void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = CreatePhysics();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Set Core Dump directory
char buff[512];
FindMediaFile(fnameCD, buff);
#ifdef WIN32
SetCurrentDirectory(buff);
#elif LINUX
chdir(buff);
#endif
// Create the objects in the scene
NxActor* groundPlane = CreateGroundPlane();
NxActor* box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
NxActor* sphere = CreateSphere(NxVec3(0,0,0), 1, 10);
NxActor* capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
// pyramid = CreatePyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
AddUserDataToActors(gScene);
gSelectedActor = capsule;
// gSelectedActor = pyramid;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void World::SetupBunnyScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.globalPose.t = NxVec3(0,35,-1);
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 1.0f;
softBodyDesc.stretchingStiffness = 0.07f;
softBodyDesc.friction = 1.0f;
char *fileName = "bunny";
char tetFileName[256], objFileName[256], s[256];
sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
ObjMesh *objMesh = new ObjMesh(); // it is for mesh surface rendering
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
MySoftBody *softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create the SoftBody for the current scene.\n");
delete softBody;
} else
{
gSoftBodies.push_back(softBody); // soft body is pushed to list.
gObjMeshes.push_back(objMesh); // surface mesh is pushed to list.
}
NxMat33 rot;
NxActor *plate0 = CreateBox(NxVec3(-2.5,10,0), NxVec3(20.0f, 1.0f, 10.0f), 0,0.0f);
rot.rotZ(1.5f);
plate0->setGlobalOrientation(rot);
NxActor *plate1 = CreateBox(NxVec3(2.5,10,0), NxVec3(20.0f, 1.0f, 10.0f), 0,0.0f);
rot.rotZ(1.5f);
plate1->setGlobalOrientation(rot);
// set camera position and direction
gCameraPos.set(-5.0f, 40.0f, 35.0f);
gCameraForward.set(0.2,-1.1,-2);
gCameraForward.normalize();
}
void World::SetupPalmScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.globalPose.t = NxVec3(0,3,0);
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 0.5;
softBodyDesc.stretchingStiffness = 1.0f;
softBodyDesc.friction = 1.0f;
softBodyDesc.flags |= NX_SBF_COLLISION_TWOWAY;
char* fileName = "palm";
char tetFileName[256], objFileName[256], s[256];
//sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
ObjMesh *objMesh = new ObjMesh();
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
MySoftBody *softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create the SoftBody for the current scene.\n");
delete softBody;
}
else
{
gSoftBodies.push_back(softBody);
gObjMeshes.push_back(objMesh);
softBody->getNxSoftBody()->setExternalAcceleration(NxVec3(5,0,0));
NxActor *caps0 = CreateCompoundCapsule(NxVec3(-0.46f, -0.15f, 0.68f), 1.7f, 0.21f, 2.0f, 0.18f);
caps0->userData = (void*)&gInvisible;
CreateRopeSphericalJoint(NULL, caps0, NxVec3(-0.46f, -0.0f, 0.68f), NxVec3(0,0,1));
softBody->getNxSoftBody()->attachToCollidingShapes(0);
}
}
void InPlaceParser::SetFile(const char *fname)
{
if ( mMyAlloc )
{
free(mData);
}
mData = 0;
mLen = 0;
mMyAlloc = false;
char buff[512];
FILE *fph = fopen(FindMediaFile(fname,buff),"rb");
if ( fph )
{
fseek(fph,0L,SEEK_END);
mLen = ftell(fph);
fseek(fph,0L,SEEK_SET);
if ( mLen )
{
mData = (char *) malloc(sizeof(char)*(mLen+1));
int ok = fread(mData, mLen, 1, fph);
if ( !ok )
{
free(mData);
mData = 0;
}
else
{
mData[mLen] = 0; // zero byte terminate end of file marker.
