void plSimulationMgr::UpdateDetectorsInScene(plKey world, plKey avatar, hsPoint3& pos, bool entering)
{
// search thru the actors in a scene looking for convex hull detectors and see if the avatar is inside it
// ... and then send appropiate collision message if needed
NxScene* scene = GetScene(world);
plSceneObject* avObj = plSceneObject::ConvertNoRef(avatar->ObjectIsLoaded());
const plCoordinateInterface* ci = avObj->GetCoordinateInterface();
hsPoint3 soPos = ci->GetWorldPos();
if (scene)
{
uint32_t numActors = scene->getNbActors();
NxActor** actors = scene->getActors();
for (int i = 0; i < numActors; i++)
{
plPXPhysical* physical = (plPXPhysical*)actors[i]->userData;
if (physical && physical->DoDetectorHullWorkaround())
{
if ( physical->IsObjectInsideHull(pos) )
{
physical->SetInsideConvexHull(entering);
// we are entering this world... say we entered this detector
ISendCollisionMsg(physical->GetObjectKey(), avatar, entering);
}
}
}
}
}
void plPXPhysicalControllerCore::IHandleResize()
{
uint32_t collideFlags =
1<<plSimDefs::kGroupStatic |
1<<plSimDefs::kGroupAvatarBlocker |
1<<plSimDefs::kGroupDynamic;
if(!IsSeeking())
{
collideFlags|=(1<<plSimDefs::kGroupExcludeRegion);
}
NxScene* myscene = plSimulationMgr::GetInstance()->GetScene(this->fWorldKey);
// NxShape** response=new NxShape*[2];
NxVec3 center(fLocalPosition.fX,fLocalPosition.fY,fLocalPosition.fZ+fPreferedRadius);
NxSegment Seg(center,center);
const NxCapsule newCap(Seg,fPreferedRadius);
int numintersect =myscene->checkOverlapCapsule(newCap,NX_ALL_SHAPES,collideFlags);
//with new capsule dimensions check for overlap
//with objects we would collide with
if(numintersect==0)
{
fHeight=fPreferedHeight;
fRadius=fPreferedRadius;
fController->setRadius(fRadius);
fController->setHeight(fHeight);
fNeedsResize=false;
}
// delete[] response;
}
void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.solverIterationCount = 20;
// steer axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
steerAxis = scene.createActor(actorDesc);
wheel.create(scene, pos, rad, steerAxis);
// revolute joint connecting steerAxis with the holder
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = steerAxis;
revJointDesc.actor[1] = holder;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,1,0));
steerJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// disable collision detection
scene.setActorPairFlags(*wheel.wheel, *holder, NX_IGNORE_PAIR);
}
/**
* @brief
* Constructor
*/
BodySphere::BodySphere(PLPhysics::World &cWorld, float fRadius, bool bStatic) :
PLPhysics::BodySphere(cWorld, ((World&)cWorld).CreateBodyImpl(), fRadius)
{
// Get the PhysX physics scene
NxScene *pPhysXScene = ((World&)cWorld).GetPhysXScene();
if (pPhysXScene) {
// Create body
NxBodyDesc BodyDesc;
BodyDesc.angularDamping = 0.5f;
// [TODO] Do we need this setting?
// BodyDesc.maxAngularVelocity = 10.0f;
NxSphereShapeDesc SphereDesc;
SphereDesc.radius = m_fRadius;
NxActorDesc ActorDesc;
ActorDesc.shapes.pushBack(&SphereDesc);
if (!bStatic)
ActorDesc.body = &BodyDesc;
ActorDesc.density = 10.0f;
// [TODO] Do we need this setting?
// ActorDesc.globalPose.t = pos;
NxActor *pPhysXActor = pPhysXScene->createActor(ActorDesc);
// Initialize the PhysX physics actor
((BodyImpl&)GetBodyImpl()).InitializePhysXActor(*this, *pPhysXActor);
}
}
plPXPhysical::~plPXPhysical()
{
SpamMsg(plSimulationMgr::Log("Destroying physical %s", GetKeyName().c_str()));
if (fActor)
{
// Grab any mesh we may have (they need to be released manually)
NxConvexMesh* convexMesh = nil;
NxTriangleMesh* triMesh = nil;
NxShape* shape = fActor->getShapes()[0];
if (NxConvexShape* convexShape = shape->isConvexMesh())
convexMesh = &convexShape->getConvexMesh();
else if (NxTriangleMeshShape* trimeshShape = shape->isTriangleMesh())
triMesh = &trimeshShape->getTriangleMesh();
if (!fActor->isDynamic())
plPXPhysicalControllerCore::RebuildCache();
if (fActor->isDynamic() && fActor->readBodyFlag(NX_BF_KINEMATIC))
{
if (fGroup == plSimDefs::kGroupDynamic)
fNumberAnimatedPhysicals--;
else
fNumberAnimatedActivators--;
}
// Release the actor
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
scene->releaseActor(*fActor);
fActor = nil;
// Now that the actor is freed, release the mesh
if (convexMesh)
plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*convexMesh);
if (triMesh)
plSimulationMgr::GetInstance()->GetSDK()->releaseTriangleMesh(*triMesh);
// Release the scene, so it can be cleaned up if no one else is using it
plSimulationMgr::GetInstance()->ReleaseScene(fWorldKey);
}
if (fWorldHull)
delete [] fWorldHull;
if (fSaveTriangles)
delete [] fSaveTriangles;
delete fProxyGen;
// remove sdl modifier
plSceneObject* sceneObj = plSceneObject::ConvertNoRef(fObjectKey->ObjectIsLoaded());
if (sceneObj && fSDLMod)
{
sceneObj->RemoveModifier(fSDLMod);
}
delete fSDLMod;
}
int plPXPhysicalControllerCore::SweepControllerPath(const hsPoint3& startPos, const hsPoint3& endPos, hsBool vsDynamics, hsBool vsStatics,
uint32_t& vsSimGroups, std::multiset< plControllerSweepRecord >& WhatWasHitOut)
{
NxCapsule tempCap;
tempCap.p0 =plPXConvert::Point( startPos);
tempCap.p0.z = tempCap.p0.z + fPreferedRadius;
tempCap.radius = fPreferedRadius ;
tempCap.p1 = tempCap.p0;
tempCap.p1.z = tempCap.p1.z + fPreferedHeight;
NxVec3 vec;
vec.x = endPos.fX - startPos.fX;
vec.y = endPos.fY - startPos.fY;
vec.z = endPos.fZ - startPos.fZ;
int numberofHits = 0;
int HitsReturned = 0;
WhatWasHitOut.clear();
NxScene *myscene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
NxSweepQueryHit whatdidIhit[10];
unsigned int flags = NX_SF_ALL_HITS;
if(vsDynamics)
flags |= NX_SF_DYNAMICS;
if(vsStatics)
flags |= NX_SF_STATICS;
numberofHits = myscene->linearCapsuleSweep(tempCap, vec, flags, nil, 10, whatdidIhit, nil, vsSimGroups);
if(numberofHits)
{//we hit a dynamic object lets make sure it is not animatable
for(int i=0; i<numberofHits; i++)
