pRigidBody*pFactory::createBox(CK3dEntity *referenceObject,CK3dEntity *worldReferenceObject,pObjectDescr*descr,int creationFlags)
{
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
pRigidBody*result = world->getBody(referenceObject);
if(result)
{
result->destroy();
delete result;
result = NULL;
}
// we create our final body in the given world :
result = createBody(referenceObject,worldReferenceObject);
if (result)
{
result->setWorld(world);
using namespace vtTools::AttributeTools;
result->setFlags(descr->flags);
result->setHullType(descr->hullType);
result->setDataFlags(0x000);
result->checkDataFlags();
if (result->getSkinWidth()==-1.0f)
{
result->setSkinWidth(0.01f);
}
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
VxVector box_s= BoxGetZero(referenceObject);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
float density = result->getDensity();
float radius = referenceObject->GetRadius();
if (referenceObject->GetRadius() < 0.001f )
{
radius = 1.0f;
}
//////////////////////////////////////////////////////////////////////////
//create actors description
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
//////////////////////////////////////////////////////////////////////////
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
if (isFlagOn(result->getDataFlags(),EDF_MATERIAL_PARAMETER))
{
NxMaterialDesc entMatNull;entMatNull.setToDefault();
NxMaterialDesc *entMat = createMaterialFromEntity(referenceObject);
material = world->getScene()->createMaterial(entMatNull);
material->loadFromDesc(*entMat);
result->setMaterial(material);
}else{
if (world->getDefaultMaterial())
{
result->setMaterial(world->getDefaultMaterial());
}
}
//////////////////////////////////////////////////////////////////////////
NxBoxShapeDesc boxShape;
if (creationFlags & E_OFC_DIMENSION )
{
boxShape.dimensions = pMath::getFrom(box_s)*0.5f;
}
boxShape.density = descr->density;
boxShape.materialIndex = result->getMaterial()->getMaterialIndex();
if (result->getSkinWidth()!=-1.0f)
boxShape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&boxShape);
//////////////////////////////////////////////////////////////////////////
//dynamic object ?
if (result->getFlags() & BF_Moving){
actorDesc.body = &bodyDesc;
}
else
actorDesc.body = NULL;
//////////////////////////////////////////////////////////////////////////
//set transformations
actorDesc.density = descr->density;
if (creationFlags & E_OFC_POSITION)
{
actorDesc.globalPose.t = pos;
}
if (creationFlags & E_OFC_POSITION)
{
actorDesc.globalPose.M = rot;
}
//////////////////////////////////////////////////////////////////////////
//create the actor
int v = actorDesc.isValid();
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//////////////////////////////////////////////////////////////////////////
//set additional settings :
result->setActor(actor);
actor->setName(referenceObject->GetName());
actor->userData= result;
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&result->getMassOffset());
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
actor->raiseBodyFlag(NX_BF_KINEMATIC);
}
result->enableCollision((result->getFlags() & BF_Collision));
if (result->getFlags() & BF_Moving)
{
if (!(result->getFlags() & BF_Gravity))
{
actor->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
}
}
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
}
}
return result;
}
pRigidBody*pFactory::createRigidBody(CK3dEntity *referenceObject,pObjectDescr& oDescr)
{
CK3dEntity *worldReferenceObject = (CK3dEntity*)GetPMan()->GetContext()->GetObject(oDescr.worlReference);
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
if (!world)
{
xLogger::xLog(XL_START,ELOGWARNING,E_LI_MANAGER,"world object invalid, setting to default world");
world = GetPMan()->getDefaultWorld();
}
pRigidBody*result = world->getBody(referenceObject);
// create minimum object
result = createBody(referenceObject,worldReferenceObject);
if (!result)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"failed");
return NULL;
}
result->setWorld(world);
result->setFlags(oDescr.flags);
result->setHullType(oDescr.hullType);
if (oDescr.density <= 0.001f)
oDescr.density = 1.0f;
if (oDescr.skinWidth <= 0.001f)
oDescr.skinWidth = 0.025f;
result->setDensity(oDescr.density);
bool hierarchy = (oDescr.flags & BF_Hierarchy);
bool isDeformable = oDescr.flags & BF_Deformable;
bool trigger = oDescr.flags & BF_TriggerShape;
//################################################################
//
// Deformable ?
//
pCloth *cloth = NULL;
pClothDesc cDescr;
if (isDeformable)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"deformable feature disabled in this release");
return NULL;
cDescr.setToDefault();
cDescr.worldReference = worldReferenceObject->GetID();
if ( result->getFlags() & BF_Gravity )
{
cDescr.flags |= PCF_Gravity;
}
if ( result->getFlags() & BF_Collision )
{
}
if (!cloth)
{
cloth = pFactory::Instance()->createCloth(referenceObject,cDescr);
if (!cloth)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Cannot create cloth : factory object failed !");
}
}
}
float density = oDescr.density;
VxVector box_s= BoxGetZero(referenceObject);
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
//----------------------------------------------------------------
//
// Fill NxActorDescr
//
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
//
// Fix parameters to default values
actorDesc.density = oDescr.density;
//skin width
if (oDescr.skinWidth<=0.0001f)
oDescr.skinWidth=0.025f;
float radius = result->GetVT3DObject()->GetRadius();
//----------------------------------------------------------------
//
// Create the physic mesh. Externalizing this procedure will corrupt the
// actor description object.
