bool CPhysicsManager::ReleasePhysicActor (CPhysicActor* actor)
{
assert(actor != NULL);
assert(m_pScene != NULL);
assert(m_pPhysicsSDK != NULL);
bool isOk = false;
NxActor* nxActor = actor->GetPhXActor();
if( nxActor != 0)
{
NxArray<NxCCDSkeleton*> skeletons;
for (NxU32 i = 0; i < nxActor->getNbShapes(); i++)
{
NxShape* shape = nxActor->getShapes()[i];
if (shape->getCCDSkeleton() != NULL) {
skeletons.pushBack(shape->getCCDSkeleton());
}
}
for (NxU32 i = 0; i < skeletons.size(); i++)
{
m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]);
}
m_pScene->releaseActor(*nxActor);
nxActor = 0;
}
return true;
}
//----------------------------------------------------------------------------
// ReleaseAllActors : Alliberem tots els actors de l'escena de PhysX
//----------------------------------------------------------------------------
bool CPhysicsManager::ReleaseAllActors ( void ) //EUserDataFlag _eFlags )
{
assert ( m_pScene != NULL );
assert ( m_pPhysicsSDK != NULL );
bool isOk = true;
NxActor** l_ppActorList = m_pScene->getActors();
NxU32 l_TotalActors = m_pScene->getNbActors();
while ( l_TotalActors -- )
{
NxActor* nxActor = *l_ppActorList;
if ( nxActor != 0)
{
NxArray<NxCCDSkeleton*> skeletons;
for (NxU32 i = 0; i < nxActor->getNbShapes(); i++)
{
NxShape* shape = nxActor->getShapes()[i];
if (shape->getCCDSkeleton() != NULL) {
skeletons.pushBack(shape->getCCDSkeleton());
}
}
for (NxU32 i = 0; i < skeletons.size(); i++)
{
m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]);
}
m_pScene->releaseActor(*nxActor);
nxActor = 0;
}
}
return isOk;
}
//
// EPhysXPhysEngine::BuildConvexMesh
//
NxConvexMesh *ESciVis::BuildConvexMesh( const IPxTriMesh input_mesh )
{
//IPxTriMesh mesh = input_mesh->Clone();
//mesh->SetFormat( GE_MESH_POSITION );
//mesh->MergeVertices(); //This command causes convex cook crash
NxConvexMeshDesc convex_mesh_desc;
NxArray<NxVec3> verts;
for (uint i=0; i<input_mesh->GetVertexNum(); i++) {
EVertex v;
v = input_mesh->GetVertex(i);
verts.push_back( NxVec3(v.position.x, v.position.y, v.position.z) );
}
convex_mesh_desc.numVertices = input_mesh->GetVertexNum();
convex_mesh_desc.pointStrideBytes = sizeof(NxVec3);
convex_mesh_desc.points = &verts[0];
convex_mesh_desc.flags = NX_CF_COMPUTE_CONVEX;
ASSERT( convex_mesh_desc.isValid() );
MemoryWriteBuffer buf;
bool r = nx_cook->NxCookConvexMesh(convex_mesh_desc, buf);
if (!r) {
RUNTIME_ERROR("mesh contains to many vertices");
}
return nx->createConvexMesh(MemoryReadBuffer(buf.data));
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::query(const NxBounds3 &bounds, NxArray<int> &itemIndices, int maxIndices)
{
int x1,y1,z1;
int x2,y2,z2;
int x,y,z;
cellCoordOf(bounds.min, x1,y1,z1);
cellCoordOf(bounds.max, x2,y2,z2);
itemIndices.clear();
for (x = x1; x <= x2; x++)
{
for (y = y1; y <= y2; y++)
{
for (z = z1; z <= z2; z++)
{
int h = hashFunction(x,y,z);
MeshHashRoot &r = mHashIndex[h];
if (r.timeStamp != mTime) continue;
int i = r.first;
while (i >= 0)
{
MeshHashEntry &entry = mEntries[i];
itemIndices.push_back(entry.itemIndex);
if (maxIndices >= 0 && (int)itemIndices.size() >= maxIndices) return;
i = entry.next;
}
}
}
}
}
void SetupAttachmentScene()
{
sprintf(gTitleString, "Attachment Demo");
// Create objects in scene
groundPlane = CreateGroundPlane();
NxActor* box1 = CreateBox(NxVec3(-7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box2 = CreateBox(NxVec3(0,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box3 = CreateBox(NxVec3(7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* attachedBox = CreateBox(NxVec3(-7.2,4.5,1.6), NxVec3(1.25,1,1), 1);
NxActor* attachedSphere = CreateSphere(NxVec3(-0.25,4.0,2.0), 1.3, 1);
NxActor* attachedCapsule = CreateCapsule(NxVec3(9.0,5.5,2.0),2.0, 1, 1);
NxReal damping = 0.3;
attachedBox->setAngularDamping(damping);
attachedBox->setLinearDamping(damping);
attachedSphere->setAngularDamping(damping);
attachedSphere->setLinearDamping(damping);
attachedCapsule->setAngularDamping(damping);
attachedCapsule->setLinearDamping(damping);
NxQuat q;
q.fromAngleAxis(90,NxVec3(0,0,1));
attachedCapsule->setGlobalOrientationQuat(q);
// Cloth
NxClothDesc clothDesc;
clothDesc.globalPose.M.rotX(1.3);
clothDesc.thickness = 0.3;
clothDesc.attachmentResponseCoefficient = 1;
clothDesc.flags |= NX_CLF_BENDING;
clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING | NX_CLF_VISUALIZATION;
if (gHardwareCloth)
clothDesc.flags |= NX_CLF_HARDWARE;
// Cloth attaching to sphere
clothDesc.globalPose.t = NxVec3(0.75,5,2);
MyCloth* regularCloth1 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth1->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth1);
// Cloth attaching to box
clothDesc.globalPose.t = NxVec3(-6.2,5,2);
MyCloth* regularCloth2 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth2->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth2);
// Cloth attaching to capsule
clothDesc.globalPose.t = NxVec3(8.0,5,2);
clothDesc.attachmentTearFactor = 2.0;
MyCloth* regularCloth3 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth3->getNxCloth()->attachToShape(box3->getShapes()[0], NX_CLOTH_ATTACHMENT_TEARABLE);
regularCloth3->getNxCloth()->attachToShape(attachedCapsule->getShapes()[0], NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth3);
}
// Create a static trigger
static void CreateTrigger(const NxVec3& pos, NxF32 size = 2, const NxVec3* initial_velocity=NULL, bool kinematic = false)
{
// Our trigger is a cube
NxBodyDesc triggerBody;
NxBoxShapeDesc dummyShape;
NxBoxShapeDesc BoxDesc;
BoxDesc.dimensions = NxVec3(size, size, size);
BoxDesc.shapeFlags |= NX_TRIGGER_ENABLE;
NxActorDesc ActorDesc;
if(initial_velocity || kinematic) {
if (initial_velocity) {
triggerBody.linearVelocity = *initial_velocity;
}
if (kinematic) {
triggerBody.flags |= NX_BF_KINEMATIC;
}
triggerBody.mass = 1;
ActorDesc.body = &triggerBody;
NxF32 sizeinc = 1.01f;
dummyShape.dimensions.set(size*sizeinc, size*sizeinc, size*sizeinc);
dummyShape.group = 1;
ActorDesc.shapes.pushBack(&dummyShape);
}
ActorDesc.shapes.pushBack(&BoxDesc);
ActorDesc.globalPose.t = pos;
int thisNb = ++gNbTriggers;
gNbTouchedBodies.pushBack(0);
NX_ASSERT(gNbTouchedBodies.size() == gNbTriggers);
gMyPhysX.getScene()->setGroupCollisionFlag(1,0, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,1, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,2, true);
ActorDesc.userData = (void*)(-thisNb);
if (!ActorDesc.isValid()) {
printf("Invalid ActorDesc\n");
return;
}
NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc); // This is just a quick-and-dirty way to identify the trigger for rendering
NX_ASSERT(actor != NULL);
if (kinematic) {
KinematicActor k;
k.actor = actor;
if (initial_velocity) {
k.vel = *initial_velocity;
} else {
k.vel.set(0,0,0);
}
gKinematicActors.pushBack(k);
}
gMyPhysX.getScene()->setUserTriggerReport(&myTriggerCallback);
}
void ReleaseNx()
{
if (gScene)
{
for (MyCloth** cloth = gCloths.begin(); cloth != gCloths.end(); cloth++)
delete *cloth;
gCloths.clear();
gPhysicsSDK->releaseScene(*gScene);
}
if (gPhysicsSDK) NxReleasePhysicsSDK(gPhysicsSDK);
NX_DELETE_SINGLE(gAllocator);
}
void TickCar()
{
NxReal steeringAngle = gSteeringValue * gMaxSteeringAngle;
NxArray<CarWheelContact>::iterator i = wheelContactPoints.begin();
while(i != wheelContactPoints.end())
{
CarWheelContact& cwc = *i;
WheelShapeUserData* wheelData = (WheelShapeUserData *)(cwc.wheel->userData);
//apply to powered wheels only.