{
plControllerSweepRecord CurrentHit;
CurrentHit.ObjHit=(plPhysical*)whatdidIhit[i].hitShape->getActor().userData;
CurrentHit.Norm.fX = whatdidIhit[i].normal.x;
CurrentHit.Norm.fY = whatdidIhit[i].normal.y;
CurrentHit.Norm.fZ = whatdidIhit[i].normal.z;
if(CurrentHit.ObjHit != nil)
{
hsPoint3 where;
where.fX = whatdidIhit[i].point.x;
where.fY = whatdidIhit[i].point.y;
where.fZ = whatdidIhit[i].point.z;
CurrentHit.locHit = where;
CurrentHit.TimeHit = whatdidIhit[i].t ;
WhatWasHitOut.insert(CurrentHit);
HitsReturned++;
}
}
}
return HitsReturned;
}
void plPXPhysicalControllerCore::IDeleteController()
{
if (fController)
{
gControllerMgr.releaseController(*fController);
fController = nil;
if (fKinematicActor)
{
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
scene->releaseActor(*fKinematicActor);
fKinematicActor = nil;
}
plSimulationMgr::GetInstance()->ReleaseScene(fWorldKey);
}
}
CarActor::CarActor(NxScene &scene, const VC3 &position)
{
NxBoxShapeDesc boxDesc1;
//boxDesc1.dimensions = NxVec3(2.65f, 0.55f, 1.05f);
boxDesc1.dimensions = NxVec3(1.05f, 0.55f, 2.65f);
boxDesc1.localPose.t.set(NxVec3(0, boxDesc1.dimensions.y, 0));
NxBoxShapeDesc boxDesc2;
//boxDesc2.dimensions = NxVec3(1.30f, 0.77f - boxDesc1.dimensions.y, 0.84f);
boxDesc2.dimensions = NxVec3(0.84f, 0.77f - boxDesc1.dimensions.y, 1.30f);
boxDesc2.localPose.t.set(NxVec3(0, (boxDesc1.dimensions.y * 2.f) + boxDesc2.dimensions.y, 0));
NxBodyDesc bodyDesc;
NxActorDesc actorDesc;
actorDesc.body = &bodyDesc;
actorDesc.density = 10.f;
actorDesc.shapes.pushBack(&boxDesc1);
actorDesc.shapes.pushBack(&boxDesc2);
actorDesc.globalPose.t.set(NxVec3(position.x, position.y, position.z));
actor = scene.createActor(actorDesc);
this->scene = &scene;
init();
}
void removeFluidContainmentSphere()
{
assert(scene->isWritable());
if(physicslib_fluid_containment_sphere_actor != NULL)
{
if(scene && physicslib_fluid_containment_sphere_actor)
{
assert(scene->isWritable());
scene->releaseActor(*physicslib_fluid_containment_sphere_actor);
}
physicslib_fluid_containment_sphere_actor = NULL;
physicslib_fluid_containment_sphere_shape = NULL;
}
}
BoxActor::BoxActor(NxScene &scene, const VC3 &sizes, const VC3 &position, const VC3 &localPosition, bool ccd, float ccdMaxThickness)
{
NxBodyDesc bodyDesc;
//bodyDesc.solverIterationCount = 2;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(sizes.x, sizes.y, sizes.z);
boxDesc.localPose.t.set(NxVec3(localPosition.x, localPosition.y + sizes.y, localPosition.z));
// CCD, but for thin objects only... --jpk
if (ccd && (sizes.x*2 < ccdMaxThickness || sizes.y*2 < ccdMaxThickness || sizes.z*2 < ccdMaxThickness))
{
VC3 ccdSizes = sizes * 0.6f;
boxDesc.ccdSkeleton = CreateCCDSkeleton(ccdSizes);
boxDesc.shapeFlags |= NX_SF_DYNAMIC_DYNAMIC_CCD;
// also, in this case, a minimal skin width too.
boxDesc.skinWidth = 0.002f;
}
NxActorDesc actorDesc;
actorDesc.body = &bodyDesc;
actorDesc.density = 10.f;
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.globalPose.t.set(NxVec3(position.x, position.y, position.z));
// !!!!!!!!!!!!!!
//actorDesc.managedHwSceneIndex = 1;
actor = scene.createActor(actorDesc);
this->scene = &scene;
init();
}
void plPXPhysicalControllerCore::IInformDetectors(bool entering,bool deferUntilNextSim=true)
{
static const NxU32 DetectorFlag= 1<<plSimDefs::kGroupDetector;
if (fController)
{
#ifndef PLASMA_EXTERNAL_RELEASE
DetectorLog("Informing from plPXPhysicalControllerCore::IInformDetectors");
#endif
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
int kNumofShapesToStore=30;
NxCapsule cap;
GetWorldSpaceCapsule(cap);
NxShape* shapes[30];
int numCollided=scene->overlapCapsuleShapes(cap,NX_ALL_SHAPES,kNumofShapesToStore,shapes,NULL,DetectorFlag,NULL,true);
for (int i=0;i<numCollided;i++)
{
NxActor* myactor=&(shapes[i]->getActor());
if (myactor)
{
plPXPhysical* physical = (plPXPhysical*)myactor->userData;
if (physical)
{
bool doReport = physical->DoReportOn(plSimDefs::kGroupAvatar);
if(doReport)
{
plCollideMsg* msg = new plCollideMsg;
msg->fOtherKey = fOwner;
msg->fEntering = entering;
msg->AddReceiver(physical->GetObjectKey());
if(!deferUntilNextSim)
{
DetectorLog("Sending an %s msg to %s" , entering? "entering":"exit", physical->GetObjectKey()->GetName().c_str());
msg->Send();
}
else
{
DetectorLog("Queuing an %s msg to %s, which will be sent after the client update" , entering? "entering":"exit", physical->GetObjectKey()->GetName().c_str());
plgDispatch::Dispatch()->MsgQueue(msg);
}
}
}
}
}
DetectorLog("Done informing from plPXPhysicalControllerCore::IInformDetectors");
}
}
void plSimulationMgr::ReleaseScene(plKey world)
{
if (!world)
world = GetKey();
SceneMap::iterator it = fScenes.find(world);
hsAssert(it != fScenes.end(), "Unknown scene");
if (it != fScenes.end())
{
NxScene* scene = it->second;
if (scene->getNbActors() == 0)
{
fSDK->releaseScene(*scene);
fScenes.erase(it);
}
}
}
/**
* @brief
* Constructor
*/
JointSlider::JointSlider(PLPhysics::World &cWorld, PLPhysics::Body *pParentBody, PLPhysics::Body *pChildBody,
const Vector3 &vPivotPoint, const Vector3 &vPinDir) :
PLPhysics::JointSlider(cWorld, ((World&)cWorld).CreateJointImpl(), pParentBody, pChildBody, vPivotPoint, vPinDir)
{
// Get the PhysX physics scene
NxScene *pPhysXScene = ((World&)cWorld).GetPhysXScene();
if (pPhysXScene) {
// Create the PhysX physics joint
NxCylindricalJointDesc sJointDesc;
sJointDesc.actor[0] = pParentBody ? ((BodyImpl&)pParentBody->GetBodyImpl()).GetPhysXActor() : nullptr;
sJointDesc.actor[1] = pChildBody ? ((BodyImpl&)pChildBody ->GetBodyImpl()).GetPhysXActor() : nullptr;
sJointDesc.setGlobalAnchor(NxVec3(m_vPivotPoint.x, m_vPivotPoint.y, m_vPivotPoint.z));
sJointDesc.setGlobalAxis(NxVec3(m_vPinDir.x, m_vPinDir.y, m_vPinDir.z));
NxJoint *pPhysXJoint = pPhysXScene->createJoint(sJointDesc);
// Initialize the PhysX physics joint
