void PhysicsEngine::createVehicle(Vehicle* vehicle, PxTransform transform)
{
VehicleTuning* tuning = &vehicle->tuning;
tuningFromUserTuning(vehicle);
PxVehicleDrive4W* physVehicle = vehCreator->createVehicle4W(vehicle);
//PxTransform startTransform(PxVec3(0, (tuning->chassisDims.y*0.5f + tuning->wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
PxRigidDynamic* actor = physVehicle->getRigidDynamicActor();
actor->setGlobalPose(transform);
scene->addActor(*actor);
physVehicle->setToRestState();
physVehicle->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
physVehicle->mDriveDynData.setUseAutoGears(true);
vehicle->setActor(actor);
vehicle->setPhysicsVehicle(physVehicle);
actor->userData = vehicle;
vehicles.push_back(physVehicle);
}
void initPhysics()
{
/////////////////////////////////////////////
//Initialise the sdk and scene
/////////////////////////////////////////////
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
PxProfileZoneManager* profileZoneManager = &PxProfileZoneManager::createProfileZoneManager(gFoundation);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true, profileZoneManager);
if(gPhysics->getPvdConnectionManager())
{
gPhysics->getVisualDebugger()->setVisualizeConstraints(true);
gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONTACTS, false);
gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_SCENEQUERIES, false);
gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONSTRAINTS, false);
gConnection = PxVisualDebuggerExt::createConnection(gPhysics->getPvdConnectionManager(), PVD_HOST, 5425, 10, gConnectionFlags);
}
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(NUM_WORKER_THREADS);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = VehicleFilterShader;
gScene = gPhysics->createScene(sceneDesc);
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
/////////////////////////////////////////////
//Create a task manager that will be used to
//update the vehicles concurrently across
//multiple threads.
/////////////////////////////////////////////
gTaskManager = physx::PxTaskManager::createTaskManager(gDispatcher, NULL, NULL);
/////////////////////////////////////////////
//Initialise the vehicle sdk and create
//vehicles that will drive on a plane
/////////////////////////////////////////////
PxInitVehicleSDK(*gPhysics);
PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
//Create the batched scene queries for the suspension raycasts.
gVehicleSceneQueryData = VehicleSceneQueryData::allocate(NUM_VEHICLES, PX_MAX_NB_WHEELS, 1, gAllocator);
for(PxU32 i = 0; i < NUM_VEHICLES; i++)
{
gBatchQueries[i] = VehicleSceneQueryData::setUpBatchedSceneQuery(i, *gVehicleSceneQueryData, gScene);
}
//Create the friction table for each combination of tire and surface type.
//For simplicity we only have a single surface type.
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
gFrictionPairs = createFrictionPairs(gMaterial);
//Create a plane to drive on.
gGroundPlane = createDrivablePlane(gMaterial, gPhysics);
gScene->addActor(*gGroundPlane);
//Create vehicles that will drive on the plane.
for(PxU32 i = 0; i < NUM_VEHICLES; i++)
{
VehicleDesc vehicleDesc = initVehicleDesc();
PxVehicleDrive4W* vehicle = createVehicle4W(vehicleDesc, gPhysics, gCooking);
PxTransform startTransform(PxVec3(vehicleDesc.chassisDims.x*3.0f*i, (vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
vehicle->getRigidDynamicActor()->setGlobalPose(startTransform);
gScene->addActor(*vehicle->getRigidDynamicActor());
//Set the vehicle to rest in first gear.
//Set the vehicle to use auto-gears.
vehicle->setToRestState();
vehicle->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
vehicle->mDriveDynData.setUseAutoGears(true);
//Set each car to accelerate forwards
vehicle->mDriveDynData.setAnalogInput(PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL, 1.0f);
gVehicles[i] = vehicle;
}
//Set up the wheel query results that are used to query the state of the vehicle after calling PxVehicleUpdates
gVehicleWheelQueryResults = VehicleWheelQueryResults::allocate(NUM_VEHICLES, PX_MAX_NB_WHEELS, gAllocator);
//Set up the data required for concurrent calls to PxVehicleUpdates
gVehicleConcurrency = VehicleConcurrency::allocate(NUM_VEHICLES, PX_MAX_NB_WHEELS, gAllocator);
//Set up the profile zones so that the advantages of parallelism can be measured in pvd.
#ifdef PX_PROFILE
gProfiler = VehicleProfiler::allocate(gProfileZoneNames, eMAX_NUM_PROFILES, profileZoneManager, gAllocator);
#endif
}