if (wheelData->frontWheel)
{
//steering:
NxMat33 wheelOrientation = cwc.wheel->getLocalOrientation();
wheelOrientation.setColumn(0, NxVec3(NxMath::cos(steeringAngle), 0, NxMath::sin(steeringAngle) ));
wheelOrientation.setColumn(2, NxVec3(NxMath::sin(steeringAngle), 0, -NxMath::cos(steeringAngle) ));
cwc.wheel->setLocalOrientation(wheelOrientation);
if (frontWheelIsPowered)
{
//get the world space orientation:
wheelOrientation = cwc.wheel->getGlobalOrientation();
NxVec3 steeringDirection;
wheelOrientation.getColumn(0, steeringDirection);
//the power direction of the front wheel is the wheel's axis as it is steered.
if (gMotorForce)
{
cwc.car->addForceAtPos(steeringDirection * gMotorForce,cwc.contactPoint);
}
}
}
if (!wheelData->frontWheel && rearWheelIsPowered)
{
//get the orientation of this car:
NxMat33 m = cwc.car->getGlobalOrientation();
NxVec3 carForwardAxis;
m.getColumn(0, carForwardAxis);
//the power direction of the rear wheel is always the car's length axis.
cwc.car->addForceAtPos(carForwardAxis * gMotorForce,cwc.contactPoint);
}
i++;
}
wheelContactPoints.clear();
}
static void CreateCube(const NxVec3& pos, int size=2, const NxVec3* initial_velocity=NULL, bool kinematic = false, bool Static = false)
{
// Create body
NxBodyDesc BodyDesc;
BodyDesc.angularDamping = 0.5f;
// BodyDesc.maxAngularVelocity = 10.0f;
if(initial_velocity) BodyDesc.linearVelocity = *initial_velocity;
NxBoxShapeDesc BoxDesc;
BoxDesc.dimensions = NxVec3(float(size), float(size), float(size));
NxActorDesc ActorDesc;
// ActorDesc.userData = (void*)size;
ActorDesc.shapes.pushBack(&BoxDesc);
if (!Static)
ActorDesc.body = &BodyDesc;
ActorDesc.density = 10.0f;
ActorDesc.globalPose.t = pos;
ActorDesc.userData = (void*)size;
NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc);
if (kinematic) {
KinematicActor k;
k.actor = actor;
actor->raiseBodyFlag(NX_BF_KINEMATIC);
if (initial_velocity) {
k.vel = *initial_velocity;
} else {
k.vel.set(0,0,0);
}
gKinematicActors.pushBack(k);
}
}
virtual void onContactNotify(NxContactPair& pair, NxU32 events)
{
// Iterate through contact points
NxContactStreamIterator i(pair.stream);
//user can call getNumPairs() here
while(i.goNextPair())
{
//user can also call getShape() and getNumPatches() here
while(i.goNextPatch())
{
//user can also call getPatchNormal() and getNumPoints() here
const NxVec3& contactNormal = i.getPatchNormal();
while(i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
if(i.getSeparation()<0.0f)
{
const NxVec3& contactPoint = i.getPoint();
NxU32 faceIndex = i.getFeatureIndex0();
if(faceIndex==0xffffffff) faceIndex = i.getFeatureIndex1();
if(faceIndex!=0xffffffff)
{
gTouchedTris.pushBack(faceIndex);
//printf("Contack!\n");
}
}
}
}
}
}
void SetupTearingScene()
{
sprintf(gTitleString, "Tearing Demo");
// Create the objects in the scene
groundPlane = CreateGroundPlane();
NxActor* bar = CreateBox(NxVec3(0,12,0), NxVec3(3,0.5,0.5), 0);
NxActor* box = CreateBox(NxVec3(-2.3,4.0,0), NxVec3(0.5,0.5,0.5), 10);
// Cloth
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(2.5,12,0);
clothDesc.globalPose.M.rotX(-NxHalfPiF32);
clothDesc.thickness = 0.1;
clothDesc.tearFactor = 2;
clothDesc.flags |= NX_CLF_BENDING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags |= NX_CLF_TEARABLE | NX_CLF_VISUALIZATION; // Tearable cloth
if (gHardwareCloth)
clothDesc.flags |= NX_CLF_HARDWARE;
MyCloth* regularCloth = new MyCloth(gScene, clothDesc, 5, 8, 0.1, "rug512.bmp", gTearLines);
gCloths.push_back(regularCloth);
regularCloth->getNxCloth()->attachToShape(*bar->getShapes(), 0);
regularCloth->getNxCloth()->attachToShape(*box->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
static void RenderTerrain()
{
if(gTerrainData)
{
renderTerrainTriangles(*gTerrainData, gTouchedTris.size(), &gTouchedTris[0]);
renderTerrain(*gTerrainData);
}
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::compressIndices(NxArray<int> &itemIndices)
{
if (itemIndices.size() == 0) return;
// sort results
quickSort(itemIndices, 0, itemIndices.size()-1);
// mark duplicates
int i = 0;
while (i < (int)itemIndices.size())
{
int j = i+1;
while (j < (int)itemIndices.size() && itemIndices[i] == itemIndices[j])
{
itemIndices[j] = -1; j++;
}
i = j;
}
// remove duplicates
i = 0;
while (i < (int)itemIndices.size())
{
if (itemIndices[i] < 0)
{
itemIndices[i] = itemIndices[itemIndices.size()-1];
itemIndices.pop_back();
}
else i++;
}
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::query(const NxVec3 &pos, NxArray<int> &itemIndices, int maxIndices)
{
int x,y,z;
cellCoordOf(pos, x,y,z);
itemIndices.clear();
int h = hashFunction(x,y,z);
MeshHashRoot &r = mHashIndex[h];
if (r.timeStamp != mTime) return;
int i = r.first;
while (i >= 0)
{
MeshHashEntry &entry = mEntries[i];
itemIndices.push_back(entry.itemIndex);
if (maxIndices >= 0 && (int)itemIndices.size() >= maxIndices) return;
i = entry.next;
}
}
virtual void onContactNotify(NxContactPair& pair, NxU32 events)
{
NxU32 carIndex = 0;
if (isCar(pair.actors[0]))
carIndex = 0;
else if (isCar(pair.actors[1]))
carIndex = 1;
else
return;
//ignore the 'both are cars' case for now.