((JointImpl&)GetJointImpl()).InitializePhysXJoint(*this, *pPhysXJoint);
}
}
void plSimulationMgr::UpdateAvatarInDetector(plKey world, plPXPhysical* detector)
{
// search thru the actors in a scene looking for avatars that might be in the newly enabled detector region
// ... and then send appropiate collision message if needed
if ( detector->DoDetectorHullWorkaround() )
{
NxScene* scene = GetScene(world);
if (scene)
{
uint32_t numActors = scene->getNbActors();
NxActor** actors = scene->getActors();
for (int i = 0; i < numActors; i++)
{
if ( actors[i]->userData == nil )
{
// we go a controller
bool isController;
plPXPhysicalControllerCore* controller = plPXPhysicalControllerCore::GetController(*actors[i],&isController);
if (controller && controller->IsEnabled())
{
plKey avatar = controller->GetOwner();
plSceneObject* avObj = plSceneObject::ConvertNoRef(avatar->ObjectIsLoaded());
const plCoordinateInterface* ci;
if ( avObj && ( ci = avObj->GetCoordinateInterface() ) )
{
if ( detector->IsObjectInsideHull(ci->GetWorldPos()) )
{
detector->SetInsideConvexHull(true);
// we are entering this world... say we entered this detector
ISendCollisionMsg(detector->GetObjectKey(), avatar, true);
}
}
}
}
}
}
}
}
~Data()
{
removeFluidContainmentSphere();
#ifdef PROJECT_CLAW_PROTO
unitMaterial = NULL;
#endif
if(physicslib_fluid_containment_actor != NULL)
{
if(scene && physicslib_fluid_containment_actor)
{
assert(scene->isWritable());
scene->releaseActor(*physicslib_fluid_containment_actor);
}
physicslib_fluid_containment_actor = NULL;
physicslib_fluid_containment_shape = NULL;
}
if(sdk && scene)
{
#ifndef NDEBUG
int actors = scene->getNbActors();
assert(actors == 1 || actors == 2);
#ifndef NX_DISABLE_FLUIDS
int fluids = scene->getNbFluids();
assert(fluids == 0);
#endif
#endif
scene->shutdownWorkerThreads();
sdk->releaseScene(*scene);
}
if(sdk)
sdk->release();
}
void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxSphereShapeDesc sphereDesc;
bodyDesc.solverIterationCount = 20;
// wheel
sphereDesc.radius = rad;
sphereDesc.materialIndex = wheelMaterialIndex;
actorDesc.shapes.pushBack(&sphereDesc);
bodyDesc.mass = 400;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = pos;
wheel = scene.createActor(actorDesc);
// roll axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
rollAxis = scene.createActor(actorDesc);
// revolute joint connecting wheel with rollAxis
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = wheel;
revJointDesc.actor[1] = rollAxis;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,0,1));
rollJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// prismatic joint connecting rollAxis with holder
NxPrismaticJointDesc prisJointDesc;
prisJointDesc.actor[0] = rollAxis;
prisJointDesc.actor[1] = holder;
prisJointDesc.setGlobalAnchor(pos);
prisJointDesc.setGlobalAxis(NxVec3(0,1,0));
scene.createJoint(prisJointDesc);
// add springs and dampers to the suspension (i.e. the related actors)
float springLength = 0.1f;
NxSpringAndDamperEffector * springNdamp = scene.createSpringAndDamperEffector(NxSpringAndDamperEffectorDesc());
springNdamp->setBodies(rollAxis, pos, holder, pos + NxVec3(0,springLength,0));
springNdamp->setLinearSpring(0, springLength, 2*springLength, 100000, 100000);
springNdamp->setLinearDamper(-1, 1, 1e5, 1e5);
// disable collision detection
scene.setActorPairFlags(*wheel, *holder, NX_IGNORE_PAIR);
}
void create(NxScene& scene )
{
NxBodyDesc bodyDesc;
NxBoxShapeDesc boxDesc0;
NxBoxShapeDesc boxDesc1;
bodyDesc.solverIterationCount = 20;
// tractor actor (two shapes)
NxActorDesc tractorDesc;
bodyDesc.mass = 5000;
tractorDesc.body = &bodyDesc;
tractorDesc.globalPose.t = NxVec3(0,0,0);
boxDesc0.dimensions = NxVec3(3.5,3,4);
boxDesc0.localPose.t = NxVec3(3.5,4,0);
tractorDesc.shapes.pushBack(&boxDesc0);
//boxDesc1.dimensions = NxVec3(8.5,0.7,3);
//boxDesc1.localPose.t = NxVec3(8.7,1.3,0);
//tractorDesc.shapes.pushBack(&boxDesc1);
tractor = scene.createActor(tractorDesc);
//sPhysObject* pPhys = new sPhysObject;
//pPhys->iID = 5;
//tractor->userData = ( void* )pPhys;
// remove collision between lower truck parts and ground
//scene.setShapePairFlags(*tractor->getShapes()[1], *ground.getShapes()[0], NX_IGNORE_PAIR);
//scene.setShapePairFlags(*trailer->getShapes()[1], *ground.getShapes()[0], NX_IGNORE_PAIR);
// wheels
float staticFriction = 1.2f;
float dynamicFriction = 1.0f;
steerWheels[0].create(scene, NxVec3(3.5,1.5,4), 1.5, tractor);
steerWheels[1].create(scene, NxVec3(3.5,1.5,-4), 1.5, tractor);
frontWheels[0].create(scene, NxVec3(16,1.5,4), 1.5, tractor);
frontWheels[1].create(scene, NxVec3(16,1.5,-4), 1.5, tractor);
}
void plSimulationMgr::ISendUpdates()
{
for (CollisionVec::iterator it = fCollideMsgs.begin(); it != fCollideMsgs.end(); ++it)
{
plCollideMsg* pMsg = *it;
DetectorLogYellow("Collision: %s was triggered by %s. Sending an %s msg", pMsg->GetReceiver(0)->GetName().c_str(),
pMsg->fOtherKey ? pMsg->fOtherKey->GetName().c_str() : "(nil)" , pMsg->fEntering ? "'enter'" : "'exit'");
plgDispatch::Dispatch()->MsgSend(pMsg);
}
fCollideMsgs.clear();
SceneMap::iterator it = fScenes.begin();
for (; it != fScenes.end(); it++)
{
NxScene* scene = it->second;
uint32_t numActors = scene->getNbActors();
NxActor** actors = scene->getActors();
for (int i = 0; i < numActors; i++)
{
plPXPhysical* physical = (plPXPhysical*)actors[i]->userData;
if (physical)
{
// apply any hit forces
physical->ApplyHitForce();
if (physical->GetSceneNode())
{
physical->SendNewLocation();
}
else
{
// if there's no scene node, it's not active (probably about to be collected)
const plKey physKey = physical->GetKey();
if (physKey)
{
const plString &physName = physical->GetKeyName();
if (!physName.IsNull())
{
plSimulationMgr::Log("Removing physical <%s> because of missing scene node.\n", physName.c_str());
}
}
// Remove(physical);
}
}
}
// // iterate through the db types, which are powers-of-two enums.
