void physx::PxSetGroupsMask(const PxRigidActor& actor, const PxGroupsMask& mask)
{
PxFilterData tmp;
PxFilterData fd = convert(mask);
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
// retrieve current group
tmp = shape->getSimulationFilterData();
fd.word0 = tmp.word0;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
void physx::PxSetGroup(const PxRigidActor& actor, const PxU16 collisionGroup)
{
PX_CHECK_AND_RETURN(collisionGroup < 32,"Collision group must be less than 32");
PxFilterData fd;
if (actor.getNbShapes() == 1)
{
PxShape* shape = NULL;
actor.getShapes(&shape, 1);
// retrieve current group mask
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
else
{
PxShape* shape;
PxU32 numShapes = actor.getNbShapes();
shdfnd::InlineArray<PxShape*, 64> shapes;
if(numShapes > 64)
{
shapes.resize(64);
}
else
{
shapes.resize(numShapes);
}
PxU32 iter = 1 + numShapes/64;
for(PxU32 i=0; i < iter; i++)
{
PxU32 offset = i * 64;
PxU32 size = numShapes - offset;
if(size > 64)
size = 64;
actor.getShapes(shapes.begin(), size, offset);
for(PxU32 j = size; j--;)
{
// retrieve current group mask
shape = shapes[j];
fd = shape->getSimulationFilterData();
fd.word0 = collisionGroup;
// set new filter data
shape->setSimulationFilterData(fd);
}
}
}
}
PxRigidDynamic* Vehicle::createVehicleActor(const PxVehicleChassisData& chassisData,
PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels,
PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, PxPhysics& physics, PxVec3 initPos)
{
//We need a rigid body actor for the vehicle.
//Don't forget to add the actor to the scene after setting up the associated vehicle.
PxRigidDynamic* vehActor = physics.createRigidDynamic(PxTransform(initPos));
vehActor->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
//Wheel and chassis simulation filter data.
PxFilterData wheelSimFilterData;
wheelSimFilterData.word0 = COLLISION_FLAG_WHEEL;
wheelSimFilterData.word1 = COLLISION_FLAG_WHEEL_AGAINST;
PxFilterData chassisSimFilterData;
chassisSimFilterData.word0 = COLLISION_FLAG_CHASSIS;
chassisSimFilterData.word1 = COLLISION_FLAG_CHASSIS_AGAINST;
//Wheel and chassis query filter data.
//Optional: cars don't drive on other cars.
PxFilterData wheelQryFilterData;
wheelQryFilterData.word0 = FilterGroup::eWHEEL;
setupNonDrivableSurface(wheelQryFilterData);
PxFilterData chassisQryFilterData;
chassisQryFilterData.word0 = FilterGroup::eVEHICLE;
setupNonDrivableSurface(chassisQryFilterData);
//Add all the wheel shapes to the actor.
for (PxU32 i = 0; i < numWheels; i++)
{
PxConvexMeshGeometry geom(wheelConvexMeshes[i]);
PxShape* wheelShape = vehActor->createShape(geom, *wheelMaterials[i]);
wheelShape->setQueryFilterData(wheelQryFilterData);
wheelShape->setSimulationFilterData(wheelSimFilterData);
wheelShape->setLocalPose(PxTransform(PxIdentity));
}
//Add the chassis shapes to the actor.
for (PxU32 i = 0; i < numChassisMeshes; i++)
{
PxShape* chassisShape = vehActor->createShape
(PxConvexMeshGeometry(chassisConvexMeshes[i]), *chassisMaterials[i]);
chassisShape->setQueryFilterData(chassisQryFilterData);
chassisShape->setSimulationFilterData(chassisSimFilterData);
chassisShape->setLocalPose(PxTransform(PxIdentity));
}
vehActor->setMass(chassisData.mMass);
vehActor->setMassSpaceInertiaTensor(chassisData.mMOI);
vehActor->setCMassLocalPose(PxTransform(chassisData.mCMOffset, PxQuat(PxIdentity)));
return vehActor;
}
void UDestructibleComponent::SetCollisionResponseForActor(const FCollisionResponse& ColResponse, PxRigidDynamic* Actor, int32 ChunkIdx)
{
// Get collision channel and response
PxFilterData PQueryFilterData, PSimFilterData;
uint8 MoveChannel = GetCollisionObjectType();
if(IsCollisionEnabled())
{
AActor* Owner = GetOwner();
CreateShapeFilterData(MoveChannel, (Owner ? Owner->GetUniqueID() : 0), ColResponse.GetResponseContainer(), 0, ChunkIdxToBoneIdx(ChunkIdx), PQueryFilterData, PSimFilterData, BodyInstance.bUseCCD, BodyInstance.bNotifyRigidBodyCollision, false);
PQueryFilterData.word3 |= EPDF_SimpleCollision | EPDF_ComplexCollision;
SCOPED_SCENE_WRITE_LOCK(Actor->getScene());
TArray<PxShape*> Shapes;
Shapes.AddUninitialized(Actor->getNbShapes());
int ShapeCount = Actor->getShapes(Shapes.GetTypedData(), Shapes.Num());
for (int32 i=0; i < ShapeCount; ++i)
{
PxShape* Shape = Shapes[i];
Shape->setQueryFilterData(PQueryFilterData);
Shape->setSimulationFilterData(PSimFilterData);
Shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, true);
Shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
Shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
}
}
}
void SampleParticles::createDrain()
{
float lakeHeight = 5.5f;
//Creates a drain plane for the particles. This is good practice to avoid unnecessary
//spreading of particles, which is bad for performance. The drain represents a lake in this case.