//
switch(oDescr.hullType)
{
//////////////////////////////////////////////////////////////////////////
case HT_Box:
{
NxBoxShapeDesc shape;
if (! (oDescr.flags & BF_Deformable) )
{
shape.dimensions = pMath::getFrom(box_s)*0.5f;
}
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Sphere:
{
NxSphereShapeDesc shape;
if (! (oDescr.flags & BF_Deformable) )
{
shape.radius = radius;
}
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Mesh:
{
NxTriangleMeshDesc myMesh;
myMesh.setToDefault();
pFactory::Instance()->createMesh(result->getWorld()->getScene(),result->GetVT3DObject()->GetCurrentMesh(),myMesh);
NxTriangleMeshShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return false;
}
MemoryWriteBuffer buf;
status = CookTriangleMesh(myMesh, buf);
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't cook mesh!");
return false;
}
shape.meshData = GetPMan()->getPhysicsSDK()->createTriangleMesh(MemoryReadBuffer(buf.data));
shape.density = density;
shape.group = oDescr.collisionGroup;
actorDesc.shapes.pushBack(&shape);
shape.skinWidth = oDescr.skinWidth;
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexMesh:
{
if (result->GetVT3DObject()->GetCurrentMesh())
{
if (result->GetVT3DObject()->GetCurrentMesh()->GetVertexCount()>=256 )
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Only 256 vertices for convex meshes allowed, by Ageia!");
return false;
}
}else
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Object has no mesh!");
return false;
}
NxConvexMeshDesc myMesh;
myMesh.setToDefault();
pFactory::Instance()->createConvexMesh(result->getWorld()->getScene(),result->GetVT3DObject()->GetCurrentMesh(),myMesh);
NxConvexShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return false;
}
MemoryWriteBuffer buf;
status = CookConvexMesh(myMesh, buf);
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't cook convex mesh!");
return false;
}
shape.meshData = GetPMan()->getPhysicsSDK()->createConvexMesh(MemoryReadBuffer(buf.data));
shape.density = density;
actorDesc.shapes.pushBack(&shape);
if (oDescr.skinWidth!=-1.0f)
shape.skinWidth = oDescr.skinWidth;
int h = shape.isValid();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexCylinder:
{
NxConvexShapeDesc shape;
pConvexCylinderSettings &cSettings = oDescr.convexCylinder;
iAssertW( (oDescr.mask & OD_ConvexCylinder),pFactory::Instance()->findSettings(cSettings,result->GetVT3DObject()),
"Hull type has been set to convex cylinder but there is no descriptions passed or activated in the pObjectDescr::mask.Trying object attributes....");
if (cSettings.radius.reference)
cSettings.radius.evaluate(cSettings.radius.reference);
if (cSettings.height.reference)
cSettings.height.evaluate(cSettings.height.reference);
iAssertW( cSettings.isValid() , cSettings.setToDefault(),"");
cSettings.radius.value = cSettings.radius.value > 0.0f ? (cSettings.radius.value*0.5) : (box_s.v[cSettings.radius.referenceAxis] * 0.5f);
cSettings.height.value = cSettings.height.value > 0.0f ? cSettings.height.value : (box_s.v[cSettings.height.referenceAxis] * 0.5f);
bool resultAssert = true;
iAssertWR( pFactory::Instance()->_createConvexCylinderMesh(&shape,cSettings,result->GetVT3DObject()),"",resultAssert);
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Capsule:
{
NxCapsuleShapeDesc shape;
pCapsuleSettingsEx &cSettings = oDescr.capsule;
if (!( oDescr.mask & OD_Capsule) )
{
// try over attribute :
pFactory::Instance()->findSettings(cSettings,result->GetVT3DObject());
}
bool resultAssert = true;
if (cSettings.radius.reference)
cSettings.radius.evaluate(cSettings.radius.reference);
if (cSettings.height.reference)
cSettings.height.evaluate(cSettings.height.reference);
iAssertWR(cSettings.isValid(),cSettings.setToDefault(),resultAssert);
shape.radius = cSettings.radius.value > 0.0f ? (cSettings.radius.value*0.5) : (box_s.v[cSettings.radius.referenceAxis] * 0.5f);
shape.height = cSettings.height.value > 0.0f ? (cSettings.height.value-( 2*shape.radius)) : (box_s.v[cSettings.height.referenceAxis] - ( 2*shape.radius)) ;
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
case HT_Wheel:
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Wheel shape can be sub shape only!");
return false;
}
}
if ( !isDeformable)
{
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = rot;
}
