// 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();
}
PxShape* AttachShape_AssumesLocked(const PxGeometry& PGeom, const PxTransform& PLocalPose, const float ContactOffset, PxShapeFlags PShapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) const
{
const PxMaterial* PMaterial = GetDefaultPhysMaterial();
PxShape* PNewShape = bShapeSharing ? GPhysXSDK->createShape(PGeom, *PMaterial, /*isExclusive =*/ false, PShapeFlags) : PDestActor->createShape(PGeom, *PMaterial, PShapeFlags);
if (PNewShape)
{
PNewShape->setLocalPose(PLocalPose);
if (NewShapes)
{
NewShapes->Add(PNewShape);
}
PNewShape->setContactOffset(ContactOffset);
const bool bSyncFlags = bShapeSharing || SceneType == PST_Sync;
const FShapeFilterData& Filters = ShapeData.FilterData;
const bool bComplexShape = PNewShape->getGeometryType() == PxGeometryType::eTRIANGLEMESH;
PNewShape->setQueryFilterData(bComplexShape ? Filters.QueryComplexFilter : Filters.QuerySimpleFilter);
PNewShape->setFlags( (bSyncFlags ? ShapeData.SyncShapeFlags : ShapeData.AsyncShapeFlags) | (bComplexShape ? ShapeData.ComplexShapeFlags : ShapeData.SimpleShapeFlags));
PNewShape->setSimulationFilterData(Filters.SimFilter);
FBodyInstance::ApplyMaterialToShape_AssumesLocked(PNewShape, SimpleMaterial, ComplexMaterials, bShapeSharing);
if(bShapeSharing)
{
PDestActor->attachShape(*PNewShape);
PNewShape->release();
}
}
return PNewShape;
}
// 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();
}
void PhysxScene::AddCapsuleFromU3D(killer::proto::U3DPhysxCapsule& capsule) {
if (capsule.raduis() <= 0.0f || capsule.height() <= 0.0f) {
LOG_ERROR(0, 0, "capsule error|%s", capsule.ShortDebugString().c_str());
return;
}
PxShape *shape = PhysxCommonSigleton::get_mutable_instance().GetPhysics().createShape(PxCapsuleGeometry(capsule.raduis(), capsule.height() * 0.5), *px_material_);
PxTransform localTrans(PxVec3(PxReal(capsule.pos().x()), PxReal(capsule.pos().y()), PxReal(capsule.pos().z())));
PxRigidStatic *actor = PhysxCommonSigleton::get_mutable_instance().GetPhysics().createRigidStatic(localTrans);
actor->attachShape(*shape);
px_scene_->addActor(*actor);
shape->release();
}
void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
{
PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
for (PxU32 i = 0; i < size; i++)
{
for (PxU32 j = 0; j < size - i; j++)
{
PxTransform localTm(PxVec3(PxReal(j * 2) - PxReal(size - i), PxReal(i * 2 + 1), 0) * halfExtent);
PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
}
}
shape->release();
}
void PhysxScene::AddBoxFromU3D(killer::proto::U3DPhysxBox& box) {
if (box.x_extents() <= 0.0f || box.y_extents() <= 0.0f || box.z_extents() <= 0.0f) {
LOG_ERROR(0, 0, "box error|%s", box.ShortDebugString().c_str());
return;
}
PxShape *shape = PhysxCommonSigleton::get_mutable_instance().GetPhysics().createShape(PxBoxGeometry(box.x_extents() * 0.5f, box.y_extents() * 0.5f, box.z_extents() * 0.5), *px_material_);
PxTransform localTrans(PxVec3(PxReal(box.pos().x()), PxReal(box.pos().y()), PxReal(box.pos().z())));
PxRigidStatic *actor = PhysxCommonSigleton::get_mutable_instance().GetPhysics().createRigidStatic(localTrans);
actor->attachShape(*shape);
px_scene_->addActor(*actor);
shape->release();
}
PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
const PxTransform& transform,
const PxGeometry& geometry,
PxMaterial& material,
const PxTransform& shapeOffset)
{
PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateStatic: transform is not valid.");
PX_CHECK_AND_RETURN_NULL(shapeOffset.isValid(), "PxCreateStatic: shapeOffset is not valid.");
PxShape* shape = sdk.createShape(geometry, material, true);
if(!shape)
return NULL;
shape->setLocalPose(shapeOffset);
PxRigidStatic* s = PxCreateStatic(sdk, transform, *shape);
shape->release();
return s;
}
PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
const PxTransform& transform,
const PxGeometry& geometry,
PxMaterial& material,
PxReal density,
const PxTransform& shapeOffset)
{
PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateDynamic: transform is not valid.");
PX_CHECK_AND_RETURN_NULL(shapeOffset.isValid(), "PxCreateDynamic: shapeOffset is not valid.");
if(!isDynamicGeometry(geometry.getType()) || density <= 0.0f)
return NULL;
PxShape* shape = sdk.createShape(geometry, material, true);
if(!shape)
return NULL;
shape->setLocalPose(shapeOffset);
PxRigidDynamic* body = shape ? PxCreateDynamic(sdk, transform, *shape, density) : NULL;
shape->release();
return body;
}