void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ProcessCameraKeys();
SetupCamera();
if (gScene && !bPause)
{
GetPhysicsResults();
ProcessInputs();
StartPhysics();
}
// Display scene
RenderActors(bShadows);
if (bForceMode)
DrawForce(gSelectedActor, gForceVec, NxVec3(1,1,0));
else
DrawForce(gSelectedActor, gForceVec, NxVec3(0,1,1));
gForceVec = NxVec3(0,0,0);
// Render HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
// gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 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;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
// capsule2->setLinearDamping(0.1);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = NxVec3(0,5,0);
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
gSelectedActor = capsule2;
gForceStrength = 50000;
gCameraSpeed = 10;
// Initialize HUD
InitializeHUD();
InitializeSpecialHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
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 InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 2);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 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;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
mainBox = CreateMainObject();
gSelectedActor = mainBox;
gCameraPos = NxVec3(0,15,-50);
gCameraSpeed = 20;
gForceStrength = 50000000;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
bool CreateScenario()
{
DestroyScenario();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = bHWScene? NX_SIMULATION_HW : NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene)
{
bHWScene = !bHWScene;
sceneDesc.simType = bHWScene? NX_SIMULATION_HW : NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene) return false;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the plane in primary scene
groundPlane = CreateGroundPlane();
// Create compartment(HSM, managed hardware scene) attached to this scene
NxCompartmentDesc desc;
desc.type = NX_SCT_RIGIDBODY;
desc.deviceCode = NxU32(NX_DC_PPU_0);
gCompartmentHW = gScene->createCompartment(desc);
desc.deviceCode = NxU32(NX_DC_CPU);
gCompartmentSW = gScene->createCompartment(desc);
// Create objects
boxHW = CreateManagedBox(NxVec3(6, 0, 0), NxVec3(0.5, 1, 0.5), 20, gCompartmentHW);
boxSW = CreateManagedBox(NxVec3(3, 0, 0), NxVec3(0.5, 1, 0.5), 20, gCompartmentSW);
sphereHW = CreateManagedSphere(NxVec3(-6,0,0), 1, 10, gCompartmentHW);
sphereHW = CreateManagedSphere(NxVec3(-3,0,0), 1, 10, gCompartmentSW);
capsule = CreateManagedCapsule(NxVec3(0,0,0), 2, 1, 5, 0);
gSelectedActor = boxHW;
// Initialize HUD
InitializeHUD();
// Start the first frame of the simulation
StartPhysics();
return true;
}
void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ProcessCameraKeys();
SetupCamera();
UpdateEmitterPosition();
if (gScene && !bPause)
{
GetPhysicsResults();
ProcessInputs();
StartPhysics();
}
// Display scene
RenderActors(bShadows);
RenderFluid();
if (bForceMode)
DrawForce(gSelectedActor, gForceVec, NxVec3(1,1,0));
else
DrawForce(gSelectedActor, gForceVec, NxVec3(0,1,1));
gForceVec = NxVec3(0,0,0);
if (bEmitterWireframe)
{
NxMat34 fluidEmitterMat = fluidEmitter->getGlobalPose();
NxVec3 fluidEmitterPos, fluidEmitterDir;
fluidEmitterPos = fluidEmitterMat.t;
fluidEmitterMat.M.getColumn(2,fluidEmitterDir);
DrawArrow(fluidEmitterPos, fluidEmitterPos + fluidEmitterDir, NxVec3(0,0,1));
DrawEllipse(20, fluidEmitter->getGlobalPose(), NxVec3(0.5,0,0.5), fluidEmitter->getDimensionX(), fluidEmitter->getDimensionY());
}
if (!bPause)
{
if (gDeltaTime < 10) gTotalTime += gDeltaTime;
}
// Render HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
groundPlane = CreateGroundPlane();
//groundPlane->getShapes()[0]->setFlag(NX_SF_FLUID_DRAIN,true);
// Create drain actors
CreateDrainActors();
fluidEmitter = CreateFluidEmitter(0.35, 0.35);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the debug visualization parameters for forcefield visualization
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FORCE_FIELDS, 1.0f);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_HW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the objects in the scene
groundPlane = CreateGroundPlane();
box1 = CreateBox(NxVec3(5,3.5,0));