//----------------------------------------------------------------
//
// Create the final NxActor
//
if (oDescr.flags & BF_Moving)
actorDesc.body = &bodyDesc;
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//----------------------------------------------------------------
//
//
//
result->setActor(actor);
actor->setName(referenceObject->GetName());
result->SetVT3DObject(referenceObject);
actor->userData= result;
//////////////////////////////////////////////////////////////////////////
//Deformable :
if (isDeformable && cloth)
{
pDeformableSettings dSettings;
dSettings.ImpulsThresold = 50.0f;
dSettings.PenetrationDepth= 0.1f ;
dSettings.MaxDeform = 2.0f;
CKParameterOut *poutDS = referenceObject->GetAttributeParameter(GetPMan()->att_deformable);
if (poutDS)
{
pFactory::Instance()->copyTo(dSettings,poutDS);
}
cloth->attachToCore(referenceObject,dSettings.ImpulsThresold,dSettings.PenetrationDepth,dSettings.MaxDeform);
result->setCloth(cloth);
}
//////////////////////////////////////////////////////////////////////////
//
// Extra settings :
//
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&oDescr.massOffsetLinear);
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
result->setKinematic(true);
}
if (result->getFlags() & BF_Moving )
{
result->enableGravity(result->getFlags() & BF_Gravity);
}
if (result->getFlags() & BF_Sleep )
{
result->setSleeping(true);
}
if (oDescr.worlReference == 0)
{
if (GetPMan()->getDefaultWorld())
{
oDescr.worlReference = GetPMan()->getDefaultWorld()->getReference()->GetID();
}
}
//----------------------------------------------------------------
//
// store mesh meta info in the first main mesh
//
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
}
result->enableCollision( (result->getFlags() & BF_Collision), referenceObject );
//----------------------------------------------------------------
//
// Adjust pivot
//
if ( (oDescr.mask & OD_Pivot) )
{
iAssertW1( oDescr.pivot.isValid(),oDescr.pivot.setToDefault());
result->updatePivotSettings(oDescr.pivot,referenceObject);
}else if(pFactory::Instance()->findSettings(oDescr.collision,referenceObject))
result->updatePivotSettings(oDescr.pivot,referenceObject);
//----------------------------------------------------------------
//
// Optimization
//
if ((oDescr.mask & OD_Optimization ))
{
iAssertW1( oDescr.optimization.isValid(),oDescr.optimization.setToDefault());
result->updateOptimizationSettings(oDescr.optimization);
}
else{
if(pFactory::Instance()->findSettings(oDescr.optimization,referenceObject))
{
iAssertW1( oDescr.optimization.isValid(),oDescr.optimization.setToDefault());
result->updateOptimizationSettings(oDescr.optimization);
}
}
//----------------------------------------------------------------
//
// Collision
//
if ((oDescr.mask & OD_Collision))
result->updateCollisionSettings(oDescr.collision,referenceObject);
else if(pFactory::Instance()->findSettings(oDescr.collision,referenceObject))
result->updateCollisionSettings(oDescr.collision,referenceObject);
//----------------------------------------------------------------
//
// Material
//
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
pMaterial &bMaterial = oDescr.material;
if (oDescr.mask & OD_Material)
{
result->updateMaterialSettings(bMaterial,referenceObject);
}else
{
bool hasMaterial = pFactory::Instance()->findSettings(bMaterial,referenceObject);
if (!hasMaterial)
{
if (world->getDefaultMaterial())
{
int z = (int)world->getDefaultMaterial()->userData;
shape->setMaterial(world->getDefaultMaterial()->getMaterialIndex());
}
}else{
iAssertW( bMaterial.isValid(),bMaterial.setToDefault(),
"Material settings were still invalid : ");
NxMaterialDesc nxMatDescr;
pFactory::Instance()->copyTo(nxMatDescr,bMaterial);
NxMaterial *nxMaterial = world->getScene()->createMaterial(nxMatDescr);
if (nxMaterial)
{
shape->setMaterial(nxMaterial->getMaterialIndex());
}
}
}
xLogger::xLog(ELOGINFO,E_LI_MANAGER,"Rigid body creation successful : %s",referenceObject->GetName());
result->setInitialDescription(&oDescr);
//----------------------------------------------------------------
//
// Hierarchy mode fix :
//
if ( (oDescr.flags & BF_Hierarchy) )
oDescr.hirarchy = true;
if ( oDescr.hirarchy )
oDescr.flags << BF_Hierarchy;
if ( (!oDescr.hirarchy) || !(oDescr.flags & BF_Hierarchy) )
