void World::SetupAnimalScene()
{
// Create the objects in the scene
NxSoftBodyDesc softBodyDesc;
softBodyDesc.globalPose.t = NxVec3(0.0f, 3.0f, 0.0f);
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 0.5f;
softBodyDesc.stretchingStiffness= 1.0f;
softBodyDesc.friction = 1.0f;
softBodyDesc.attachmentResponseCoefficient = 0.1f;
softBodyDesc.solverIterations = 5;
char *fileName = "froggyNormalized";
char tetFileName[256], objFileName[256], s[256];
sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
ObjMesh *objMesh = new ObjMesh();
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
gObjMeshes.pushBack(objMesh);
if(objMesh == NULL)
{
printf("objMesh %s\n");
}
NxMat33 rot;
rot.rotX(NxHalfPiF32);
for (int i = 0; i < 5; i++)
{
softBodyDesc.globalPose.t = NxVec3(0, 3+i*3, 0);
MySoftBody *softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName, s), objMesh);
assert(softBody);
if (!softBody->getNxSoftBody())
{
printf("Error: unable to create the softbody for the current scene.\n");
delete softBody;
}
else
{
gSoftBodies.pushBack(softBody);
NxActor *caps = MyCreateCapsule(NxVec3(0.0f, 3.0f + i*3.0f, -0.3f), 1.0f, 0.73f, 1.0f);
caps->userData = (void*)&gInvisible;
caps->setGlobalOrientation(rot);
softBody->getNxSoftBody()->attachToShape(caps->getShapes()[0], NX_SOFTBODY_ATTACHMENT_TWOWAY);
}
}
}
void World::SetupBunnyScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.globalPose.t = NxVec3(0,35,-1);
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 1.0f;
softBodyDesc.stretchingStiffness = 0.07f;
softBodyDesc.friction = 1.0f;
char *fileName = "bunny";
char tetFileName[256], objFileName[256], s[256];
sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
ObjMesh *objMesh = new ObjMesh(); // it is for mesh surface rendering
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
MySoftBody *softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create the SoftBody for the current scene.\n");
delete softBody;
} else
{
gSoftBodies.push_back(softBody); // soft body is pushed to list.
gObjMeshes.push_back(objMesh); // surface mesh is pushed to list.
}
NxMat33 rot;
NxActor *plate0 = CreateBox(NxVec3(-2.5,10,0), NxVec3(20.0f, 1.0f, 10.0f), 0,0.0f);
rot.rotZ(1.5f);
plate0->setGlobalOrientation(rot);
NxActor *plate1 = CreateBox(NxVec3(2.5,10,0), NxVec3(20.0f, 1.0f, 10.0f), 0,0.0f);
rot.rotZ(1.5f);
plate1->setGlobalOrientation(rot);
// set camera position and direction
gCameraPos.set(-5.0f, 40.0f, 35.0f);
gCameraForward.set(0.2,-1.1,-2);
gCameraForward.normalize();
}
void World::SetupPalmScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.globalPose.t = NxVec3(0,3,0);
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 0.5;
softBodyDesc.stretchingStiffness = 1.0f;
softBodyDesc.friction = 1.0f;
softBodyDesc.flags |= NX_SBF_COLLISION_TWOWAY;
char* fileName = "palm";
char tetFileName[256], objFileName[256], s[256];
//sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
ObjMesh *objMesh = new ObjMesh();
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
MySoftBody *softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create the SoftBody for the current scene.\n");
delete softBody;
}
else
{
gSoftBodies.push_back(softBody);
gObjMeshes.push_back(objMesh);
softBody->getNxSoftBody()->setExternalAcceleration(NxVec3(5,0,0));
NxActor *caps0 = CreateCompoundCapsule(NxVec3(-0.46f, -0.15f, 0.68f), 1.7f, 0.21f, 2.0f, 0.18f);
caps0->userData = (void*)&gInvisible;
CreateRopeSphericalJoint(NULL, caps0, NxVec3(-0.46f, -0.0f, 0.68f), NxVec3(0,0,1));
softBody->getNxSoftBody()->attachToCollidingShapes(0);
}
}
void World::SetupSoftWheelCarScene()
{
NxSoftBodyDesc softBodyDesc;
softBodyDesc.particleRadius = 0.2f;
softBodyDesc.volumeStiffness = 1.0f;
softBodyDesc.stretchingStiffness = 1.0f;
softBodyDesc.friction = 1.0f;
softBodyDesc.attachmentResponseCoefficient = 0.8f;
softBodyDesc.tearFactor = 10.1; // should be more than 1.0, the less, the easier to tear with flag NX_SBF_TEARABLE
softBodyDesc.flags |= NX_SBF_HARDWARE | NX_SBF_VOLUME_CONSERVATION | NX_SBF_TEARABLE;
char *fileName = "wheel";
char tetFileName[256], objFileName[256], s[256];
sprintf(tetFileName, "%s.tet", fileName);
sprintf(objFileName, "%s.obj", fileName);
MySoftBody *softBody;
NxReal carHeight = 7.5f;
NxReal stiffness = 0.9f;
NxMat34 capsulePose = NxMat34(NxMat33(NX_IDENTITY_MATRIX), NxVec3(-4, carHeight, -5.0f));
printf("capsulePose %f %f %f\n", capsulePose.t.x, capsulePose.t.y, capsulePose.t.z);
capsulePose.M.rotX(NxHalfPiF32);
NxActor *caps1 = CreateOrientedCapsule(capsulePose, 7.1f, 1.3f, 1.0f);
capsulePose.t = NxVec3(4, carHeight, -5.0f);
NxActor *caps2 = CreateOrientedCapsule(capsulePose, 7.1f, 1.3f, 1.0f);
ObjMesh *objMesh = new ObjMesh();
objMesh->loadFromObjFile(FindMediaFile(objFileName, s));
NxMat33 rot;
rot.rotX(NxPiF32);
softBodyDesc.globalPose.t = NxVec3(4.0f, carHeight, 3.4f);
softBodyDesc.globalPose.M = rot;
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
if (!softBody->getNxSoftBody())
{
printf("Error: Unable to create Softbody for the current scene.\n");
delete softBody;
}
else
{
gObjMeshes.push_back(objMesh);
// wheel 1
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(-4.0f ,carHeight, 3.4f);
softBodyDesc.globalPose.M = rot;
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(4.0f, carHeight, -3.4f);
softBodyDesc.globalPose.M.id();
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY);
gSoftBodies.push_back(softBody);
softBodyDesc.globalPose.t = NxVec3(-4.0f, carHeight, -3.4f);
softBodyDesc.globalPose.M.id();
softBodyDesc.stretchingStiffness = stiffness;
softBody = new MySoftBody(gScene, softBodyDesc, FindMediaFile(tetFileName,s), objMesh);
softBody->getNxSoftBody()->attachToCollidingShapes(NX_SOFTBODY_ATTACHMENT_TWOWAY); // bind soft wheel with capsule colliding with it
gSoftBodies.push_back(softBody);
NxActor *box = CreateBox(NxVec3(0,carHeight,0), NxVec3(4.6f, 0.5f, 1.0f), 0,1.0f);
CreateRevoluteJoint(box, caps1, NxVec3(-4,carHeight,-3.5f), NxVec3(0,0,1), false);
CreateRevoluteJoint(box, caps2, NxVec3( 4,carHeight,-3.5f), NxVec3(0,0,1), false);
}
gSelectedActor = caps1;
}