// Iterate through contact points
NxContactStreamIterator i(pair.stream);
//user can call getNumPairs() here
while (i.goNextPair())
{
//user can also call getShape() and getNumPatches() here
NxShape * s = i.getShape(carIndex);
while (i.goNextPatch())
{
//user can also call getPatchNormal() and getNumPoints() here
const NxVec3& contactNormal = i.getPatchNormal();
while (i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
const NxVec3& contactPoint = i.getPoint();
NxVec3 contactNormalForce = pair.sumNormalForce;
NxVec3 contactFrictionForce = pair.sumFrictionForce;
//add forces:
//assuming front wheel drive we need to apply a force at the wheels.
if (s->is(NX_SHAPE_CAPSULE)) //assuming only the wheels of the car are capsules, otherwise we need more checks.
//this branch can't be pulled out of loops because we have to do a full iteration through the stream
{
CarWheelContact cwc;
cwc.car = pair.actors[carIndex];
cwc.wheel = s;
cwc.contactPoint = contactPoint;
cwc.contactNormalForce = contactNormalForce;
cwc.contactFrictionForce = contactFrictionForce;
wheelContactPoints.pushBack(cwc);
//#error too bad this is illegal (reentry) and also technically busted because the accumulators get zeroed after this returns.
//pair.actors[carIndex]->addForceAtPos(NxVec3(100,0,0),contactPoint);
}
}
}
}
}
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 render()
{
static Timer t;
if(gScene && !gPauseSimulation) //start the simulation
{
gTouchedTris.clear();
gScene->simulate(t.elapsed_time());
//printf("%f\n",t.elapsed_time());
t.reset();
gScene->flushStream();
/*ASYNC: in here we can do computations which depend only on the old
state of the scene "actors". Writing to the scene is not allowed.
Write calls in here are skipped.
*/
gScene->fetchResults(NX_RIGID_BODY_FINISHED,true);
}
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glColor4f(0.0,1.0,1.0,1.0);
DrawSkyBox(5000.0f);
//drawPlane(2000.0);
//Render all actors
int nbActors = gScene->getNbActors();
NxActor** actors = gScene->getActors();
while(nbActors--)
{
NxActor* actor = *actors++;
if(!actor->userData) continue;
// Render actor
glPushMatrix();
float glMat[16];
actor->getGlobalPose().getColumnMajor44(glMat);
glMultMatrixf(glMat);
NxVec3 color = static_cast<UserData*>(actor->userData)->color;
glColor4f(color.x,color.y,color.z,1.0f);
glutSolidCube((static_cast<UserData*>(actor->userData)->size)*2.0f);
glPopMatrix();
}
RenderTerrain();
}
void SetHelpString(const char *demoKeyString)
{
char tempString[512];
sprintf(gHelpString, "\nGeneral:\n");
#ifdef __PPCGEKKO__
sprintf(gHelpString, " +,-: choose scene\n");
strcat(gHelpString, " arrows: move/strafe\n");
strcat(gHelpString, " b: shoot sphere\n");
strcat(gHelpString, " HOME: toggle help\n");
strcat(gHelpString, " 1: Reset scene\n");
if(gSampleIndex == 6) strcat(gHelpString, " 2: toggle debug rendering\n");
#else
sprintf(tempString, " 1-%d: choose scene\n", gSamples.size());
strcat(gHelpString, tempString);
strcat(gHelpString, " p: pause\n");
strcat(gHelpString, " o: single step\n");
#ifndef NX_DISABLE_HARDWARE
strcat(gHelpString, " h: hardware on/off\n");
#endif
strcat(gHelpString, " w,a,s,d: move/strafe\n");
strcat(gHelpString, " q,e: move up/down\n");
strcat(gHelpString, " mouse right: pick\n");
strcat(gHelpString, " space: shoot sphere\n");
strcat(gHelpString, " x: toggle shadows\n");
strcat(gHelpString, " n: toggle wireframe\n");
strcat(gHelpString, " F1: toggle help\n");
strcat(gHelpString, " F3,F4: pick push/pull\n");
strcat(gHelpString, " F5: toggle debug rendering\n");
strcat(gHelpString, " F9: toggle vsync\n");
strcat(gHelpString, " F10: Reset scene\n");
#endif
if (demoKeyString)
{
strcat(gHelpString, "\nDemo specific:\n");
strcat(gHelpString, demoKeyString);
}
}
bool NxuPhysicsExport::Write(NxJoint *j,const char *userProperties,const char *id)
{
bool ret = false;
NxSceneDesc *current = getCurrentScene();
CustomCopy cc(mCollection,current);
NxJointDesc *joint = 0;
switch ( j->getType() )
{
case NX_JOINT_PRISMATIC:
if ( 1 )
{
::NxPrismaticJointDesc d1;
NxPrismaticJoint *sj = j->isPrismaticJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPrismaticJointDesc *desc = new NxPrismaticJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_REVOLUTE:
if ( 1 )
{
::NxRevoluteJointDesc d1;
NxRevoluteJoint *sj = j->isRevoluteJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxRevoluteJointDesc *desc = new NxRevoluteJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_CYLINDRICAL:
if ( 1 )
{
::NxCylindricalJointDesc d1;
NxCylindricalJoint *sj = j->isCylindricalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxCylindricalJointDesc *desc = new NxCylindricalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_SPHERICAL:
if ( 1 )
{
::NxSphericalJointDesc d1;
NxSphericalJoint *sj = j->isSphericalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxSphericalJointDesc *desc = new NxSphericalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_ON_LINE:
if ( 1 )
{
::NxPointOnLineJointDesc d1;
NxPointOnLineJoint *sj = j->isPointOnLineJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointOnLineJointDesc *desc = new NxPointOnLineJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_IN_PLANE:
if ( 1 )
{
::NxPointInPlaneJointDesc d1;
NxPointInPlaneJoint *sj = j->isPointInPlaneJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointInPlaneJointDesc *desc = new NxPointInPlaneJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_DISTANCE:
if ( 1 )
{
::NxDistanceJointDesc d1;
NxDistanceJoint *sj = j->isDistanceJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxDistanceJointDesc *desc = new NxDistanceJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_PULLEY:
if ( 1 )
{
::NxPulleyJointDesc d1;
NxPulleyJoint *sj = j->isPulleyJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPulleyJointDesc *desc = new NxPulleyJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_FIXED:
if ( 1 )
{
::NxFixedJointDesc d1;
NxFixedJoint *sj = j->isFixedJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxFixedJointDesc *desc = new NxFixedJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_D6:
if ( 1 )
{
::NxD6JointDesc d1;
NxD6Joint *sj = j->isD6Joint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxD6JointDesc *desc = new NxD6JointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
default:
break;
}
//Add Limits
// in addition, we also have to write out its limit planes!