return result;
//----------------------------------------------------------------
//
// Parse hirarchy
//
CK3dEntity* subEntity = NULL;
while (subEntity= referenceObject->HierarchyParser(subEntity) )
{
pObjectDescr *subDescr = NULL;
int attTypePBSetup = GetPMan()->getAttributeTypeByGuid(VTS_PHYSIC_ACTOR);
if (subEntity->HasAttribute(attTypePBSetup))
{
subDescr = new pObjectDescr();
CKParameterOut *par = subEntity->GetAttributeParameter(attTypePBSetup);
IParameter::Instance()->copyTo(subDescr,par);
subDescr->version = pObjectDescr::E_OD_VERSION::OD_DECR_V1;
}
if (!subDescr)
continue;
if (subDescr->flags & BF_SubShape)
{
//////////////////////////////////////////////////////////////////////////
//
// Regular Mesh :
//
if (subDescr->hullType != HT_Cloth)
{
//result->addSubShape(NULL,*subDescr,subEntity);
VxQuaternion refQuad;subEntity->GetQuaternion(&refQuad,referenceObject);
VxVector relPos;subEntity->GetPosition(&relPos,referenceObject);
shape = pFactory::Instance()->createShape(referenceObject,*subDescr,subEntity,subEntity->GetCurrentMesh(),relPos,refQuad);
//NxShape *shape = result->getSubShape(subEntity);
if (shape)
{
//----------------------------------------------------------------
//
// check for collision setup
//
//try to get get from child attributes first
/*
if(pFactory::Instance()->findSettings(subDescr->collision,subEntity))
{
result->updateCollisionSettings(subDescr->collision,subEntity);
continue;
}
if ( (subDescr->mask & OD_Optimization) )
{
//if (pFactory::Instance()->findSettings(subDescr->collision,subEntity))
result->updateCollisionSettings(subDescr->collision,subEntity);
}
else if ( (oDescr.mask & OD_Optimization) )
{
result->updateCollisionSettings(oDescr.collision,subEntity);
}else if(pFactory::Instance()->findSettings(subDescr->collision,subEntity))
{
result->updateCollisionSettings(subDescr->collision,subEntity);
}
*/
}
}
//////////////////////////////////////////////////////////////////////////
//
// Cloth Mesh :
//
if (subDescr->hullType == HT_Cloth)
{
//pClothDesc *cloth = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
}
}
//----------------------------------------------------------------
//
// Adjust mass
//
//----------------------------------------------------------------
//
// Collision
//
if ((oDescr.mask & OD_Mass))
result->updateMassSettings(oDescr.mass);
else if(pFactory::Instance()->findSettings(oDescr.mass,referenceObject))
result->updateMassSettings(oDescr.mass);
return result;
nothing:
return result;
}
void NxRobot::cloneRobot(int indexNewScene, int indexNewRobot, NxVec3 newPosition, int indexNewTeam)
{
NxRobot* nxRobotSource = Simulation::gScenes[this->indexScene]->allRobots->getRobotByIdByTeam(this->id, this->idTeam);
NxActor* robotActor = Simulation::cloneActor(nxRobotSource->getActor(),indexNewScene);
//NxBounds3 bodyBounds;
//robotShapes[0]->getWorldBounds(bodyBounds);
NxVehicleDesc vehicleDesc;
vehicleDesc.position = NxVec3(robotActor->getGlobalPosition());
vehicleDesc.mass = robotActor->getMass();
//vehicleDesc.motorForce = 70000;
//vehicleDesc.maxVelocity = 300.f;
//vehicleDesc.cameraDistance = 8.0f;
vehicleDesc.centerOfMass.set(robotActor->getCMassLocalPosition());
//vehicleDesc.differentialRatio = 3.42f;
//vehicleDesc.transmissionEfficiency
vehicleDesc.actor = robotActor;
//Motor descricao
//NxVehicleMotorDesc motorsDesc[4];
//for(NxU32 i=0;i<4;i++)
//{
//motorsDesc[i].setToCorvette();
//vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
//}
//Roda (Wheel) descricao
int numberWheels = nxRobotSource->getNbWheels();
NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
for(NxU32 i=0; i<numberWheels; i++)
{
//NxActor* wheelModel = Simulation::getActorWheel(indexSourceScene,indexNewRobot,i);
//NxActorDesc wheelActorDesc;
//wheelModel->saveToDesc(wheelActorDesc);
//Simulation::gScenes[0]->releaseActor(*wheelModel);
//NxShape*const* wheelShapes = actorWheel->getShapes();
//NxBounds3 wheelBounds;
//wheelShapes[0]->getWorldBounds(wheelBounds);
const NxWheel* wheel = nxRobotSource->getWheel(i);
NxWheelShape* wheelShape = ((NxWheel2*)wheel)->getWheelShape();
//wheelDesc[i].wheelApproximation = 10;
wheelDesc[i].wheelOrientation = wheelShape->getGlobalOrientation();
wheelDesc[i].position.set(wheelShape->getGlobalPosition()-robotActor->getGlobalPosition());