// Create a Custome kernel and a Linear kernel
CreateFFCustomKernel();
CreateFFLinearKernel();
//Create the forcefield in the scene
gForceField = CreateForcefield();
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ProcessCameraKeys();
SetupCamera();
if (gScene && !bPause)
{
GetPhysicsResults();
ProcessInputs();
StartPhysics();
}
// Display scene
RenderActors(bShadows);
// Display kernel Info
if (gForceField)
{
if (gForceField->getForceFieldKernel() == gCustomKernel)
{
hud.SetDisplayString(2, "Using CustomKernel", 0.14f, 0.92f);
}
else if (gForceField->getForceFieldKernel() == gLinearKernel)
{
hud.SetDisplayString(2, "Using LinearKernel", 0.14f, 0.92f);
}
}
// Render the HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void RenderCallback()
{
if (gScene && !bPause)
{
StartPhysics();
GetPhysicsResults();
}
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ProcessInputs();
ProcessCameraKeys();
SetupCamera();
RenderActors(bShadows);
// Render all the cloths in the scene
for (MyCloth **cloth = gCloths.begin(); cloth != gCloths.end(); cloth++)
{
glColor4f(1.0f, 0.0f, 0.0f,1.0f);
(*cloth)->draw(bShadows);
}
if (bForceMode)
DrawForce(gSelectedActor, gForceVec, NxVec3(1,1,0));
else
DrawForce(gSelectedActor, gForceVec, NxVec3(0,1,1));
gForceVec = NxVec3(0,0,0);
// Render HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 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;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
// Slider Joint
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = gJointStartPos;
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
ball = CreateFollowBall(gBallStartPos,0.25,1);
ball->raiseBodyFlag(NX_BF_KINEMATIC);
NxMat33 orient = ball->getGlobalOrientation();
NxMat33 controlOrient;
controlOrient.setRow(0, orient.getRow(2));
controlOrient.setRow(1, orient.getRow(0));
controlOrient.setRow(2, orient.getRow(1));
ball->setGlobalOrientation(controlOrient);
gSelectedActor = ball;
gForceStrength = 1500;
gCameraSpeed = 10;
box = CreateBox(NxVec3(3,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,3), 1, 10);
capsule = CreateCapsule(NxVec3(-3,0,0), 2, 0.5, 10);
pyramid = CreatePyramid(NxVec3(0,0,-3), NxVec3(0.75,1.5,0.75), 10);
box->setLinearDamping(0.5);
sphere->setLinearDamping(0.5);
capsule->setLinearDamping(0.5);
pyramid->setLinearDamping(0.5);
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Initialize physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.05);
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 10);
//gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_POSITION, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_VELOCITY, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_PACKETS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_DRAINS, 1);
// Create a scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Initialize cooking
NxInitCooking(NULL, &gErrorStream);
// Load ASE files
int set = 0;
#ifdef WIN32
set = SetCurrentDirectory(&fname[0]);
if (!set) set = SetCurrentDirectory(&fname1[0]);
if (!set) set = SetCurrentDirectory(&fname2[0]);
if (!set) set = SetCurrentDirectory(&fname3[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]);
}
#elif LINUX
set = chdir(&fname[0]);
if (set != 0) set = chdir(&fname2[0]);
if (set != 0) set = chdir(&fname3[0]);
#endif
bowl = CookASE("fluidSample.ase", gScene, NxVec3(1,0,0));
flume = CookASE("coolFlow.ase", gScene, NxVec3(1,-4,-0), NxVec3(1,0.2,1));
box = CreateBox(NxVec3(2,5-0.75,7), NxVec3(0.75,0.75,0.75), 1);
sphere = CreateSphere(NxVec3(0,4-0.4,1), 0.4, 1);
capsule = CreateCapsule(NxVec3(3,0-(1+0.5),8), 1, 1, 1);
CreateBox(NxVec3(0,-10-1,0), NxVec3(40,1,40), 0);
fluid = CreateFluid(NxVec3(0,1.5,0), 19, 0.1, gScene);
AddUserDataToActors(gScene);
//((ActorUserData*)(drain->userData))->flags |= UD_IS_DRAIN;
// Page in the hardware meshes
if(bHardwareScene)
PageInHardwareMeshes(gScene);
gSelectedActor = box;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator, &gErrorStream);
if (0 == gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
if (gbThreadScheduler)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.customScheduler = &gCustomScheduler;
gCustomScheduler.CreateThreads(2);
}