j->resetLimitPlaneIterator();
if (j->hasMoreLimitPlanes())
{
// write limit point
joint->mOnActor2 = j->getLimitPoint(joint->mPlaneLimitPoint);
NxArray< NxPlaneInfoDesc *> plist;
// write the plane normals
while (j->hasMoreLimitPlanes())
{
NxPlaneInfoDesc *pInfo = new NxPlaneInfoDesc();
#if NX_SDK_VERSION_NUMBER >= 272
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD, &pInfo->restitution);
#else
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD);
#endif
plist.push_back(pInfo);
}
if ( plist.size() )
{
for (int i=plist.size()-1; i>=0; i--)
{
NxPlaneInfoDesc *p = plist[i];
joint->mPlaneInfo.pushBack(p);
}
}
}
if ( joint )
{
if ( id )
{
joint->mId = id;
}
else
{
char scratch[512];
sprintf(scratch,"Joint_%d", current->mJoints.size());
joint->mId = getGlobalString(scratch);
joint->mUserProperties = getGlobalString(userProperties);
}
current->mJoints.push_back(joint);
ret = true;
}
return ret;
}
// -----------------------------------------------------------------------
void VertexWelder::initialize(const NxClothMeshDesc& unweldedMesh)
{
NxArray<NxU32> mapping;
NxReal squaredEpsilon = mEpsilon * mEpsilon;
for (NxU32 i = 0; i < unweldedMesh.numVertices; i++)
{
const NxVec3& curVec = *(const NxVec3*)(((const char*)unweldedMesh.points) + (i * unweldedMesh.pointStrideBytes));
// Find Vertex in newVertices
NxU32 newIndex = 0;
for (newIndex = 0; newIndex < mNewVertices.size(); newIndex++)
{
NxVec3& newVec = mNewVertices[newIndex];
if ((mEpsilon == 0 && newVec == curVec) || (newVec.distanceSquared(curVec) < squaredEpsilon))
//if (newVec == curVec)
{
break;
}
}
if (newIndex == mNewVertices.size())
{
// Not found in previous list
mNewVertices.push_back(curVec);
}
mapping.push_back(newIndex);
}
// Store mapping
mMappingSize = mapping.size();
mMappingSpace = unweldedMesh.numTriangles * 3;
mMappingDomain = mNewVertices.size();
mMapping = (NxU32*)malloc(sizeof(NxU32) * mMappingSpace);
memcpy(mMapping, &mapping[0], sizeof(NxU32) * mMappingSize);
memset(((NxU32*)mMapping) + mMappingSize, 0, sizeof(NxU32) * (mMappingSpace - mMappingSize));
mapping.clear();
if (mNewVertices.size() < unweldedMesh.numVertices)
{
mUsed = true;
}
else
{
return;
}
if (unweldedMesh.flags & NX_MF_16_BIT_INDICES)
{
mNewFaces16 = (NxU16*)malloc(sizeof(NxU16) * unweldedMesh.numTriangles * 3);
}
else
{
mNewFaces32 = (NxU32*)malloc(sizeof(NxU32) * unweldedMesh.numTriangles * 3);
}
for (NxU32 i = 0; i < unweldedMesh.numTriangles; i++)
{
NxU32 triangles[3];
const char* triangleChar = ((const char*)unweldedMesh.triangles) + (unweldedMesh.triangleStrideBytes * i);
if (mNewFaces16)
{
const NxU16* tris = (const NxU16*)triangleChar;
triangles[0] = tris[0];
triangles[1] = tris[1];
triangles[2] = tris[2];
}
else
{
assert(mNewFaces32 != NULL);
const NxU32* tris = (const NxU32*)triangleChar;
triangles[0] = tris[0];
triangles[1] = tris[1];
triangles[2] = tris[2];
}
for (NxU32 j = 0; j < 3; j++)
{
triangles[j] = getMapping(triangles[j]);
}
if (mNewFaces16)
{
for (NxU32 j = 0; j < 3; j++)
{
mNewFaces16[3*i+j] = (NxU16)(triangles[j] & 0xffff);
}
}
else
{
for (NxU32 j = 0; j < 3; j++)
{
mNewFaces32[3*i+j] = triangles[j];
}
}
}
}
void VertexWelder::update(NxMeshData meshData)
{
assert(mWriteVerticesPtr != NULL);
bool updateVertices = (*(meshData.dirtyBufferFlagsPtr) & (NX_MDF_VERTICES_POS_DIRTY | NX_MDF_VERTICES_NORMAL_DIRTY)) > 0;
bool updateIndices = (*(meshData.dirtyBufferFlagsPtr) & (NX_MDF_INDICES_DIRTY | NX_MDF_PARENT_INDICES_DIRTY)) > 0;
NxU32 numNewVertices = *meshData.numVerticesPtr;
NxU32 numTriangles = *meshData.numIndicesPtr / 3;
NxU32 oldMappingDomain = mMappingDomain;
NxArray<NewVertex> newVertices;
NxArray<DifficultVertex> difficultVertices;
mMappingDomainAddition = 0;
if (updateVertices)
{
if (mMappingDomain < numNewVertices)
{
#ifdef DEBUG_WELDER
printf("------------------------------------\n");
#endif
for (NxU32 i = mMappingDomain; i < numNewVertices; i++)
{
NewVertex v;
v.index = i;
v.parent = *(NxU32*)(((char*)meshData.parentIndicesBegin) + meshData.parentIndicesByteStride * i);
while (v.parent >= (NxI32)mMappingDomain) {
v.parent = *(NxU32*)(((char*)meshData.parentIndicesBegin) + meshData.parentIndicesByteStride * v.parent);
}
#ifdef DEBUG_WELDER
printf("New Vertex: %d %d\n", v.index, v.parent);
#endif
newVertices.push_back(v);
}
std::sort(newVertices.begin(), newVertices.end(), sortParent);
}
for (NxU32 i = 0; i < mMappingSize; i++)
{
NxU32 mappedIndex = getMapping(i);
NewVertex newV;
newV.parent = mappedIndex;
// Find all vertices that are a parent for a newly created vertex
NxArray<NewVertex>::iterator found = std::lower_bound(newVertices.begin(), newVertices.end(), newV, sortParent);
while (found != NULL && found->parent == mappedIndex)
{
found->mappedVertices ++;
if (found->mappedVertices == 1)
{
found->unMapParent = i;
#ifdef DEBUG_WELDER
printf("New Vertex Update, %d %d %d\n", found->index, found->parent, found->unMapParent);
#endif
}
else
{
// several unmapped parents
DifficultVertex v;
v.mappedIndex = found->index;
v.unMappedIndex = i;
difficultVertices.push_back(v);
#ifdef DEBUG_WELDER
printf("Difficult Vertex %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
if (found->mappedVertices == 2)
{
v.unMappedIndex = found->unMapParent;
difficultVertices.push_back(v);
#ifdef DEBUG_WELDER
printf("Difficult Vertex %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
}
found->unMapParent = -2;
}
found++;
}
NxVec3& vertex = *(NxVec3*)(((char*)mWriteVerticesPtr) + mWriteVerticesStride * i);
NxVec3& normal = *(NxVec3*)(((char*)mWriteNormalsPtr) + mWriteNormalsStride* i);
//float* texCoord = (float*)(((char*)texCoords) + texStride * i);
const NxVec3& oldVertex = *(NxVec3*)(((char*)meshData.verticesPosBegin) + meshData.verticesPosByteStride * mappedIndex);
const NxVec3& oldNormal = *(NxVec3*)(((char*)meshData.verticesNormalBegin) + meshData.verticesNormalByteStride * mappedIndex);
vertex = oldVertex;
normal = oldNormal;
}
// Adapt the mapping table
std::sort(newVertices.begin(), newVertices.end(), sortIndex);
std::sort(difficultVertices.begin(), difficultVertices.end(), sortDifficultExt);
}
if (updateIndices)
{