//wheelDesc[i].position.z = 0;
wheelDesc[i].id = i;
wheelDesc[i].wheelFlags = ((NxWheel*)wheel)->getWheelFlags();
wheelDesc[i].wheelRadius = wheel->getRadius();
//wheelDesc[i].wheelWidth = 100;
wheelDesc[i].wheelSuspension = wheelShape->getSuspensionTravel();
wheelDesc[i].springRestitution = 0;
wheelDesc[i].springDamping = 0;
wheelDesc[i].springBias = 0.0f;
wheelDesc[i].maxBrakeForce = 100;
wheelDesc[i].frictionToFront = 0.1f;//0.1f;
wheelDesc[i].frictionToSide = 0;//0.02f;//
wheelDesc[i].inverseWheelMass = wheelShape->getInverseWheelMass(); //TODO: CONFIGURAR PARÂMETRO
//Angulo das Rodas (Omni)
wheelDesc[i].angWheelRelRobot = ((NxWheel2*)wheel)->angWheelRelRobot;
vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
}
//Criar robot, vehicle base
NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexNewScene], &vehicleDesc);
//NxRobot* robot = (NxRobot*)NxRobot::createVehicle(gScenes[indexSourceScene], &vehicleDesc);
robot->setId(indexNewRobot);
robot->setIdTeam(indexNewTeam);
robot->indexScene = indexNewScene;
robot->bodyRadius = nxRobotSource->bodyRadius;
//Dribbler and Kicker
NxShape*const* robotShapes = robotActor->getShapes();
for(int i=0; i<robotActor->getNbShapes(); i++) {
const char* shapeName = robotShapes[i]->getName();
if(shapeName) {
char* dribblerName = new char[10];//"Driblador\0"
dribblerName[9] = 0;
memcpy(dribblerName, shapeName, strlen(dribblerName));
if(strcmp(dribblerName, "Driblador") == 0) {
robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
}
delete dribblerName;
}
}
robot->kicker->kickerShapeDesc = new NxBoxShapeDesc();
NxShapeDesc* shapeDesc = nxRobotSource->kicker->kickerShapeDesc;
robot->kicker->kickerShapeDesc->localPose = shapeDesc->localPose;
((NxBoxShapeDesc*)(robot->kicker->kickerShapeDesc))->dimensions = ((NxBoxShapeDesc*)shapeDesc)->dimensions;
//Initial Pose
robot->setInitialPose(robotActor->getGlobalPose());
robotActor->putToSleep();
//Transladando o robo
robot->getActor()->setGlobalPosition(newPosition);
string label;
string plabel = "Robo";
stringstream out;
out << indexNewRobot;
out << "-";
out << indexNewTeam;
//out << "-";
//out << indexNewScene;
label.append(plabel);
label.append(out.str());
char* arrayLabel = new char[label.size()+1];
arrayLabel[label.size()]=0;
memcpy(arrayLabel, label.c_str(), label.size());
robotActor->setName(arrayLabel);
//delete arrayLabel;
}
pRigidBody*pFactory::createRigidBodyFull(CK3dEntity *referenceObject, CK3dEntity *worldReferenceObject)
{
//################################################################
//
// Sanity checks
//
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
pRigidBody*result = world->getBody(referenceObject);
if(result)
{
result->destroy();
delete result;
result = NULL;
}
//################################################################
//
// Construct the result
//
result = createBody(referenceObject,worldReferenceObject);
if (result)
{
result->setWorld(world);
//----------------------------------------------------------------
//
// Handle different attribute types (Object or pBSetup)
//
int attTypeOld = GetPMan()->GetPAttribute();
int attTypeNew = GetPMan()->getAttributeTypeByGuid(VTS_PHYSIC_ACTOR);
pObjectDescr *oDescr = NULL;
//----------------------------------------------------------------
//
// the old way :
//
if (referenceObject->HasAttribute(attTypeOld))
{
result->retrieveSettingsFromAttribute();
oDescr = pFactory::Instance()->createPObjectDescrFromParameter(referenceObject->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
bool hierarchy = result->getFlags() & BF_Hierarchy;
bool isDeformable = result->getFlags() & BF_Deformable;
bool trigger = (result->getFlags() & BF_TriggerShape);
//----------------------------------------------------------------
//
// the new way
//
if (referenceObject->HasAttribute(attTypeNew))
{
oDescr = new pObjectDescr();
}
result->checkDataFlags();
/*
pObjectDescr *oDescr =
if (!oDescr)
return result;
*/
//################################################################
//
// Older versions have the hierarchy mode settings not the body flags
// We migrate it :
//
if (oDescr->hirarchy)
{
result->setFlags( (result->getFlags() | BF_Hierarchy ));
}
if (hierarchy)
{
oDescr->hirarchy = hierarchy;
}
//################################################################
//
// Deformable ?