// for( plLOSDB db = static_cast<plLOSDB>(1) ;
// db < plSimDefs::kLOSDBMax;
// db = static_cast<plLOSDB>(db << 1) )
// {
// fLOSSolvers[db]->Resolve(fSubspace);
// }
// if(fNeedLOSCullPhase)
// {
// for( plLOSDB db = static_cast<plLOSDB>(1) ;
// db < plSimDefs::kLOSDBMax;
// db = static_cast<plLOSDB>(db << 1) )
// {
// fLOSSolvers[db]->Resolve(fSubspace);
// }
// fNeedLOSCullPhase = false;
// }
}
}
void plSimulationMgr::Advance(float delSecs)
{
if (fSuspended)
return;
plProfile_IncCount(StepLen, (int)(delSecs*1000));
#ifndef PLASMA_EXTERNAL_RELASE
uint32_t stepTime = hsTimer::GetPrecTickCount();
#endif
plProfile_BeginTiming(Step);
plPXPhysicalControllerCore::UpdatePrestep(delSecs);
plPXPhysicalControllerCore::UpdatePoststep( delSecs);
for (SceneMap::iterator it = fScenes.begin(); it != fScenes.end(); it++)
{
NxScene* scene = it->second;
bool do_advance = true;
if (fSubworldOptimization)
{
plKey world = (plKey)it->first;
if (world == GetKey())
world = nil;
do_advance = plPXPhysicalControllerCore::AnyControllersInThisWorld(world);
}
if (do_advance)
{
scene->simulate(delSecs);
scene->flushStream();
scene->fetchResults(NX_RIGID_BODY_FINISHED, true);
}
}
plPXPhysicalControllerCore::UpdatePostSimStep(delSecs);
plProfile_EndTiming(Step);
#ifndef PLASMA_EXTERNAL_RELEASE
if(plSimulationMgr::fDisplayAwakeActors)IDrawActiveActorList();
#endif
if (fExtraProfile)
{
int contacts = 0, dynActors = 0, dynShapes = 0, awake = 0, stShapes=0, actors=0, scenes=0, controllers=0 ;
for (SceneMap::iterator it = fScenes.begin(); it != fScenes.end(); it++)
{
bool do_advance = true;
if (fSubworldOptimization)
{
plKey world = (plKey)it->first;
if (world == GetKey())
world = nil;
do_advance = plPXPhysicalControllerCore::AnyControllersInThisWorld(world);
}
if (do_advance)
{
NxScene* scene = it->second;
NxSceneStats stats;
scene->getStats(stats);
contacts += stats.numContacts;
dynActors += stats.numDynamicActors;
dynShapes += stats.numDynamicShapes;
awake += stats.numDynamicActorsInAwakeGroups;
stShapes += stats.numStaticShapes;
actors += stats.numActors;
scenes += 1;
controllers += plPXPhysicalControllerCore::NumControllers();
}
}
plProfile_IncCount(Awake, awake);
plProfile_IncCount(Contacts, contacts);
plProfile_IncCount(DynActors, dynActors);
plProfile_IncCount(DynShapes, dynShapes);
plProfile_IncCount(StaticShapes, stShapes);
plProfile_IncCount(Actors, actors);
plProfile_IncCount(Scenes, scenes);
plProfile_IncCount(Controllers, controllers);
}
plProfile_IncCount(AnimatedPhysicals, plPXPhysical::fNumberAnimatedPhysicals);
plProfile_IncCount(AnimatedActivators, plPXPhysical::fNumberAnimatedActivators);
fSoundMgr->Update();
plProfile_BeginTiming(ProcessSyncs);
IProcessSynchs();
plProfile_EndTiming(ProcessSyncs);
plProfile_BeginTiming(UpdateContexts);
ISendUpdates();
plProfile_EndTiming(UpdateContexts);
}
CVoid CScene::Destroy()
{
NxScene* tempScene = gPhysXscene/*gPhysicsSDK->getScene(i)*/;
if(tempScene && !g_clickedNew && !g_clickedOpen)
{
for( CUInt i = 0; i < m_instanceGeometries.size(); i++ )
{
CInstanceGeometry* m_instanceGeo = m_instanceGeometries[i];
if( tempScene )
{
for( CUInt j = 0; j < tempScene->getNbActors(); j++ )
{
CChar actorName[MAX_NAME_SIZE];
if( !tempScene->getActors()[j]->getName() ) continue;
Cpy( actorName, tempScene->getActors()[j]->getName() );
if( !Cmp(m_instanceGeo->m_physXName, "\n" ) && Cmp( actorName, m_instanceGeo->m_physXName ) )
{
for(CInt nItem =0 ; nItem < ex_pVandaEngine1Dlg->m_listBoxPhysXElements.GetItemCount(); nItem++)
{
CString strText = ex_pVandaEngine1Dlg->m_listBoxPhysXElements.GetItemText(nItem, 0);
char charPtr[MAX_NAME_SIZE];
sprintf(charPtr, "%s", strText);
if(Cmp( m_instanceGeo->m_physXName, charPtr ) )
{
ex_pVandaEngine1Dlg->m_listBoxPhysXElements.DeleteItem(nItem);
ex_pVandaEngine1Dlg->SortPhysXList();
}
}
tempScene->releaseActor( *tempScene->getActors()[j] );
g_multipleView->m_nx->gControllers->reportSceneChanged();
m_instanceGeo->m_hasPhysX = CFalse;
Cpy( m_instanceGeo->m_physXName, "\n" );
}
}
}
}
}
//while(!m_cfxMaterials.empty())
//{
//std::map<std::string, cfxMaterial*>::iterator iter = m_cfxMaterials.begin();
//CDelete(iter->second);
//m_cfxMaterials.erase(iter);
//}
//m_cfxEffects.clear();
//while(!m_cfxEffects.empty())
//{
//std::map<std::string, cfxEffect*>::iterator iter = m_cfxEffects.begin();
//CDelete(iter->second);
//m_cfxEffects.erase(iter);
//}
//m_cfxEffects.clear();
//delete all the geometries
m_textureList.clear(); //save functions
m_prefabList.clear(); //save functions
if (g_editorMode == eMODE_PREFAB)
{
while (!m_geometries.empty())
{
CDelete(m_geometries[0]);
m_geometries.erase(m_geometries.begin());
}
m_geometries.clear();
}
m_instanceGeometries.clear();
//m_instanceControllers.clear();
while(!m_lightInstances.empty())
{
CDelete(m_lightInstances[0]);
m_lightInstances.erase(m_lightInstances.begin());
}
while(!m_lights.empty())
{
CDelete( m_lights[0] );
m_lights.erase(m_lights.begin());
}
while(!m_cameraInstances.empty())
{
for( CUInt size = 0; size < g_cameraInstances.size(); size++ )
{
if( Cmp( m_cameraInstances[0]->m_abstractCamera->GetName(), g_cameraInstances[size]->m_abstractCamera->GetName() ) )
{
if( g_render.GetActiveInstanceCamera() == g_cameraInstances[size] )
{
if (g_multipleView && g_render.GetDefaultInstanceCamera())
{
g_render.SetActiveInstanceCamera(g_render.GetDefaultInstanceCamera());
g_currentCameraType = eCAMERA_DEFAULT_FREE;
g_multipleView->m_lockInput = CFalse;
}
else
{
g_render.SetActiveInstanceCamera(NULL);
}
}
g_cameraInstances.erase( g_cameraInstances.begin() + size );
}
}
CDelete(m_cameraInstances[0]);
m_cameraInstances.erase(m_cameraInstances.begin());
}
while(!m_cameras.empty())
{
CDelete( m_cameras[0] );
m_cameras.erase(m_cameras.begin());
}
while(!m_controllers.empty())
{
CDelete( m_controllers[0] );
m_controllers.erase(m_controllers.begin());
}
//Delete all the nodes
CDelete( m_sceneRoot );
m_nodes.clear();
//Clear all the images
//for( std::vector<CImage*>::iterator it = m_images.begin(); it != m_images.end(); it++ )
//{
// CDelete( *it );
//}
//Clear the vector objects
m_images.clear();
//clear all the effects
for( std::vector<CEffect*>::iterator it = m_effects.begin(); it != m_effects.end(); it++ )
{
CDelete( *it );
}
//Clear the vector objects
m_effects.clear();
for( std::vector<CMaterial*>::iterator it = m_materials.begin(); it != m_materials.end(); it++ )
{
CDelete( *it );
}
//Clear the vector objects
m_materials.clear();
for( std::vector<CAnimation*>::iterator it = m_animations.begin(); it != m_animations.end(); it++ )
{
CDelete( *it );
}
//Clear the vector objects
m_animations.clear();
for( std::vector<CAnimationClip*>::iterator it = m_animationClips.begin(); it != m_animationClips.end(); it++ )
{
CDelete( *it );
}
//Clear the vector objects
m_animationClips.clear();
}
/// Flush the scene's command queue for processing.