mMyAlloc = true;
}
}
fclose(fph);
}
}
HRESULT PackedResource::Create( const char *strFilename )
#endif
{
#ifdef _XBOX1
BOOL bHasResourceOffsetsTable = FALSE;
// Find the media file
CHAR strResourcePath[512];
if( FAILED(FindMediaFile(strResourcePath, strFilename, sizeof(strResourcePath))))
return E_FAIL;
else
strFilename = strResourcePath;
#endif
// Open the file
HANDLE hFile;
DWORD dwNumBytesRead;
hFile = CreateFile( strFilename, GENERIC_READ, FILE_SHARE_READ, NULL,
OPEN_EXISTING, FILE_ATTRIBUTE_READONLY, NULL );
if( hFile == INVALID_HANDLE_VALUE )
{
RARCH_ERR( "PackedResource::Create(): File <%s> not found.\n", strFilename );
return E_FAIL;
}
// Read in and verify the XPR magic header
XPR_HEADER xprh;
bool retval = ReadFile( hFile, &xprh, sizeof( XPR_HEADER ), &dwNumBytesRead, NULL );
#if defined(_XBOX1)
if( xprh.dwMagic == XPR0_MAGIC_VALUE )
{
bHasResourceOffsetsTable = FALSE;
}
else if( xprh.dwMagic == XPR1_MAGIC_VALUE )
{
bHasResourceOffsetsTable = TRUE;
}
else
#elif defined(_XBOX360)
if(!retval)
{
RARCH_ERR("Error reading XPR header in file %s.\n", strFilename );
CloseHandle( hFile );
return E_FAIL;
}
if( xprh.dwMagic != XPR2_MAGIC_VALUE )
#endif
{
RARCH_ERR( "Invalid Xbox Packed Resource (.xpr) file: Magic = 0x%08lx\n", xprh.dwMagic );
CloseHandle( hFile );
return E_FAIL;
}
// Compute memory requirements
#if defined(_XBOX1)
m_dwSysMemDataSize = xprh.dwHeaderSize - sizeof(XPR_HEADER);
m_dwVidMemDataSize = xprh.dwTotalSize - xprh.dwHeaderSize;
#elif defined(_XBOX360)
m_dwSysMemDataSize = xprh.dwHeaderSize;
m_dwVidMemDataSize = xprh.dwDataSize;
#endif
// Allocate memory
m_pSysMemData = (BYTE*)malloc(m_dwSysMemDataSize);
if( m_pSysMemData == NULL )
{
RARCH_ERR( "Could not allocate system memory.\n" );
m_dwSysMemDataSize = 0;
return E_FAIL;
}
m_pVidMemData = ( BYTE* )AllocateContiguousMemory( m_dwVidMemDataSize,
#if defined(_XBOX1)
D3DTEXTURE_ALIGNMENT
#elif defined(_XBOX360)
XALLOC_PHYSICAL_ALIGNMENT_4K
#endif
);
if( m_pVidMemData == NULL )
{
RARCH_ERR( "Could not allocate physical memory.\n" );
m_dwSysMemDataSize = 0;
m_dwVidMemDataSize = 0;
free(m_pSysMemData);
m_pSysMemData = NULL;
return E_FAIL;
}
// Read in the data from the file
if( !ReadFile( hFile, m_pSysMemData, m_dwSysMemDataSize, &dwNumBytesRead, NULL ) ||
!ReadFile( hFile, m_pVidMemData, m_dwVidMemDataSize, &dwNumBytesRead, NULL ) )
{
RARCH_ERR( "Unable to read Xbox Packed Resource (.xpr) file\n" );
CloseHandle( hFile );
return E_FAIL;
}
// Done with the file
CloseHandle( hFile );
#ifdef _XBOX1
if (bHasResourceOffsetsTable)
{
#endif
// Extract resource table from the header data
m_dwNumResourceTags = *( DWORD* )( m_pSysMemData + 0 );
m_pResourceTags = ( XBRESOURCE* )( m_pSysMemData + 4 );
// Patch up the resources
for( DWORD i = 0; i < m_dwNumResourceTags; i++ )
{
m_pResourceTags[i].strName = ( CHAR* )( m_pSysMemData + ( DWORD )m_pResourceTags[i].strName );
#ifdef _XBOX360
// Fixup the texture memory
if( ( m_pResourceTags[i].dwType & 0xffff0000 ) == ( RESOURCETYPE_TEXTURE & 0xffff0000 ) )
{
D3DTexture* pTexture = ( D3DTexture* )&m_pSysMemData[m_pResourceTags[i].dwOffset];
// Adjust Base address according to where memory was allocated
XGOffsetBaseTextureAddress( pTexture, m_pVidMemData, m_pVidMemData );
}
#endif
}
#ifdef _XBOX1
}
#endif
#ifdef _XBOX1
// Use user-supplied number of resources and the resource tags