std::vector<bool> bitVector(mMappingSpace, false);
#ifdef DEBUG_WELDER
printf("updateIndices: Vertices: %d, Indices %d, gfx Vertices: %d\n", *meshData.numVerticesPtr, *meshData.numIndicesPtr, mMappingSize);
#endif
if (difficultVertices.size() > 0)
{
#ifdef DEBUG_WELDER
printf(" Difficult Vertices:\n");
#endif
for (NxU32 i = 0; i < difficultVertices.size(); i++)
{
DifficultVertex& v = difficultVertices[i];
#ifdef DEBUG_WELDER
printf(" V %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
}
}
assert((meshData.flags & NX_MF_16_BIT_INDICES) == 0);
assert(meshData.indicesByteStride == 4);
for (NxU32 i = 0; i < numTriangles; i++)
{
const NxU32* simTriangle = (NxU32*)(((char*)meshData.indicesBegin) + meshData.indicesByteStride * (i*3));
NxU32* gfxTriangle = (NxU32*)(((char*)mWriteIndicesPtr) + mWriteIndicesStride* i);
if (simTriangle[0] == simTriangle[1] && simTriangle[1] == simTriangle[2])
{
// Face was deleted (outside valid bounds probably)
gfxTriangle[0] = gfxTriangle[1] = gfxTriangle[2] = 0;
continue;
}
for (NxU32 j = 0; j < 3; j++)
{
DifficultVertex v;
v.mappedIndex = simTriangle[j];
v.unMappedIndex = gfxTriangle[j];
if (std::binary_search(difficultVertices.begin(), difficultVertices.end(), v, sortDifficult))
{
NxArray<DifficultVertex>::iterator it = std::lower_bound(difficultVertices.begin(), difficultVertices.end(), v, sortDifficultExt);
#ifdef DEBUG_WELDER
printf("-- Triangle %d (%d) (%d %d %d) (%d %d %d)", i, j, simTriangle[0], simTriangle[1], simTriangle[2], gfxTriangle[0], gfxTriangle[1], gfxTriangle[2]);
printf(" %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
if (it == NULL || it->mappedIndex != simTriangle[j])
{
// element hasn't been found
//insert element
#ifdef DEBUG_WELDER
printf("Adding Diff %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
difficultVertices.push_back(v);
// sort now, don't know whether this could be done less often, so far the list is extremely small
std::sort(difficultVertices.begin(), difficultVertices.end(), sortDifficultExt);
// get the freshly created item
it = std::lower_bound(difficultVertices.begin(), difficultVertices.end(), v, sortDifficultExt);
// element has to exist
assert(it != NULL);
}
if (it->newUnMappedIndex >= 0)
{
gfxTriangle[j] = it->newUnMappedIndex;
}
else if (bitVector[it->unMappedIndex])
{
#ifdef DEBUG_WELDER
printf("Bit %d is true\n", it->unMappedIndex);
#endif
// create a new gfx vertex
it->newUnMappedIndex = mMappingSize;
addNewVertex(gfxTriangle[j]);
setMapping(it->newUnMappedIndex, simTriangle[j]);
gfxTriangle[j] = it->newUnMappedIndex;
bitVector[it->newUnMappedIndex] = true;
}
else
{
#ifdef DEBUG_WELDER
printf("Set Bit %d to true\n", it->unMappedIndex);
#endif
bitVector[it->unMappedIndex] = true;
it->newUnMappedIndex = it->unMappedIndex;
setMapping(it->newUnMappedIndex, simTriangle[j]);
}
}
else if (simTriangle[j] >= oldMappingDomain) // only used when not a difficult vertex
{
// unamp index and update
for (NxU32 k = 0; k < newVertices.size(); k++)
{
NewVertex& v = newVertices[k];
if (v.index == simTriangle[j] && v.mappedVertices == 1)
{
#ifdef DEBUG_WELDER
printf("- Triangle %d (%d %d %d) (%d %d %d)", i, simTriangle[0], simTriangle[1], simTriangle[2], gfxTriangle[0], gfxTriangle[1], gfxTriangle[2]);
printf(" %d %d\n", v.unMapIndex, v.index);
#endif
if (v.unMapIndex == -1)
{
#ifdef DEBUG_WELDER
printf("Add Simple\n");
#endif
v.unMapIndex = mMappingSize;
//addNewVertex(vertices, vertexStride, normals, normalStride, texCoords, texStride, v.unMapParent);
addNewVertex(gfxTriangle[j]);
gfxTriangle[j] = v.unMapIndex;
setMapping(v.unMapIndex, v.index);
}
else
{
#ifdef DEBUG_WELDER
printf("Use Simple\n");
#endif
gfxTriangle[j] = v.unMapIndex;
}
break; // for (k)
}
}
}
}
}
}
if (updateVertices)
{
mMappingDomain = *meshData.numVerticesPtr;
#ifdef DEBUG_WELDER
static bool sanityCheck = true;
if (sanityCheck)
{
// sanity check
NxU32 temp = 0;
for (NxU32 i = 0; i < mMappingSize; i++)
{
temp = NxMath::max(getMapping(i), temp);
}
if (temp != mMappingDomain - 1)
{
printf("Mapping Domain not right, is %d, should be %d\n", temp, mMappingDomain-1);
assert(0);
}
for (NxU32 i = 0; i < numTriangles; i++)
{
const NxU32* simTriangle = (NxU32*)(((char*)meshData.indicesBegin) + meshData.indicesByteStride * (i*3));
NxU32* gfxTriangle = (NxU32*)(((char*)mWriteIndicesPtr) + mWriteIndicesStride * i);
for (NxU32 j = 0; j < 3; j++)
{
if (simTriangle[j] != getMapping(gfxTriangle[j]))
{
printf("Triangle %d (%d) not correct (%d %d %d) -> (%d %d %d) != (%d %d %d)\n",
i, 3*i+j,
gfxTriangle[0], gfxTriangle[1], gfxTriangle[2],
getMapping(gfxTriangle[0]), getMapping(gfxTriangle[1]), getMapping(gfxTriangle[2]),
simTriangle[0], simTriangle[1], simTriangle[2]);
assert(0);
}
}
}
}
#endif
}
return;
}
void render()
{
static Timer t;
if(!gMyPhysX.isPaused())
{
for (NxU32 i = 0; i < gKinematicActors.size(); i++)
{
NxActor* actor = gKinematicActors[i].actor;
NxVec3 pos = actor->getGlobalPosition();
pos += gKinematicActors[i].vel * 1.f/60.f;
actor->moveGlobalPosition(pos);
}
}
gMyPhysX.simulate(t.elapsed_time());
t.reset();
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glColor4f(0.5,0.9,0.5,1.0);
DrawSkyBox(SKYEXTENTS);
drawPlane(SKYEXTENTS);
// Keep physics & graphics in sync
for (NxU32 pass = 0; pass < 2; pass++) {
int nbActors = gMyPhysX.getScene()->getNbActors();
NxActor** actors = gMyPhysX.getScene()->getActors();
actors += nbActors;
while(nbActors--)
{
NxActor* actor = *--actors;
float size;
bool isTrigger = false;
bool isKinematic = actor->isDynamic() && actor->readBodyFlag(NX_BF_KINEMATIC);
NxVec3 color;
NxF32 alpha = 1;
if (actor->isDynamic()) {
if (actor->readBodyFlag(NX_BF_KINEMATIC)) {
color.set(1,0,0);
} else {
color.set(0,1,0);
}
} else {
color.set(0.2f,0.2f,0.2f);
}
if (*(int *)(&actor->userData) < 0)
{
NxI32 triggerNumber = -(*(NxI32 *)(&actor->userData));
NxI32 triggerIndex = triggerNumber - 1;
// This is our trigger
isTrigger = true;
size = 10.0f;
color.z = gNbTouchedBodies[triggerIndex] > 0.5f ? 1.0f:0.0f;
alpha = 0.5f;
if (pass == 0)
continue;
}
else
{
// This is a normal object
size = float(*(int *)(&actor->userData));
if (pass == 1)