else if (gbThreadPolling)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
}
else if (gbThreadSDKManage)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.internalThreadCount = 2;
}
else if (gbNoThread)
{
sceneDesc.flags &= ~NX_SF_SIMULATE_SEPARATE_THREAD;
}
else
assert(0);
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene) return;
}
if (gbThreadPolling)
{
gPollingThreads.CreateThreads(2, gScene);
// We must reset the polling threads so they are ready for the next run
gPollingThreads.ResetPollForWork();
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,5), 1, 10);
capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
pyramid = CreateHalfPyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
gSelectedActor = pyramid;
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 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;
}
// gScene->setTiming(0.01); // timeStep, maxIter, TIMESTEP_FIXED
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
NxU32 r;
NxI32 x, z;
NxReal fRX, fRZ;
// create grass block
for (x = -patchsize; x < patchsize; x++)
{
for (z = -patchsize; z < patchsize; z++)
{
fRX = NxMath::rand(-45,45)*0.01;
fRZ = NxMath::rand(-45,45)*0.01;
r = NxMath::rand(0,4);
if (r == 0)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),3,4);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),1.8,2);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),2,3);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),1.5,2);
}
else
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),2.1,3);
}
}
}
gScene->setGroupCollisionFlag(1,1,false);
ball = CreateBall(NxVec3(0,10,0),1.5,350);
SetActorCollisionGroup(ball, 3);
gSelectedActor = ball;
gCameraSpeed = 20;
gForceStrength = 850000;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Initialize Camera Parameters
gCameraAspectRatio = 1.0f;
gCameraPos = NxVec3(0,5,-15);
gCameraForward = NxVec3(0,0,1);
gCameraRight = NxVec3(-1,0,0);
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_LIN_VEL_SQUARED, 0.15*0.15);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_ANG_VEL_SQUARED, 0.14*0.14);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_AABBS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_SW;
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);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
// Create dynamic actors
CreateSphere(NxVec3(6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(6.0f, 0.0f, 6.0f), 0);
gSelectedActor = CreateConvex(NxVec3(6.0f, 0.0f, 0.0f), 0);
// Create static actors
CreateSphere(NxVec3(0.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(0.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(0.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(0.0f, 0.0f, 0.0f), 0);
// Create kinematic actors
CreateSphere(NxVec3(-6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(-6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(-6.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(-6.0f, 0.0f, 0.0f), 0);
bPause = false;
gCapsuleSegment.p0 = NxVec3(0, 1.2f, 0.5f);
gCapsuleSegment.p1 = NxVec3(0, 3.2f, 0.5f);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
/***********************************************************
init function
***********************************************************/
void PhysXEngine::Init()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK)
return;
if (gPhysicsSDK->getFoundationSDK().getRemoteDebugger())
gPhysicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01f);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = NxVec3(0,-9.8f,0);
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);
// add a cube and a plane
//CreatePlane(NxVec3(0, 0, 0), NxVec3(0, 1, 0));
CreateBox(NxVec3(0, 4, 0), 3.0f, 3.0f, 3.0f, 10, false);
CreateBox(NxVec3(7, 10, 7), 2.0f, 3.0f, 2.0f, 10, true);
CreateBox(NxVec3(20, 1, 20), 30.0f, 1.0f, 30.0f, 10, false);
// init time
_lasttime = SynchronizedTimeHandler::getInstance()->GetCurrentTimeDouble();
// init character controllers
gManager = NxCreateControllerManager(gAllocator);
//float TimeStep = 1.0f / 60.0f;
gScene->setTiming();
// Start the first frame of the simulation
if (gScene)
StartPhysics();
}
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();
}