virtual void FlushStream () { m_pScene->flushStream(); }
NxScene* plSimulationMgr::GetScene(plKey world)
{
if (!world)
world = GetKey();
NxScene* scene = fScenes[world];
if (!scene)
{
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, 0, -32.174049f);
sceneDesc.userTriggerReport = &gSensorReport;
sceneDesc.userContactReport = &gContactReport;
scene = fSDK->createScene(sceneDesc);
// See "Advancing The Simulation State" in the PhysX SDK Documentation
// This will cause PhysX to only update for our step size. If we call simulate
// faster than that, PhysX will return immediately. If we call it slower than that,
// PhysX will do some extra steps for us (isn't that nice?).
// Anyway, this should be a good way to make us independent of the framerate.
// If not, I blame the usual suspects (Tye, eap, etc...)
scene->setTiming(kDefaultStepSize);
// Most physicals use the default friction and restitution values, so we
// make them the default.
NxMaterial* mat = scene->getMaterialFromIndex(0);
float rest = mat->getRestitution();
float sfriction = mat->getStaticFriction();
float dfriction = mat->getDynamicFriction();
mat->setRestitution(0.5);
mat->setStaticFriction(0.5);
mat->setDynamicFriction(0.5);
// By default we just leave all the collision groups enabled, since
// PhysX already makes sure that things like statics and statics don't
// collide. However, we do make it so the avatar and dynamic blockers
// only block avatars and dynamics.
for (int i = 0; i < plSimDefs::kGroupMax; i++)
{
scene->setGroupCollisionFlag(i, plSimDefs::kGroupAvatarBlocker, false);
scene->setGroupCollisionFlag(i, plSimDefs::kGroupDynamicBlocker, false);
scene->setGroupCollisionFlag(i, plSimDefs::kGroupLOSOnly, false);
scene->setGroupCollisionFlag(plSimDefs::kGroupLOSOnly, i, false);
}
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupAvatar, false);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupAvatarBlocker, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupDynamic, plSimDefs::kGroupDynamicBlocker, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupStatic, true);
scene->setGroupCollisionFlag( plSimDefs::kGroupStatic, plSimDefs::kGroupAvatar, true);
scene->setGroupCollisionFlag(plSimDefs::kGroupAvatar, plSimDefs::kGroupDynamic, true);
// The dynamics are in actor group 1, everything else is in 0. Request
// a callback for whenever a dynamic touches something.
scene->setActorGroupPairFlags(0, 1, NX_NOTIFY_ON_TOUCH);
scene->setActorGroupPairFlags(1, 1, NX_NOTIFY_ON_TOUCH);
fScenes[world] = scene;
}
return scene;
}
bool plPXPhysical::Init(PhysRecipe& recipe)
{
bool startAsleep = false;
fBoundsType = recipe.bounds;
fGroup = recipe.group;
fReportsOn = recipe.reportsOn;
fObjectKey = recipe.objectKey;
fSceneNode = recipe.sceneNode;
fWorldKey = recipe.worldKey;
NxActorDesc actorDesc;
NxSphereShapeDesc sphereDesc;
NxConvexShapeDesc convexShapeDesc;
NxTriangleMeshShapeDesc trimeshShapeDesc;
NxBoxShapeDesc boxDesc;
plPXConvert::Matrix(recipe.l2s, actorDesc.globalPose);
switch (fBoundsType)
{
case plSimDefs::kSphereBounds:
{
hsMatrix44 sphereL2W;
sphereL2W.Reset();
sphereL2W.SetTranslate(&recipe.offset);
sphereDesc.radius = recipe.radius;
plPXConvert::Matrix(sphereL2W, sphereDesc.localPose);
sphereDesc.group = fGroup;
actorDesc.shapes.pushBack(&sphereDesc);
}
break;
case plSimDefs::kHullBounds:
// FIXME PHYSX - Remove when hull detection is fixed
// If this is read time (ie, meshStream is nil), turn the convex hull
// into a box. That way the data won't have to change when convex hulls
// actually work right.