if( dwNumResourceTags != 0 || pResourceTags != NULL )
{
m_pResourceTags = pResourceTags;
m_dwNumResourceTags = dwNumResourceTags;
}
#endif
m_bInitialized = TRUE;
return S_OK;
}
/********************Public*Routine****************************************\
* CPlane
*
\**************************************************************************/
CHall::CPlane::CPlane(
IDirect3DDevice9* pDevice,
TCHAR *achName,
LPCTSTR lpResourceName,
float fU,
float fV,
D3DXMATRIX& M,
float a,
HRESULT *phr)
: m_du( 0.f)
, m_fU( fU )
, m_fV( fV )
, m_fSpeed( 0.f )
, m_pTexture( NULL )
{
HRESULT hr = S_OK;
TCHAR achTexturePath[MAX_PATH];
D3DXVECTOR3 vLB( M(0,0), M(1,0), M(2,0));
D3DXVECTOR3 vLT( M(0,1), M(1,1), M(2,1));
D3DXVECTOR3 vRT( M(0,2), M(1,2), M(2,2));
D3DXVECTOR3 vRB( M(0,3), M(1,3), M(2,3));
D3DXVECTOR3 V;
try
{
if( !achName )
throw E_POINTER;
hr = FindMediaFile( achTexturePath,
sizeof(TCHAR)*MAX_PATH,
achName,
lpResourceName,
RT_BITMAP);
if( FAILED(hr))
{
TCHAR achMsg[MAX_PATH];
_stprintf( achMsg, TEXT("Cannot find media file '%s'. ")
TEXT("Make sure you have valid installation of DirectX SDK"),
achName);
::MessageBox( NULL, achMsg, TEXT("Error"), MB_OK);
if( phr )
{
*phr = hr;
return;
}
}
if( !pDevice )
throw E_POINTER;
if( a<0.01f || a>0.5f )
throw E_INVALIDARG;
D3DXVECTOR3 vecDiff = vLB - vLT;
if( D3DXVec3LengthSq( &vecDiff )< 0.001f )
throw E_INVALIDARG;
if( m_fU < 0.001f || m_fV < 0.001f )
throw E_INVALIDARG;
CHECK_HR(
hr = DXUtil_FindMediaFileCb( achTexturePath, sizeof(TCHAR)*MAX_PATH, achName ),
DbgMsg("CPlane::CPlane: cannot find bitmap file %s in SDK media folder", achTexturePath));
// load texture
ASSERT( g_pEnvFormat );
CHECK_HR(
hr = D3DUtil_CreateTexture( pDevice, achTexturePath, &m_pTexture, *g_pEnvFormat ),
DbgMsg("CPlane::CPlane: failed to create the texture, hr = 0x%08x", hr));
// initialize geometry
// POSITION
// corners
memcpy( &(m_V[0].Pos), &vLB, sizeof(D3DVECTOR));
memcpy( &(m_V[1].Pos), &vLT, sizeof(D3DVECTOR));
memcpy( &(m_V[2].Pos), &vRB, sizeof(D3DVECTOR));
memcpy( &(m_V[3].Pos), &vRT, sizeof(D3DVECTOR));
// TEXTURE COORD
m_V[0].tu = 0.f; m_V[0].tv = fV;
m_V[1].tu = 0.f; m_V[1].tv = 0.f;
m_V[2].tu = fU; m_V[2].tv = fV;
m_V[3].tu = fU; m_V[3].tv = 0.f;
// corners are transparent, middle vertices are opaque
m_V[0].color = D3DCOLOR_RGBA( 0xFF, 0xFF, 0xFF, 0xFF);
m_V[1].color = D3DCOLOR_RGBA( 0xFF, 0xFF, 0xFF, 0xFF);
m_V[2].color = D3DCOLOR_RGBA( 0xFF, 0xFF, 0xFF, 0xFF);
m_V[3].color = D3DCOLOR_RGBA( 0xFF, 0xFF, 0xFF, 0xFF);
}
catch( HRESULT hr1 )
{
RELEASE( m_pTexture );
hr = hr1;
}
if( phr )
{
*phr = hr;
}
}
void World::SetupSoftWheelCarScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 1.0f;
softBodyDesc.stretchingStiffness = 1.0f;
softBodyDesc.friction = 1.0f;
softBodyDesc.attachmentResponseCoefficient = 0.8f;
softBodyDesc.tearFactor = 10.1; // should be more than 1.0, the less, the easier to tear with flag NX_SBF_TEARABLE
softBodyDesc.flags |= NX_SBF_HARDWARE | NX_SBF_VOLUME_CONSERVATION | NX_SBF_TEARABLE;
char *fileName = "wheel";
char tetFileName[256], objFileName[256], s[256];
sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
MySoftBody *softBody;
NxReal carHeight = 7.5f;
NxReal stiffness = 0.9f;
NxMat34 capsulePose = NxMat34(NxMat33(NX_IDENTITY_MATRIX), NxVec3(-4, carHeight, -5.0f));
