;
default:
throw io::stringc("Unsupported rigid body type");
}
/* Initialize root node and actor */
setRootNode(RootNode);
setMass(1.0f);
}
PhysXCapsule::PhysXCapsule(NxScene* scene, const CapsuleInfo& info)
: mScene(scene), mCapsule(NULL), mInvisible(0)
{
createCapsule(info);
}
void SpiderDemo::buildLeg( hkpWorld* world, hkpRigidBody* rootBody, const SpiderDemo::calcLegMatrizesIn& in, int filterInfo, Leg& legOut )
{
hkVector4 pivot;
hkRotation mA;
hkRotation mB;
doLegIk( in, pivot, mA, mB );
const hkReal radius = .1f;
hkpRigidBody* bodyA = createCapsule( mA, in.m_from, pivot, filterInfo, radius );
hkpRigidBody* bodyB = createCapsule( mB, pivot, in.m_to, filterInfo, radius );
world->addEntity( bodyA )->removeReference();
world->addEntity( bodyB )->removeReference();
legOut.m_lenA = in.m_lenA;
legOut.m_lenB = in.m_lenB;
legOut.m_constraint = HK_NULL;
hkpConstraintChainInstance* chainInstance;
{
//CONSTRAINT_6D
hkpPoweredChainData* chainData = new hkpPoweredChainData();
chainInstance = new hkpConstraintChainInstance( chainData );
hkpPositionConstraintMotor* strongMotor = new hkpPositionConstraintMotor();
{
strongMotor->m_tau = 1.0f;
strongMotor->m_maxForce = 150000.0f;
strongMotor->m_damping = 1.0f;
strongMotor->m_constantRecoveryVelocity = 1.0f;
strongMotor->m_proportionalRecoveryVelocity = 1.1f;
}
hkpPositionConstraintMotor* weakMotor = new hkpPositionConstraintMotor();
{
weakMotor->m_tau = 1.0f;
weakMotor->m_maxForce = 550.0f;
weakMotor->m_damping = 1.0f;
weakMotor->m_constantRecoveryVelocity = 1.0f;
weakMotor->m_proportionalRecoveryVelocity = 1.1f;
}
chainInstance->addEntity( rootBody );
{
hkVector4 pivotinA; pivotinA.setTransformedInversePos( rootBody->getTransform(), in.m_from );
hkVector4 pivotinB; pivotinB.setTransformedInversePos( bodyA->getTransform(), in.m_from );
hkQuaternion aTw; aTw.setInverse( rootBody->getRotation() );
hkQuaternion aTb; aTb.setMul( aTw, bodyA->getRotation() );
chainData->addConstraintInfoInBodySpace( pivotinA, pivotinB, aTb, strongMotor, strongMotor, weakMotor );
chainInstance->addEntity( bodyA );
}
{
hkVector4 pivotinA; pivotinA.setTransformedInversePos( bodyA->getTransform(), pivot );
hkVector4 pivotinB; pivotinB.setTransformedInversePos( bodyB->getTransform(), pivot );
hkQuaternion aTw; aTw.setInverse( bodyA->getRotation() );
hkQuaternion aTb; aTb.setMul( aTw, bodyB->getRotation() );
chainData->addConstraintInfoInBodySpace( pivotinA, pivotinB, aTb, strongMotor, strongMotor, strongMotor );
chainInstance->addEntity( bodyB );
}
strongMotor->removeReference();
weakMotor->removeReference();
chainData->removeReference();
}
world->addConstraint( chainInstance );
legOut.m_constraint = chainInstance;
}
iPhysicsCollision* iPhysics::createCapsule(float32 radius, float32 height, const iaMatrixf& offset)
{
return createCapsule(radius, height, offset, _shadowWorldID);
}