if (fGroup == plSimDefs::kGroupDetector && recipe.meshStream == nil)
{
#ifdef USE_BOXES_FOR_DETECTOR_HULLS
MakeBoxFromHull(recipe.convexMesh, boxDesc);
plSimulationMgr::GetInstance()->GetSDK()->releaseConvexMesh(*recipe.convexMesh);
boxDesc.group = fGroup;
actorDesc.shapes.push_back(&boxDesc);
#else
#ifdef USE_PHYSX_CONVEXHULL_WORKAROUND
// make a hull of planes for testing IsInside
IMakeHull(recipe.convexMesh,recipe.l2s);
#endif // USE_PHYSX_CONVEXHULL_WORKAROUND
convexShapeDesc.meshData = recipe.convexMesh;
convexShapeDesc.userData = recipe.meshStream;
convexShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&convexShapeDesc);
#endif // USE_BOXES_FOR_DETECTOR_HULLS
}
else
{
convexShapeDesc.meshData = recipe.convexMesh;
convexShapeDesc.userData = recipe.meshStream;
convexShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&convexShapeDesc);
}
break;
case plSimDefs::kBoxBounds:
{
boxDesc.dimensions = plPXConvert::Point(recipe.bDimensions);
hsMatrix44 boxL2W;
boxL2W.Reset();
boxL2W.SetTranslate(&recipe.bOffset);
plPXConvert::Matrix(boxL2W, boxDesc.localPose);
boxDesc.group = fGroup;
actorDesc.shapes.push_back(&boxDesc);
}
break;
case plSimDefs::kExplicitBounds:
case plSimDefs::kProxyBounds:
if (fGroup == plSimDefs::kGroupDetector)
{
SimLog("Someone using an Exact on a detector region: %s", GetKeyName().c_str());
}
trimeshShapeDesc.meshData = recipe.triMesh;
trimeshShapeDesc.userData = recipe.meshStream;
trimeshShapeDesc.group = fGroup;
actorDesc.shapes.pushBack(&trimeshShapeDesc);
break;
default:
hsAssert(false, "Unknown geometry type during read.");
return false;
break;
}
// Now fill out the body, or dynamic part of the physical
NxBodyDesc bodyDesc;
fMass = recipe.mass;
if (recipe.mass != 0)
{
bodyDesc.mass = recipe.mass;
actorDesc.body = &bodyDesc;
if (GetProperty(plSimulationInterface::kPinned))
{
bodyDesc.flags |= NX_BF_FROZEN;
startAsleep = true; // put it to sleep if they are going to be frozen
}
if (fGroup != plSimDefs::kGroupDynamic || GetProperty(plSimulationInterface::kPhysAnim))
{
SetProperty(plSimulationInterface::kPassive, true);
// Even though the code for animated physicals and animated activators are the same
// keep these code snippets separated for fine tuning. Thanks.
if (fGroup == plSimDefs::kGroupDynamic)
{
// handle the animated physicals.... make kinematic for now.
fNumberAnimatedPhysicals++;
bodyDesc.flags |= NX_BF_KINEMATIC;
startAsleep = true;
}
else
{
// handle the animated activators....
fNumberAnimatedActivators++;
bodyDesc.flags |= NX_BF_KINEMATIC;
startAsleep = true;
}
}
}
else
{
if ( GetProperty(plSimulationInterface::kPhysAnim) )
SimLog("An animated physical that has no mass: %s", GetKeyName().c_str());
}
actorDesc.userData = this;
actorDesc.name = GetKeyName().c_str();
// Put the dynamics into actor group 1. The actor groups are only used for
// deciding who we get contact reports for.
if (fGroup == plSimDefs::kGroupDynamic)
actorDesc.group = 1;
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
try
{
fActor = scene->createActor(actorDesc);
} catch (...)
{
hsAssert(false, "Actor creation crashed");
return false;
}
hsAssert(fActor, "Actor creation failed");
if (!fActor)
return false;
NxShape* shape = fActor->getShapes()[0];
shape->setMaterial(plSimulationMgr::GetInstance()->GetMaterialIdx(scene, recipe.friction, recipe.restitution));
// Turn on the trigger flags for any detectors.
//
// Normally, we'd set these flags on the shape before it's created. However,
// in the case where the detector is going to be animated, it'll have a rigid
// body too, and that will cause problems at creation. According to Ageia,
// a detector shape doesn't actually count as a shape, so the SDK will have
// problems trying to calculate an intertial tensor. By letting it be
// created as a normal dynamic first, then setting the flags, we work around
// that problem.
if (fGroup == plSimDefs::kGroupDetector)
{
shape->setFlag(NX_TRIGGER_ON_ENTER, true);
shape->setFlag(NX_TRIGGER_ON_LEAVE, true);
}
if (GetProperty(plSimulationInterface::kStartInactive) || startAsleep)
{
if (!fActor->isSleeping())
{
if (plSimulationMgr::fExtraProfile)
SimLog("Deactivating %s in SetPositionAndRotationSim", GetKeyName().c_str());
fActor->putToSleep();
}
}
if (GetProperty(plSimulationInterface::kDisable))
IEnable(false);
if (GetProperty(plSimulationInterface::kSuppressed_DEAD))
IEnable(false);
plNodeRefMsg* refMsg = new plNodeRefMsg(fSceneNode, plRefMsg::kOnCreate, -1, plNodeRefMsg::kPhysical);
hsgResMgr::ResMgr()->AddViaNotify(GetKey(), refMsg, plRefFlags::kActiveRef);
if (fWorldKey)
{
plGenRefMsg* ref = new plGenRefMsg(GetKey(), plRefMsg::kOnCreate, 0, kPhysRefWorld);
hsgResMgr::ResMgr()->AddViaNotify(fWorldKey, ref, plRefFlags::kActiveRef);
}
// only dynamic physicals without noSync need SDLs
if ( fGroup == plSimDefs::kGroupDynamic && !fProps.IsBitSet(plSimulationInterface::kNoSynchronize) )
{
// add SDL modifier
plSceneObject* sceneObj = plSceneObject::ConvertNoRef(fObjectKey->ObjectIsLoaded());
hsAssert(sceneObj, "nil sceneObject, failed to create and attach SDL modifier");
delete fSDLMod;
fSDLMod = new plPhysicalSDLModifier;
sceneObj->AddModifier(fSDLMod);
}
return true;
}
/// Advances the simulation by an elapsedTime time.
virtual void Simulate ( Scalar elapsedTime ) { m_pScene->simulate( elapsedTime ); }
void plPXPhysical::Write(hsStream* stream, hsResMgr* mgr)
{
plPhysical::Write(stream, mgr);
hsAssert(fActor, "nil actor");
hsAssert(fActor->getNbShapes() == 1, "Can only write actors with one shape. Writing first only.");
NxShape* shape = fActor->getShapes()[0];
NxMaterialIndex matIdx = shape->getMaterial();
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
NxMaterial* mat = scene->getMaterialFromIndex(matIdx);
float friction = mat->getStaticFriction();
float restitution = mat->getRestitution();
stream->WriteLEScalar(fActor->getMass());
stream->WriteLEScalar(friction);
stream->WriteLEScalar(restitution);
stream->WriteByte(fBoundsType);
stream->WriteByte(fGroup);
stream->WriteLE32(fReportsOn);
stream->WriteLE16(fLOSDBs);
mgr->WriteKey(stream, fObjectKey);
mgr->WriteKey(stream, fSceneNode);
mgr->WriteKey(stream, fWorldKey);
mgr->WriteKey(stream, fSndGroup);
hsPoint3 pos;
hsQuat rot;
IGetPositionSim(pos);
IGetRotationSim(rot);
pos.Write(stream);
rot.Write(stream);
fProps.Write(stream);
if (fBoundsType == plSimDefs::kSphereBounds)
{
const NxSphereShape* sphereShape = shape->isSphere();
stream->WriteLEScalar(sphereShape->getRadius());
hsPoint3 localPos = plPXConvert::Point(sphereShape->getLocalPosition());
localPos.Write(stream);
}
else if (fBoundsType == plSimDefs::kBoxBounds)
{
const NxBoxShape* boxShape = shape->isBox();
hsPoint3 dim = plPXConvert::Point(boxShape->getDimensions());
dim.Write(stream);
hsPoint3 localPos = plPXConvert::Point(boxShape->getLocalPosition());
localPos.Write(stream);
}
else
{
if (fBoundsType == plSimDefs::kHullBounds)
hsAssert(shape->isConvexMesh(), "Hull shape isn't a convex mesh");
else
hsAssert(shape->isTriangleMesh(), "Exact shape isn't a trimesh");
// We hide the stream we used to create this mesh away in the shape user data.