//
pCloth *cloth = NULL;
pClothDesc cDescr;
if (isDeformable)
{
cDescr.setToDefault();
cDescr.worldReference = worldReferenceObject->GetID();
if ( result->getFlags() & BF_Gravity )
{
cDescr.flags |= PCF_Gravity;
}
if ( result->getFlags() & BF_Collision )
{
}
if (!cloth)
{
cloth = pFactory::Instance()->createCloth(referenceObject,cDescr);
if (!cloth)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Cannot create cloth : factory object failed !");
}
}
}
//################################################################
//
// Some settings
//
if (result->getSkinWidth()==-1.0f)
{
result->setSkinWidth(0.01f);
}
float radius = referenceObject->GetRadius();
if (referenceObject->GetRadius() < 0.001f )
{
radius = 1.0f;
}
float density = result->getDensity();
VxVector box_s= BoxGetZero(referenceObject);
//################################################################
//
// Calculate destination matrix
//
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
//////////////////////////////////////////////////////////////////////////
//create actors description
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
switch(result->getHullType())
{
//////////////////////////////////////////////////////////////////////////
case HT_Box:
{
NxBoxShapeDesc shape;
if (! isDeformable )
{
shape.dimensions = pMath::getFrom(box_s)*0.5f;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Sphere:
{
NxSphereShapeDesc shape;
if (! isDeformable )
{
shape.radius = radius;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Mesh:
{
if (! (result->getFlags() & BF_Deformable) )
{
//xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Can not use a mesh as de");
//return NULL;
}
NxTriangleMeshDesc myMesh;
myMesh.setToDefault();
createMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxTriangleMeshShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return NULL;
}
MemoryWriteBuffer buf;
status = CookTriangleMesh(myMesh, buf);
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't cook mesh!");
return NULL;
}
shape.meshData = getManager()->getPhysicsSDK()->createTriangleMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexMesh:
{
if (referenceObject->GetCurrentMesh())
{
if (referenceObject->GetCurrentMesh()->GetVertexCount()>=256 )
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Only 256 vertices for convex meshs allowed, by Ageia!");
goto nothing;
}
}else
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Object has no mesh!");
goto nothing;
}
NxConvexMeshDesc myMesh;
myMesh.setToDefault();
createConvexMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxConvexShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
goto nothing;
}
MemoryWriteBuffer buf;
status = CookConvexMesh(myMesh, buf);
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't cook convex mesh!");
goto nothing;
}
shape.meshData = getManager()->getPhysicsSDK()->createConvexMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
int h = shape.isValid();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexCylinder:
{
NxConvexShapeDesc shape;
if (!_createConvexCylinder(&shape,referenceObject))
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Capsule:
{
NxCapsuleShapeDesc shape;
if ( !isDeformable )
{
pCapsuleSettings cSettings;
pFactory::Instance()->findSettings(cSettings,referenceObject);
shape.radius = cSettings.radius > 0.0f ? cSettings.radius : box_s.v[cSettings.localRadiusAxis] * 0.5f;
shape.height = cSettings.height > 0.0f ? cSettings.height : box_s.v[cSettings.localLengthAxis] - ( 2*shape.radius) ;
}
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
// shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
case HT_Wheel:
{
// xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
/*
NxWheelShapeDesc shape;
shape.radius = box_s.z*0.5f;
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
if (referenceObject && referenceObject->HasAttribute(GetPMan()->att_wheelDescr ))
{
CKParameter *par = referenceObject->GetAttributeParameter(GetPMan()->att_wheelDescr );
if (par)
{
pWheelDescr *wheelDescr = pFactory::Instance()->copyTo(par);
if (wheelDescr)
{
float heightModifier = (wheelDescr->wheelSuspension + radius ) / wheelDescr->wheelSuspension;
shape.suspension.damper = wheelDescr->springDamping * heightModifier;
shape.suspension.targetValue = wheelDescr->springBias * heightModifier;
shape.suspensionTravel = wheelDescr->wheelSuspension;
shape.lateralTireForceFunction.stiffnessFactor *= wheelDescr->frictionToSide;
shape.longitudalTireForceFunction.stiffnessFactor*=wheelDescr->frictionToFront;
shape.inverseWheelMass = 0.1;
int isValid = shape.isValid();
actorDesc.shapes.pushBack(&shape);
}
}else
{
XString name = result->GetVT3DObject()->GetName();
name << " needs to have an additional wheel attribute attached ! ";
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,name.CStr());
}
}
*/
break;
}
}
//////////////////////////////////////////////////////////////////////////
//dynamic object ?