continue;
}
float glmat[16];
glPushMatrix();
actor->getGlobalPose().getColumnMajor44(glmat);
glMultMatrixf(glmat);
glColor4f(color.x, color.y, color.z, 1.0f);
glutSolidCube(size*2.0f);
glPopMatrix();
// Handle shadows
if( !isTrigger)
{
glPushMatrix();
const static float ShadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };
glMultMatrixf(ShadowMat);
glMultMatrixf(glmat);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glutSolidCube(size*2.0f);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}
}
// 增加一辆车
NxVehicle* NxAllVehicle::addVehicle(const NxVec3& pos, VehicleInfo vinfo, std::string name, NxScene* nxScene, NxPhysicsSDK* nxPhysics)
{
NxVehicleDesc vehicleDesc;
NxBoxShapeDesc boxShapes[2];
NxConvexShapeDesc carShape[2];
NxArray<NxVec3> points;
NxArray<NxVec3> points2;
NxReal halfWidth = vinfo.width / 2;//1.1529f;
NxReal halfLength = vinfo.length / 2;//2.5278f;
NxReal halfHeight = vinfo.height / 2; //0.6027;
points.pushBack().set(halfLength,-halfHeight * 0.1f, 0);
points.pushBack().set(halfLength * 0.7f, 0, 0);
points.pushBack().set(0.2f * halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(-halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f, halfWidth * 0.8f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f,-halfWidth * 0.8f);
points.pushBack().set(0,-halfHeight * 0.2f, halfWidth);
points.pushBack().set(0,-halfHeight * 0.2f,-halfWidth);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
for(NxU32 i = 2; i < 8; i++)
{
points2.pushBack(points[i]);
}
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f, halfWidth*0.7f);
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f,-halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f, halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f,-halfWidth*0.7f);
static NxConvexMeshDesc convexMesh;
convexMesh.numVertices = points.size();
convexMesh.points = &(points[0].x);
convexMesh.pointStrideBytes = sizeof(NxVec3);
convexMesh.flags |= NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(convexMesh, buf);
if(status)
{
carShape[0].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf.data));
vehicleDesc.carShapes.pushBack(&carShape[0]);
}
static NxConvexMeshDesc convexMesh2;
convexMesh2.numVertices = points2.size();
convexMesh2.points = (&points2[0].x);
convexMesh2.pointStrideBytes = sizeof(NxVec3);
convexMesh2.flags = NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf2;
status = NxCookConvexMesh(convexMesh2, buf2);
if(status)
{
carShape[1].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf2.data));
vehicleDesc.carShapes.pushBack(&carShape[1]);
}
vehicleDesc.position = pos;
vehicleDesc.mass = vinfo.mass;//1200;//monsterTruck ? 12000 :
vehicleDesc.digitalSteeringDelta = vinfo.steerablity;//0.04f;
vehicleDesc.steeringMaxAngle = vinfo.maxSteeringAngle; //30.f;
vehicleDesc.motorForce = vinfo.maxAcceleraion * vinfo.mass;//3500.f;//monsterTruck?180.f:
NxVehicleMotorDesc motorDesc;
NxVehicleGearDesc gearDesc;
NxReal wheelRadius = 0.4f;
vehicleDesc.maxVelocity = vinfo.maxVelocity; //80.f;//(monsterTruck)?40.f:80.f;
motorDesc.setToCorvette();
vehicleDesc.motorDesc = &motorDesc;
gearDesc.setToCorvette();
vehicleDesc.gearDesc = &gearDesc;
vehicleDesc.differentialRatio = 3.42f;
wheelRadius = 0.3622f;
vehicleDesc.centerOfMass.set(0,-0.7f,0);
NxWheelDesc wheelDesc[4];
for(NxU32 i=0;i<4;i++)
{
wheelDesc[i].wheelApproximation = 10;
//wheelDesc[i].wheelFlags |= NX_WF_BUILD_LOWER_HALF;
wheelDesc[i].wheelRadius = wheelRadius;//(monsterTruck)?wheelRadius*3.f:wheelRadius;
wheelDesc[i].wheelWidth = 0.1923f;//(monsterTruck)?0.3f:0.1923f;
wheelDesc[i].wheelSuspension = 0.2f;//(monsterTruck)?0.6f:0.2f;
wheelDesc[i].springRestitution = 7000;//monsterTruck?(crovette?5000:4000):7000;
wheelDesc[i].springDamping = 800;
wheelDesc[i].springBias = 0.0f; // 设为1.0后居然会出错!!!!!!!!
//wheelDesc[i].maxHandBraking = 1.f; //monsterTruck?0.5f:1.f;
wheelDesc[i].inverseWheelMass = 4.0f / vinfo.maxAcceleraion; // 换算成动力
wheelDesc[i].frictionToFront = 1.f;
wheelDesc[i].frictionToSide = 2.f;
vehicleDesc.carWheels.pushBack(&wheelDesc[i]);
}
NxReal heightPos = -0.3622f; //(monsterTruck)?1.f:
wheelDesc[0].position.set( 1.02f, heightPos, 1.26);
wheelDesc[1].position.set( 1.12f, heightPos,-1.54);
wheelDesc[2].position.set(-1.02f, heightPos, 1.26);
wheelDesc[3].position.set(-1.12f, heightPos,-1.54);
NxU32 flags = NX_WF_BUILD_LOWER_HALF;
wheelDesc[0].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[1].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[2].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
wheelDesc[3].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
vehicleDesc.steeringSteerPoint.set(1.8, 0, 0);
vehicleDesc.steeringTurnPoint.set(-1.5, 0, 0);
NxVehicle* vehicle = NxVehicle::createVehicle(nxScene, &vehicleDesc, name);
NxQuat q;
// 少转过90度,可能会有问题
q.fromAngleAxis(90.0f, NxVec3(0.0f, 1.0f, 0.0f));
vehicle->getActor()->setGlobalOrientationQuat(q);
vehicle->mVInfo = vinfo;
vehicle->setOilAmount(vinfo.oilAmount);
// 加到队列中
mAllVehicle.pushBack(vehicle);
mIsLive.pushBack(0);
// miUserVehicle = mAllVehicle.size() - 1;
return vehicle;
}
void TickCar ( void )
{
g_iValue = 10;
NxReal steeringAngle = gSteeringValue * gMaxSteeringAngle;
NxArray<CarWheelContact>::iterator i = wheelContactPoints.begin();
while(i != wheelContactPoints.end())
{
CarWheelContact& cwc = *i;
WheelShapeUserData* wheelData = (WheelShapeUserData *)(cwc.wheel->userData);
/*
struct CarWheelContact
{
NxActor* car;
NxShape* wheel;
NxVec3 contactPoint;
NxVec3 contactNormalForce;
NxVec3 contactFrictionForce;
};
*/
{
NxMat34 pose = cwc.wheel->getGlobalPose ( );
NxMat33 orient = pose.M;
NxVec3 pos = pose.t;
float glmat[16];
orient.getColumnMajorStride4(&(glmat[0]));
pos.get(&(glmat[12]));
glmat[3] = glmat[7] = glmat[11] = 0.0f;
glmat[15] = 1.0f;
SetWorldMatrix ( g_iValue, ( D3DXMATRIX* ) &glmat );
sObject* pObject = dbGetObject ( g_iValue );
pObject->position.vecPosition = D3DXVECTOR3 ( glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );
//dbPositionObject ( g_iValue, glmat [ 12 ], glmat [ 13 ], glmat [ 14 ] );
g_iValue++;
}
//apply to powered wheels only.