// Pull it out and write it to disk.
hsVectorStream* vecStream = (hsVectorStream*)shape->userData;
stream->Write(vecStream->GetEOF(), vecStream->GetData());
delete vecStream;
}
}
virtual void FlushCaches () { m_pScene->flushCaches(); }
void plPXPhysicalControllerCore::ICreateController(const hsPoint3& pos)
{
NxScene* scene = plSimulationMgr::GetInstance()->GetScene(fWorldKey);
NxCapsuleControllerDesc desc;
desc.position.x = pos.fX;
desc.position.y = pos.fY;
desc.position.z = pos.fZ;
desc.upDirection = NX_Z;
desc.slopeLimit = kSLOPELIMIT;
desc.skinWidth = kPhysxSkinWidth;
desc.stepOffset = STEP_OFFSET;
desc.callback = &gMyReport;
desc.userData = this;
desc.radius = fRadius;
desc.height = fHeight;
desc.interactionFlag = NXIF_INTERACTION_EXCLUDE;
//desc.interactionFlag = NXIF_INTERACTION_INCLUDE;
fController = (NxCapsuleController*)gControllerMgr.createController(scene, desc);
// Change the avatars shape groups. The avatar doesn't actually use these when
// it's determining collision, but if you're standing still and an object runs
// into you, it'll pass through without this.
NxActor* actor = fController->getActor();
NxShape* shape = actor->getShapes()[0];
shape->setGroup(plSimDefs::kGroupAvatar);
// need to create the non-bouncing object that can be used to trigger things while the avatar is doing behaviors.
NxActorDesc actorDesc;
NxCapsuleShapeDesc capDesc;
capDesc.radius = fRadius;
capDesc.height = fHeight;
capDesc.group = plSimDefs::kGroupAvatar;
actorDesc.shapes.pushBack(&capDesc);
capDesc.materialIndex= plSimulationMgr::GetInstance()->GetMaterialIdx(scene, 0.0,0.0);
actorDesc.globalPose=actor->getGlobalPose();
NxBodyDesc bodyDesc;
bodyDesc.mass = kAvatarMass;
actorDesc.body = &bodyDesc;
bodyDesc.flags = NX_BF_KINEMATIC;
bodyDesc.flags |=NX_BF_DISABLE_GRAVITY ;
actorDesc.name = "AvatarTriggerKinematicGuy";
fSeeking=false;
try
{
fKinematicActor = scene->createActor(actorDesc);
}
catch (...)
{
hsAssert(false, "Actor creation crashed");
}
// set the matrix to be the same as the controller's actor... that should orient it to be the same
//fKinematicActor->setGlobalPose(actor->getGlobalPose());
// the proxy for the debug display
//hsAssert(!fProxyGen, "Already have proxy gen, double read?");
hsColorRGBA physColor;
float opac = 1.0f;
// local avatar is light purple and transparent
physColor.Set(.2f, .1f, .2f, 1.f);
opac = 0.8f;
/*
// the avatar proxy doesn't seem to work... not sure why?
fProxyGen = new plPhysicalProxy(hsColorRGBA().Set(0,0,0,1.f), physColor, opac);
fProxyGen->Init(this);
*/
}
Data(bool useHardware, bool useHardwareOnly, bool useMultithreading, PhysicsParams *params)
: sdk(0),
scene(0),
crashed(false),
statsNumActors(0),
statsNumDynamicActors(0),
statsNumDynamicActorsInAwakeGroups(0),
statsMaxDynamicActorsInAwakeGroups(0),
statsSimulationTime(0),
statsSimulationWaitTime(0),
statsSimulationStartWaitTime(0),
startSimulationTime(0),
statsContacts(0),
ccd(false),
ccdMaxThickness(0.5f),
runningInHardware(false),
physicslib_fluid_containment_actor(0),
physicslib_fluid_containment_shape(0),
physicslib_fluid_containment_sphere_actor(0),
physicslib_fluid_containment_sphere_shape(0)
{
if (params == NULL)
{
params = &physics_defaultParams;
::Logger::getInstance()->debug("PhysicsLib - No physics params given, using defaults.");
}
if (params->scriptRunner == NULL)
{
::Logger::getInstance()->warning("PhysicsLib - No script runner given, collision groups, etc. will be initialized to default values.");
}
NxPhysicsSDKDesc sdkDesc;
if(!useHardware)
sdkDesc.flags |= NX_SDKF_NO_HARDWARE;
sdk = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, 0, getLogger(), sdkDesc);
//sdk = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
// HACK: ...
physxSDK = sdk;
if(sdk)
{
if(sdk->getHWVersion() == NX_HW_VERSION_NONE)
useHardware = false;
if (params->ccd)
{
sdk->setParameter(NX_CONTINUOUS_CD, true);
sdk->setParameter(NX_CCD_EPSILON, 0.001f);
}
this->ccd = params->ccd;
this->ccdMaxThickness = params->ccdMaxThickness;
NxSceneDesc sceneDesc;
sceneDesc.gravity = NxVec3(params->gravity.x, params->gravity.y, params->gravity.z);
sceneDesc.userContactReport = &contactReport;
//sceneDesc.userNotify = &userNotify;
if(useHardware)
{
sceneDesc.simType = NX_SIMULATION_HW;
if (useHardwareOnly)
{
sceneDesc.flags |= NX_SF_RESTRICTED_SCENE;
}
}
else
{
sceneDesc.simType = NX_SIMULATION_SW;
}
if (!useMultithreading)
{
// Disable threading
sceneDesc.flags = 0;
}
runningInHardware = useHardware;
sceneDesc.flags |= NX_SF_ENABLE_ACTIVETRANSFORMS;
scene = sdk->createScene(sceneDesc);
if(scene)
{
NxMaterial *defaultMaterial = scene->getMaterialFromIndex(0);
defaultMaterial->setStaticFriction(params->defaultStaticFriction);
defaultMaterial->setDynamicFriction(params->defaultDynamicFriction);
defaultMaterial->setRestitution(params->defaultRestitution);
#ifdef PROJECT_CLAW_PROTO
// Create material for cops (larger friction, no restitution)
NxMaterialDesc materialDesc;
materialDesc.restitution = 0.0f;
materialDesc.restitutionCombineMode = NX_CM_MIN;
materialDesc.staticFriction = 10.0f;
materialDesc.dynamicFriction = 10.0f;
unitMaterial = scene->createMaterial(materialDesc);
#endif
sdk->setParameter(NX_VISUALIZATION_SCALE, 1.f);
#ifndef PROJECT_SHADOWGROUNDS
sdk->setParameter(NX_SKIN_WIDTH, 0.01f);
#endif
// NEW: the new scriptable collision/contact group initialization
int contactFlags1 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#ifdef PHYSICS_FEEDBACK
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#else
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
#endif
if (params->scriptRunner != NULL)
{
bool ok = params->scriptRunner->runPhysicsLibScript("physics_init", "set_contacts");
if (!ok)
::Logger::getInstance()->error("PhysicsLib - Failed to run physics_init:set_contacts script (script/sub may not be loaded or did not return expected value).");
}
for (int i = 0; i < PHYSICS_MAX_COLLISIONGROUPS; i++)
{
for (int j = 0; j < PHYSICS_MAX_COLLISIONGROUPS; j++)
{
if (physicslib_group_cont[i][j] != physicslib_group_cont[j][i])
{
::Logger::getInstance()->error("PhysicsLib - Improperly mirrored physics contacts data (group1 -> group2 does not have same flag as group2 -> group1).");
::Logger::getInstance()->debug("contacts data group numbers follow:");
::Logger::getInstance()->debug(int2str(i));
::Logger::getInstance()->debug(int2str(j));
}
if (physicslib_group_cont[i][j] == PHYSICSLIB_GROUP_CONTACT_FLAGS1)
scene->setActorGroupPairFlags(i, j, contactFlags1);
else if (physicslib_group_cont[i][j] == PHYSICSLIB_GROUP_CONTACT_FLAGS2)
scene->setActorGroupPairFlags(i, j, contactFlags2);
}
}
if (params->scriptRunner != NULL)
{
bool ok = params->scriptRunner->runPhysicsLibScript("physics_init", "set_collisions");
if (!ok)
::Logger::getInstance()->error("PhysicsLib - Failed to run physics_init:set_collision script (script/sub may not be loaded or did not return expected value).");
}
for (int i = 0; i < PHYSICS_MAX_COLLISIONGROUPS; i++)
{
for (int j = 0; j < PHYSICS_MAX_COLLISIONGROUPS; j++)
{
if (physicslib_group_coll[i][j] != physicslib_group_coll[j][i])
{
::Logger::getInstance()->error("PhysicsLib - Improperly mirrored physics collision data (group1 -> group2 does not have same flag as group2 -> group1).");
::Logger::getInstance()->debug("collision data group numbers follow:");
::Logger::getInstance()->debug(int2str(i));
::Logger::getInstance()->debug(int2str(j));
}
scene->setGroupCollisionFlag(i, j, physicslib_group_coll[i][j]);
}
}
// OLD SCHEISSE...