if (result->getFlags() & BF_Moving){
actorDesc.body = &bodyDesc;
}
else
actorDesc.body = NULL;
//////////////////////////////////////////////////////////////////////////
//set transformations
actorDesc.density = result->getDensity();
if ( !isDeformable)
{
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = rot;
}
//////////////////////////////////////////////////////////////////////////
//create the actor
int v = actorDesc.isValid();
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//////////////////////////////////////////////////////////////////////////
//set additional settings :
result->setActor(actor);
actor->setName(referenceObject->GetName());
actor->userData= result;
//////////////////////////////////////////////////////////////////////////
//Deformable :
if (isDeformable && cloth)
{
pDeformableSettings dSettings;
dSettings.ImpulsThresold = 50.0f;
dSettings.PenetrationDepth= 0.1f ;
dSettings.MaxDeform = 2.0f;
CKParameterOut *poutDS = referenceObject->GetAttributeParameter(GetPMan()->att_deformable);
if (poutDS)
{
pFactory::Instance()->copyTo(dSettings,poutDS);
}
cloth->attachToCore(referenceObject,dSettings.ImpulsThresold,dSettings.PenetrationDepth,dSettings.MaxDeform);
result->setCloth(cloth);
}
//////////////////////////////////////////////////////////////////////////
//
// Extra settings :
//
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&result->getMassOffset());
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
result->setKinematic(true);
}
if (result->getFlags() & BF_Moving )
{
result->enableGravity(result->getFlags() & BF_Gravity);
}
//----------------------------------------------------------------
//
// Special Parameters
//
//- look for optimization attribute :
result->checkForOptimization();
//----------------------------------------------------------------
//
// store mesh meta info in the first main mesh
//
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
pMaterial bMaterial;
bool hasMaterial = pFactory::Instance()->findSettings(bMaterial,referenceObject);
if (!hasMaterial)
{
if (world->getDefaultMaterial())
{
int z = (int)world->getDefaultMaterial()->userData;
shape->setMaterial(world->getDefaultMaterial()->getMaterialIndex());
//pFactory::Instance()->copyTo(bMaterial,world->getDefaultMaterial());
}
}else{
NxMaterialDesc nxMatDescr;
pFactory::Instance()->copyTo(nxMatDescr,bMaterial);
NxMaterial *nxMaterial = world->getScene()->createMaterial(nxMatDescr);
if (nxMaterial)
{
shape->setMaterial(nxMaterial->getMaterialIndex());
}
}
}
result->enableCollision( (result->getFlags() & BF_Collision), referenceObject );
//- handle collisions setup
if (oDescr->version == pObjectDescr::E_OD_VERSION::OD_DECR_V1)
result->updateCollisionSettings(*oDescr,referenceObject);
xLogger::xLog(ELOGINFO,E_LI_MANAGER,"Rigid body creation successful : %s",referenceObject->GetName());
//----------------------------------------------------------------
//
// Parse hierarchy
//
if (!oDescr->hirarchy)
return result;
CK3dEntity* subEntity = NULL;
while (subEntity= referenceObject->HierarchyParser(subEntity) )
{
if (subEntity->HasAttribute(GetPMan()->GetPAttribute()))
{
pObjectDescr *subDescr = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
if (subDescr->flags & BF_SubShape)
{
//////////////////////////////////////////////////////////////////////////
//
// Regular Mesh :
//
if (subDescr->hullType != HT_Cloth)
{
result->addSubShape(NULL,*oDescr,subEntity);
}
//////////////////////////////////////////////////////////////////////////
//
// Cloth Mesh :
//
if (subDescr->hullType == HT_Cloth)
{
//pClothDesc *cloth = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
}
}
}
if (oDescr->hirarchy)
{
if (oDescr->newDensity!=0.0f || oDescr->totalMass!=0.0f )
{
result->updateMassFromShapes(oDescr->newDensity,oDescr->totalMass);
}
}
return result;
}
nothing:
return result;
}
void Simulation::buildModelRobot(int indexRobot, int indexScene, int indexTeam)
{
//Veiculo descricao
//Body Descricao
NxActor* robotActor = Simulation::getActorRobot(indexScene, indexRobot);
//NxBounds3 bodyBounds;
//robotShapes[0]->getWorldBounds(bodyBounds);
NxVehicleDesc vehicleDesc;
vehicleDesc.position = NxVec3(robotActor->getGlobalPosition());
float mass = 5.;
vehicleDesc.mass = mass;//robotActor->getMass(); //PLUGIN TAH COM PROBLEMA XML ERRADO
//vehicleDesc.motorForce = 70000;
//vehicleDesc.maxVelocity = 300.f;
//vehicleDesc.cameraDistance = 8.0f;
vehicleDesc.centerOfMass.set(NxVec3(0,0,0));//robotActor->getCMassLocalPosition());
//vehicleDesc.differentialRatio = 3.42f;
//vehicleDesc.transmissionEfficiency
vehicleDesc.actor = robotActor;
vehicleDesc.actor->setMaxAngularVelocity(6.2);
vehicleDesc.actor->setMass(mass);
//TODO: LEVANTAR DAMPING