if (wheelData->frontWheel)
{
//steering:
NxMat33 wheelOrientation = cwc.wheel->getLocalOrientation();
wheelOrientation.setColumn(0, NxVec3(NxMath::cos(steeringAngle), 0, NxMath::sin(steeringAngle) ));
wheelOrientation.setColumn(2, NxVec3(NxMath::sin(steeringAngle), 0, -NxMath::cos(steeringAngle) ));
cwc.wheel->setLocalOrientation(wheelOrientation);
if (frontWheelIsPowered)
{
//get the world space orientation:
wheelOrientation = cwc.wheel->getGlobalOrientation();
NxVec3 steeringDirection;
wheelOrientation.getColumn(0, steeringDirection);
//the power direction of the front wheel is the wheel's axis as it is steered.
if (gMotorForce)
{
cwc.car->addForceAtPos(steeringDirection * gMotorForce,cwc.contactPoint);
}
}
}
if (!wheelData->frontWheel && rearWheelIsPowered)
{
//get the orientation of this car:
NxMat33 m = cwc.car->getGlobalOrientation();
NxVec3 carForwardAxis;
m.getColumn(0, carForwardAxis);
//the power direction of the rear wheel is always the car's length axis.
cwc.car->addForceAtPos(carForwardAxis * gMotorForce,cwc.contactPoint);
}
i++;
}
wheelContactPoints.clear();
}
int main(int argc, char **argv)
{
//init and PVD
bool initialized = false;
NxPhysicsSDK *physicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!physicsSDK)
return 0;
else
physicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
physicsSDK->setParameter(NX_CONTINUOUS_CD, true);
initialized = true;
//create a scene
bool sceneInit = false;
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, -9.81f, 0);
gScene = physicsSDK->createScene(sceneDesc);
if (gScene != NULL)
sceneInit = true;
//create a plane
{
NxActorDesc actorDesc;
NxPlaneShapeDesc planeDesc;
//planeDesc.normal = NxVec3(0, 0, 1);
//planeDesc.d = -10.0f;
actorDesc.shapes.pushBack(&planeDesc);
gScene->createActor(actorDesc);
}
//create material
NxMaterial *defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.3f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
//create a box
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.angularDamping = 0.5;
bodyDesc.linearVelocity = NxVec3(1, 0, 0);
actorDesc.body = &bodyDesc;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(2.0f, 3.0f, 4.0f);
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.density = 10.0f;
actorDesc.globalPose.t = NxVec3(10.0f, 10.0f, 10.0f);
gScene->createActor(actorDesc)->userData = NULL;
}
//create a cloth
{
// Create the objects in the scene
NxActor* sphere1 = CreateSphere(NxVec3(-1, 0, -0.5), 1, 10);
NxActor* box1 = CreateBox(NxVec3(1, 0, -1), NxVec3(1, 1, 1), 10);
NxActor* box2 = CreateBox(NxVec3(0, 6.5, 0), NxVec3(5, 0.5, 0.5), 10);
NxActor* box3 = CreateBox(NxVec3(0, 6.5, -7), NxVec3(5, 0.5, 0.5), 10);
box2->setLinearDamping(5);
box3->setLinearDamping(5);
NxD6JointDesc d6Desc;
d6Desc.actor[0] = NULL;
d6Desc.actor[1] = box2;
NxVec3 globalAnchor(0, 7, 0);
d6Desc.localAnchor[0] = globalAnchor;
box2->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
box3->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box3->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
d6Desc.localAxis[0] = NxVec3(1, 0, 0);
d6Desc.localNormal[0] = NxVec3(0, 1, 0);
d6Desc.localAxis[1] = NxVec3(1, 0, 0);
d6Desc.localNormal[1] = NxVec3(0, 1, 0);
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.yMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.zMotion = NX_D6JOINT_MOTION_FREE;
NxJoint* d6Joint = gScene->createJoint(d6Desc);
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(4, 7, 0);
clothDesc.thickness = 0.2;
//clothDesc.density = 1;
clothDesc.bendingStiffness = 0.5;
clothDesc.stretchingStiffness = 1;
//clothDesc.dampingCoefficient = 0.5;
clothDesc.friction = 0.5;
//clothDesc.collisionResponseCoefficient = 1;
//clothDesc.attachmentResponseCoefficient = 1;
//clothDesc.solverIterations = 5;
//clothDesc.flags |= NX_CLF_STATIC;
//clothDesc.flags |= NX_CLF_DISABLE_COLLISION;
//clothDesc.flags |= NX_CLF_VISUALIZATION;
//clothDesc.flags |= NX_CLF_GRAVITY;
clothDesc.flags |= NX_CLF_BENDING;
//clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING;
//clothDesc.flags |= NX_CLF_COMDAMPING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags &= ~NX_CLF_HARDWARE;
clothDesc.flags |= NX_CLF_FLUID_COLLISION;
clothDesc.selfCollisionThickness = 10.0f;
NxReal w = 8;
NxReal h = 7;
NxReal d = 0.05;
NxClothMeshDesc meshDesc;
bool mInitDone = false;
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
meshDesc.numVertices = (numX + 1) * (numY + 1);
meshDesc.numTriangles = numX*numY * 2;
meshDesc.pointStrideBytes = sizeof(NxVec3);
meshDesc.triangleStrideBytes = 3 * sizeof(NxU32);
meshDesc.vertexMassStrideBytes = sizeof(NxReal);
meshDesc.vertexFlagStrideBytes = sizeof(NxU32);
meshDesc.points = (NxVec3*)malloc(sizeof(NxVec3)*meshDesc.numVertices);
meshDesc.triangles = (NxU32*)malloc(sizeof(NxU32)*meshDesc.numTriangles * 3);
meshDesc.vertexMasses = 0;
meshDesc.vertexFlags = 0;
meshDesc.flags = 0;
int i, j;
NxVec3 *p = (NxVec3*)meshDesc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(-d*j, 0.0f, -d*i);
p++;
}
}
NxU32 *id = (NxU32*)meshDesc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX + 1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX + 1);
NxU32 i3 = i2 + 1;
if ((j + i) % 2) {
*id++ = i0;
*id++ = i2;
*id++ = i1;
*id++ = i1;
*id++ = i2;
*id++ = i3;
}
else {
*id++ = i0;
*id++ = i2;
*id++ = i3;
*id++ = i0;
*id++ = i3;
*id++ = i1;
}
}
}
// if we want tearing we must tell the cooker
// this way it will generate some space for particles that will be generated during tearing
if (meshDesc.flags & NX_CLF_TEARABLE)
meshDesc.flags |= NX_CLOTH_MESH_TEARABLE;
//cooking
static NxCookingInterface *gCooking = 0;
gCooking = NxGetCookingLib(NX_PHYSICS_SDK_VERSION);
gCooking->NxInitCooking();
gCooking->NxCookClothMesh(meshDesc, UserStream("e:\\cooked.bin", false));
//Meshdata Buffers
NxMeshData mReceiveBuffers;
// here we setup the buffers through which the SDK returns the dynamic cloth data
// we reserve more memory for vertices than the initial mesh takes
// because tearing creates new vertices
// the SDK only tears cloth as long as there is room in these buffers
NxU32 numVertices = meshDesc.numVertices;
NxU32 numTriangles = meshDesc.numTriangles;
NxU32 maxVertices = 2 * numVertices;
mReceiveBuffers.verticesPosBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesNormalBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesPosByteStride = sizeof(NxVec3);
mReceiveBuffers.verticesNormalByteStride = sizeof(NxVec3);
mReceiveBuffers.maxVertices = maxVertices;
mReceiveBuffers.numVerticesPtr = (NxU32*)malloc(sizeof(NxU32));
// the number of triangles is constant, even if the cloth is torn
NxU32 maxIndices = 3 * numTriangles;
mReceiveBuffers.indicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxIndices);
mReceiveBuffers.indicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxIndices = maxIndices;
mReceiveBuffers.numIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// the parent index information would be needed if we used textured cloth
NxU32 maxParentIndices = maxVertices;
mReceiveBuffers.parentIndicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxParentIndices);
mReceiveBuffers.parentIndicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxParentIndices = maxParentIndices;
mReceiveBuffers.numParentIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// init the buffers in case we want to draw the mesh
// before the SDK as filled in the correct values
*mReceiveBuffers.numVerticesPtr = 0;
*mReceiveBuffers.numIndicesPtr = 0;
clothDesc.clothMesh = physicsSDK->createClothMesh(UserStream("e:\\cooked.bin", true));
clothDesc.meshData = mReceiveBuffers;
NxCloth *mCloth;
mCloth = gScene->createCloth(clothDesc);
mCloth->attachToShape(*box2->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
mCloth->attachToShape(*box3->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
//create fluid 1
{
//fluid = CreateFluid(NxVec3(0, 12, -3.5), 15, 0.1, gScene);
}
//create fluid 2
{
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[max_particles];
unsigned initParticlesNum = 0;
//Create particle filled sphere in buffer.