/*
// Contact groups
{
int contactFlags1 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#ifdef PHYSICS_FEEDBACK
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_ON_TOUCH | NX_NOTIFY_FORCES;
#else
int contactFlags2 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
#endif
//int contactFlags3 = NX_NOTIFY_ON_START_TOUCH | NX_NOTIFY_FORCES;
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags1);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
//scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, contactFlags1);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_UNITS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_STATIC, PHYSICS_COLLISIONGROUP_UNITS, contactFlags2);
scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_STATIC, contactFlags1);
//scene->setActorGroupPairFlags(PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, PHYSICS_COLLISIONGROUP_UNITS, contactFlags3);
}
// Collision groups
{
// claw
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_CLAW, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_NOCOLLISION, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_CLAW, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_CLAW, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
// Model particles
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Doors
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_DOORS, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_DOORS, PHYSICS_COLLISIONGROUP_STATIC, false);
// Units and model particles
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_UNITS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_UNITS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
// Fluids
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Fluids w/ detailed collision
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
// Fluid containment
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_STATIC, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_UNITS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, PHYSICS_COLLISIONGROUP_FLUIDS_DETAILED, false);
// No collision
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_STATIC, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_WO_UNIT_COLL_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_MODEL_PARTICLES_NO_SOUND, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_UNITS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_DOORS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_DYNAMIC_TERRAINOBJECTS, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_FLUID_CONTAINMENT_PLANES, false);
scene->setGroupCollisionFlag(PHYSICS_COLLISIONGROUP_NOCOLLISION, PHYSICS_COLLISIONGROUP_NOCOLLISION, false);
}
*/
}
}
}
int PMaterialIterator(const CKBehaviorContext& behcontext)
{
CKBehavior* beh = behcontext.Behavior;
CKContext* ctx = behcontext.Context;
PhysicManager *pm = GetPMan();
pFactory *pf = pFactory::Instance();
if (beh->IsInputActive(0))
{
beh->ActivateInput(0,FALSE);
//////////////////////////////////////////////////////////////////////////
//we reset our session counter
int sessionIndex=-1;
beh->SetOutputParameterValue(0,&sessionIndex);
LMaterials*sResults = NULL;
beh->GetLocalParameterValue(0,&sResults);
if (!sResults)
{
sResults = new LMaterials();
}else
sResults->clear();
NxScene * scene = GetPMan()->getDefaultWorld()->getScene();
for(int i = 0 ; i < GetPMan()->getDefaultWorld()->getScene()->getNbMaterials() ; i ++)
{
NxMaterial *currentMaterial = scene->getMaterialFromIndex(i);
sResults->push_back(currentMaterial);
}
beh->SetLocalParameterValue(0,&sResults);
if (sResults->size())
{
beh->ActivateInput(1);
}else
{
beh->ActivateOutput(0);
return 0;
}
}
if( beh->IsInputActive(1) )
{
beh->ActivateInput(1,FALSE);
int currentIndex=0; CKParameterOut *pout = beh->GetOutputParameter(0); pout->GetValue(¤tIndex);
currentIndex++;
LMaterials *sResults = NULL; beh->GetLocalParameterValue(0,&sResults);
if (!sResults) { beh->ActivateOutput(0); return 0; }
if (currentIndex>=sResults->size())
{
sResults->clear();
beh->ActivateOutput(0);
return 0;
}
NxMaterial * material = sResults->at(currentIndex);
if (material!=NULL)
{
int sIndex = currentIndex+1;
beh->SetOutputParameterValue(0,&sIndex);
//SetOutputParameterValue<int>(beh,O_XML,material->xmlLinkID);
SetOutputParameterValue<float>(beh,O_DFRICTION,material->getDynamicFriction());
SetOutputParameterValue<float>(beh,O_SFRICTION,material->getStaticFriction());
SetOutputParameterValue<float>(beh,O_RES,material->getRestitution());
SetOutputParameterValue<float>(beh,O_DFRICTIONV,material->getDynamicFrictionV());
SetOutputParameterValue<float>(beh,O_SFRICTIONV,material->getStaticFrictionV());
SetOutputParameterValue<VxVector>(beh,O_ANIS,getFrom(material->getDirOfAnisotropy()));
SetOutputParameterValue<int>(beh,O_FCMODE,material->getFrictionCombineMode());
SetOutputParameterValue<int>(beh,O_RCMODE,material->getFrictionCombineMode());
SetOutputParameterValue<int>(beh,O_FLAGS,material->getFlags());
}
if(material->userData )
{
pMaterial *bMaterial = static_cast<pMaterial*>(material->userData);
if (bMaterial && bMaterial->xmlLinkID )
{
int xid = bMaterial->xmlLinkID;
XString nodeName = vtAgeia::getEnumDescription(GetPMan()->GetContext()->GetParameterManager(),VTE_XML_MATERIAL_TYPE,xid);
CKParameterOut *nameStr = beh->GetOutputParameter(O_NAME);
nameStr->SetStringValue(nodeName.Str());
}
}
//pFactory::Instance()->copyTo(beh->GetOutputParameter(O_MATERIAL),material);
beh->ActivateOutput(0);
}
return 0;
}
/// Sets a constant gravity for the entire scene.
virtual void SetGravity ( const Vector3 &vec ) { m_pScene->setGravity( ToNxVec3(vec) ); }