printf("capsulePose %f %f %f\n", capsulePose.t.x, capsulePose.t.y, capsulePose.t.z);
capsulePose.M.rotX(NxHalfPiF32);
NxActor *caps1 = CreateOrientedCapsule(capsulePose, 7.1f, 1.3f, 1.0f);
capsulePose.t = NxVec3(4, carHeight, -5.0f);
NxActor *caps2 = CreateOrientedCapsule(capsulePose, 7.1f, 1.3f, 1.0f);
ObjMesh *objMesh = new ObjMesh();
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
NxMat33 rot;
rot.rotX(NxPiF32);
softBodyDesc.globalPose.t = NxVec3(4.0f, carHeight, 3.4f);
softBodyDesc.globalPose.M = rot;
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create Softbody for the current scene.\n");
delete softBody;
}
else
{
gObjMeshes.push_back(objMesh);
// wheel 1
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(-4.0f ,carHeight, 3.4f);
softBodyDesc.globalPose.M = rot;
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(4.0f, carHeight, -3.4f);
softBodyDesc.globalPose.M.id();
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(-4.0f, carHeight, -3.4f);
softBodyDesc.globalPose.M.id();
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY); // bind soft wheel with capsule colliding with it
gSoftBodies.push_back(softBody);
NxActor *box = CreateBox(NxVec3(0,carHeight,0), NxVec3(4.6f, 0.5f, 1.0f), 0,1.0f);
CreateRevoluteJoint(box, caps1, NxVec3(-4,carHeight,-3.5f), NxVec3(0,0,1), false);
CreateRevoluteJoint(box, caps2, NxVec3( 4,carHeight,-3.5f), NxVec3(0,0,1), false);
}
gSelectedActor = caps1;
}
void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, NULL, &gErrorStream);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.05);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
// gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_AXES, 1);
// gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_CONTACT_POINT, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_CONTACT_NORMAL, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
NxU32 set = 0;
#ifdef WIN32
set = SetCurrentDirectory(&fname[0]);
if (!set) set = SetCurrentDirectory(&fname1[0]);
if (!set)
{
char basePath[256];
GetModuleFileName(NULL, basePath, 256);
char* pTmp = strrchr(basePath, '\\');
basePath[pTmp-basePath+1] = 0;
SetCurrentDirectory(basePath);//for running from start menu
set = SetCurrentDirectory(&fname2[0]);
}
if (!set) set = SetCurrentDirectory(&fname3[0]);
#elif LINUX
set = chdir(&fname[0]);
if (set != 0) set = chdir(&fname2[0]);
if (set != 0) set = chdir(&fname3[0]);
#endif
// Create the default material
NxMaterialDesc defaultMaterial;
defaultMaterial.restitution = 0;
defaultMaterial.staticFriction = 0.5;
defaultMaterial.dynamicFriction = 0.5;
NxMaterial* m = gScene->getMaterialFromIndex(0);
m->loadFromDesc(defaultMaterial);
char buffer[512];
FindMediaFile("Course.pml", buffer);
nxmlLoadScene(buffer, gPhysicsSDK, gScene);
// Switch from Max Coordinate System to
// Training Program Coordinate System
NxMat34 mat;
NxMat33 orient;
orient.setColumn(0, NxVec3(-1,0,0));
orient.setColumn(1, NxVec3(0,0,1));
orient.setColumn(2, NxVec3(0,1,0));
mat.M = orient;
SwitchCoordinateSystem(gScene, mat);
// Reset wheel material
wsm = NULL;
// Create the trike actor
trike = CreateTrike(NxVec3(0,3,0));
trike->wakeUp(1e30);
AddUserDataToActors(gScene);
gSelectedActor = trike;
// Initialize HUD
InitializeHUD();
InitializeSpecialHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