NxVec3 fluidPos(0, 2, 0);
NxVec3 offsetPos(0, 12, -3.5);
float distance = 0.1f;
//#ifdef __PPCGEKKO__
// unsigned sideNum = 12;
//#else
unsigned sideNum = 16;
//#endif
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticlesNum = 0;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
CreateParticleSphere(initParticleData, max_particles, false, offsetPos, NxVec3(0, 0, 0), 0.0f, distance, sideNum);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = max_particles;
fluidDesc.kernelRadiusMultiplier = 2.0f;
fluidDesc.restParticlesPerMeter = 10.0f;
fluidDesc.motionLimitMultiplier = 3.0f;
fluidDesc.packetSizeMultiplier = 8;
fluidDesc.collisionDistanceMultiplier = 0.1;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 40.0f;
fluidDesc.restDensity = 1000.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.0f;
fluidDesc.dynamicFrictionForStaticShapes = 0.05f;
fluidDesc.simulationMethod = NX_F_SPH;
fluidDesc.flags &= ~NX_FF_HARDWARE;
//Add initial particles to fluid creation.
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.4f, 0.5f, 0.9f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
}
//simulate
for (int i = 0; i < 3000; i++)
{
gScene->simulate(1.0f / 60.f);
gScene->flushStream();
//GetPhysicsResults
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
// update fluid status
if (i == 400)
{
MyFluid* fluid = gMyFluids[0];
const ParticleSDK* particles = fluid->getParticles();
unsigned particlesNum = fluid->getParticlesNum();
if (!gUpdates)
{
gUpdates = new ParticleUpdateSDK[max_particles];
}
for (unsigned i = 0; i < particlesNum; i++)
{
ParticleUpdateSDK& update = gUpdates[i];
NxVec3& force = update.force;
force.set(0, 0, 0);
NxU32& flags = update.flags;
if (i >= particlesNum/2)
{
flags = 0;
flags |= NX_FP_DELETE;
}
else
{
flags = 0;
}
}
//在这里更改粒子的属性
NxParticleUpdateData updateData;
updateData.bufferFlag = &gUpdates[0].flags;
updateData.bufferFlagByteStride = sizeof(ParticleUpdateSDK);
fluid->getNxFluid()->updateParticles(updateData);
}
}
//release
if (physicsSDK != NULL)
{
if (gScene != NULL)
physicsSDK->releaseScene(*gScene);
gScene = NULL;
NxReleasePhysicsSDK(physicsSDK);
physicsSDK = NULL;
}
return 1;
}
void SampleCollision::setup()
{
SetTitleString(getName());
#ifdef __PPCGEKKO__
SetHelpString(" a: create rigid bodies");
#else
SetHelpString(" b: create rigid bodies");
#endif
gShadows = false;
// Create objects in the scene
if (!InitCooking(gAllocator, &gErrorStream))
{
printf("\nError: Unable to initialize the cooking library, exiting the sample.\n\n");
return;
}
// Load ASE file
CookASE("fluidSample.ase", gScene, NxVec3(1,10,0));
CookASE("coolFlow.ase", gScene, NxVec3(1,6,-0), NxVec3(1,0.2,1));
CloseCooking();
// Add a box shaped drain.
NxActorDesc boxDrainActor;
NxBoxShapeDesc boxDrainShape;
boxDrainActor.shapes.pushBack(&boxDrainShape);
boxDrainShape.dimensions.set(40,1,40);
boxDrainShape.shapeFlags |= NX_SF_FLUID_DRAIN;
boxDrainActor.globalPose.t.set(0, 0, 0);
gScene->createActor(boxDrainActor);
//Pre cook hotspots
NxBounds3 precookAABB;
precookAABB.set(NxVec3(-20,-20,-20), NxVec3(20,20,20));
// gScene->cookFluidMeshHotspot(precookAABB, PACKET_SIZE_MULTIPLIER, REST_PARTICLES_PER_METER, KERNEL_RADIUS_MULTIPLIER, MOTION_LIMIT_MULTIPLIER, COLLISION_DISTANCE_MULTIPLIER );
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[MAX_PARTICLES];
unsigned initParticlesNum = 0;
NxVec3 fluidPos(0, 11.6, 0);
float distance = 0.1f;
unsigned sideNum = 16;
float rad = sideNum*distance*0.5f;
for (unsigned i=0; i<sideNum; i++)
for (unsigned j=0; j<sideNum; j++)
for (unsigned k=0; k<sideNum; k++)
{
NxVec3 p = NxVec3(i*distance,j*distance,k*distance);
if (p.distance(NxVec3(rad,rad,rad)) < rad)
{
p += fluidPos;
ParticleSDK& newParticle = initParticles[initParticlesNum++];
newParticle.position = p;
newParticle.velocity = NxVec3(0,0,0);
}
}
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = initParticlesNum;
fluidDesc.kernelRadiusMultiplier = KERNEL_RADIUS_MULTIPLIER;
fluidDesc.restParticlesPerMeter = REST_PARTICLES_PER_METER;
fluidDesc.collisionDistanceMultiplier = COLLISION_DISTANCE_MULTIPLIER;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 22.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.4f;
fluidDesc.dynamicFrictionForStaticShapes = 0.03f;
fluidDesc.simulationMethod = NX_F_SPH; //NX_F_NO_PARTICLE_INTERACTION;
if (!gHardwareSimulation)
fluidDesc.flags &= ~NX_FF_HARDWARE;
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.2f,0.3f,0.7f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
delete[] initParticles;
gCameraPos.set(23, 14, 23);
gCameraForward = fluidPos - NxVec3(0, 3, 0) - gCameraPos;
gCameraForward.normalize();
}