float t = vehicleDesc.actor->getLinearDamping();
float b = vehicleDesc.actor->getAngularDamping();
//vehicleDesc.actor->setAngularDamping(0.5);
//vehicleDesc.actor->setLinearDamping(0.5);
//TODO: LEVANTAR CMASS E INERTIA TENSOR
//vehicleDesc.actor->setCMassOffsetGlobalPosition(NxVec3(0, 0, 0));
NxMat33 inertiaTensor = NxMat33(NxVec3(1294.4362, 3.14502, -66.954), NxVec3(3.14502, 1094.42351, -0.24279), NxVec3(-66.954, -0.24279, 1754.80511));
vehicleDesc.actor->setCMassOffsetLocalPose( NxMat34( inertiaTensor, NxVec3(0,0,0) ) );
//TODO: Diagonalizar inertiaTensor e passar para setMassSpaceInertiaTensor
vehicleDesc.actor->setMassSpaceInertiaTensor(/*vehicleDesc.actor->getMassSpaceInertiaTensor()*1000.*/NxVec3(1764.3, 1284.9, 1094.4) );
//Motor descricao
//NxVehicleMotorDesc motorsDesc[4];
//for(NxU32 i=0;i<4;i++)
//{
//motorsDesc[i].setToCorvette();
//vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
//}
//Roda (Wheel) descricao
int numberWheels = Simulation::getNumberWheels(indexScene, indexRobot);
NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
for(NxU32 i=0; i<numberWheels; i++)
{
//NxActor* wheelModel = Simulation::getActorWheel(indexScene,indexRobot,i);
//NxActorDesc wheelActorDesc;
//wheelModel->saveToDesc(wheelActorDesc);
//Simulation::gScenes[0]->releaseActor(*wheelModel);
NxActor* actorWheel = Simulation::getActorWheel(indexScene,indexRobot,i);//wheelModel;//Simulation::gScenes[0]->createActor(wheelActorDesc);
//NxShape*const* wheelShapes = actorWheel->getShapes();
//NxBounds3 wheelBounds;
//wheelShapes[0]->getWorldBounds(wheelBounds);
//Para exportar modelo da roda do 3ds Max
// NxWhee
//wheelDesc[i]
//robot1Shapes[0]->isConvexMesh()->getConvexMesh().saveToDesc(convexMesh);
//NxWheelShape* wheelShape = (NxWheelShape*)wheel;
//NxTriangleMeshDesc meshDesc = *((NxTriangleMeshDesc*)(mesh->userData));
//robot1Shapes[0]->isWheel()->
//wheelDesc[i].wheelApproximation = 10;
wheelDesc[i].wheelOrientation = actorWheel->getGlobalOrientation();
wheelDesc[i].position.set(actorWheel->getGlobalPosition()-robotActor->getGlobalPosition());
//wheelDesc[i].position.z = 0;
wheelDesc[i].id = i;
wheelDesc[i].wheelRadius = 27.6;
//wheelDesc[i].wheelWidth = 100;
wheelDesc[i].wheelSuspension = 0;
wheelDesc[i].springRestitution = 0;
wheelDesc[i].springDamping = 0;
wheelDesc[i].springBias = 0.0f;
wheelDesc[i].maxBrakeForce = 100;
wheelDesc[i].frictionToFront = 0.1f;//0.1f; //TODO: CONFIGURAR PARÂMETRO
wheelDesc[i].frictionToSide = 0;//0.02f; //TODO: CONFIGURAR PARÂMETRO
wheelDesc[i].inverseWheelMass = 0.1; //TODO: CONFIGURAR PARÂMETRO
//Angulo das Rodas (Omni)
NxVec3 wheelPosRel = actorWheel->getGlobalPosition() - robotActor->getGlobalPosition();
wheelDesc[i].angWheelRelRobot = NxMath::atan2( wheelPosRel.y, wheelPosRel.x );
vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
Simulation::gScenes[indexScene]->scene->releaseActor(*actorWheel);
//NxU32 flags = NX_WF_BUILD_LOWER_HALF;
wheelDesc[i].wheelFlags = NX_WF_ACCELERATED | NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF;// |/*NX_WF_STEERABLE_INPUT |*/ flags;
}
//NxBall* teste = Simulation::gScenes[indexScene]->ball;
//Criar robot, vehicle base
NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexScene], &vehicleDesc);
if(robot) {
robot->setId(indexRobot);
robot->setIdTeam(indexTeam);
robot->indexScene = indexScene;
//Dribbler and Kicker
for(int i=0; i<robotActor->getNbShapes(); i++) {
NxShape*const* robotShapes = robotActor->getShapes();
const char* shapeName = robotShapes[i]->getName();
if(shapeName) {
char* dribblerName = new char[10];//"Driblador\0"
dribblerName[9] = 0;
memcpy(dribblerName, shapeName, strlen(dribblerName));
char* kickerName = new char[9];//"Chutador\0"
kickerName[8] = 0;
memcpy(kickerName, shapeName, strlen(kickerName));
if(strcmp(dribblerName, "Driblador") == 0) {
robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
}
else if(strcmp(kickerName, "Chutador") == 0) {
robot->kicker->kickerShapeDesc = Simulation::copyShapeDesc(robotShapes[i]);
robotActor->releaseShape(*(robotShapes[i]));
}
delete dribblerName;
delete kickerName;
}
}
//Initial Pose
robot->setInitialPose(robotActor->getGlobalPose());
robotActor->putToSleep();
//Mudar pose do robo
//NxQuat q;
//q.
//q.fromAngleAxis(180.0f, NxVec3(0.0f, 1.0f, 0.0f));
//robot->getActor()->setGlobalPose(pose);
//Release no actor importado do 3ds Max
//gScenes[0]->releaseActor(*robotActor);
string label;
string plabel = "Robo";
stringstream out;
out << indexRobot;
out << "-";
out << indexTeam;
//out << "-";
//out << indexScene;
label.append(plabel);
label.append(out.str());
char* arrayLabel = new char[label.size()+1];
arrayLabel[label.size()]=0;
memcpy(arrayLabel, label.c_str(), label.size());
robotActor->setName(arrayLabel);
//delete arrayLabel;
}
}