{
PxRigidStatic* actor = getPhysics().createRigidStatic(PxTransform(PxVec3(0.0f, lakeHeight - 1.0f, 0.0f), PxQuat(PxHalfPi, PxVec3(0,0,1))));
runtimeAssert(actor, "PxPhysics::createRigidStatic returned NULL\n");
PxShape* shape = actor->createShape(PxPlaneGeometry(), getDefaultMaterial());
runtimeAssert(shape, "PxRigidStatic::createShape returned NULL\n");
shape->setSimulationFilterData(collisionGroupDrain);
shape->setFlags(PxShapeFlag::ePARTICLE_DRAIN | PxShapeFlag::eSIMULATION_SHAPE);
getActiveScene().addActor(*actor);
mPhysicsActors.push_back(actor);
}
//Creates the surface of the lake (the particles actually just collide with the underlaying drain).
{
PxBoxGeometry bg;
bg.halfExtents = PxVec3(130.0f, lakeHeight + 1.0f, 130.0f);
PxRigidStatic* actor = getPhysics().createRigidStatic(PxTransform(PxVec3(0.0f, 0.0f, 0.0f), PxQuat::createIdentity()));
runtimeAssert(actor, "PxPhysics::createRigidStatic returned NULL\n");
PxShape* shape = actor->createShape(bg, getDefaultMaterial());
runtimeAssert(shape, "PxRigidStatic::createShape returned NULL\n");
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
getActiveScene().addActor(*actor);
mPhysicsActors.push_back(actor);
createRenderObjectsFromActor(actor, getMaterial(MATERIAL_LAKE));
}
}
PxShape* AttachShape_AssumesLocked(const PxGeometry& PGeom, const PxTransform& PLocalPose, const float ContactOffset, PxShapeFlags PShapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) const
{
const PxMaterial* PMaterial = GetDefaultPhysMaterial();
PxShape* PNewShape = bShapeSharing ? GPhysXSDK->createShape(PGeom, *PMaterial, /*isExclusive =*/ false, PShapeFlags) : PDestActor->createShape(PGeom, *PMaterial, PShapeFlags);
if (PNewShape)
{
PNewShape->setLocalPose(PLocalPose);
if (NewShapes)
{
NewShapes->Add(PNewShape);
}
PNewShape->setContactOffset(ContactOffset);
const bool bSyncFlags = bShapeSharing || SceneType == PST_Sync;
const FShapeFilterData& Filters = ShapeData.FilterData;
const bool bComplexShape = PNewShape->getGeometryType() == PxGeometryType::eTRIANGLEMESH;
PNewShape->setQueryFilterData(bComplexShape ? Filters.QueryComplexFilter : Filters.QuerySimpleFilter);
PNewShape->setFlags( (bSyncFlags ? ShapeData.SyncShapeFlags : ShapeData.AsyncShapeFlags) | (bComplexShape ? ShapeData.ComplexShapeFlags : ShapeData.SimpleShapeFlags));
PNewShape->setSimulationFilterData(Filters.SimFilter);
FBodyInstance::ApplyMaterialToShape_AssumesLocked(PNewShape, SimpleMaterial, ComplexMaterials, bShapeSharing);
if(bShapeSharing)
{
PDestActor->attachShape(*PNewShape);
PNewShape->release();
}
}
return PNewShape;
}
void SampleNorthPole::setCCDActive(PxShape& shape)
{
shape.setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS,true);
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= CCD_FLAG;
shape.setSimulationFilterData(fd);
}
void setupFiltering(PxRigidActor* actor, PxU32 filterGroup, PxU32 filterMask)
{
PxFilterData filterData;
filterData.word0 = filterGroup; //word0 = own ID
filterData.word1 = filterMask; //word1 = ID mask to filter pairs that trigger a contact callback
const PxU32 numShapes = actor->getNbShapes();
PxShape** shapes = (PxShape**)_aligned_malloc(sizeof(PxShape*)*numShapes, 16);
actor->getShapes(shapes, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = shapes[i];
shape->setSimulationFilterData(filterData);
}
_aligned_free(shapes);
}
PxRigidDynamic* SampleParticles::Raygun::createRayCapsule(bool enableCollision, PxFilterData filterData)
{
PxRigidDynamic* actor = mSample->getPhysics().createRigidDynamic(PxTransform::createIdentity());
mSample->runtimeAssert(actor, "PxPhysics::createRigidDynamic returned NULL\n");
PxShape* shape = actor->createShape(PxCapsuleGeometry(0.1f, 150.0f), mSample->getDefaultMaterial());
mSample->runtimeAssert(shape, "PxRigidDynamic::createShape returned NULL\n");
shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, enableCollision);
shape->setSimulationFilterData(filterData);
actor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
actor->setMass(1.0f);
actor->setMassSpaceInertiaTensor(PxVec3(1.0f));
mSample->getActiveScene().addActor(*actor);
return actor;
}
/**
* Private method which is used to setup actor collision filtering. To use colision detection callback
* user must define collision pairs.
* @param actor is ponter to scene actor.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::setupFiltering(PxRigidActor* actor, PxU32 filterGroup, PxU32 filterMask)
{
PxFilterData filterData;
filterData.word0 = filterGroup;
filterData.word1 = filterMask;
const PxU32 numShapes = actor->getNbShapes();
PxShape** shapes = new PxShape*[numShapes];
actor->getShapes(shapes, numShapes);
for(PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = shapes[i];
shape->setSimulationFilterData(filterData);
}
delete [] shapes;
}
PxShape* PxCloneShape(PxPhysics &physics, const PxShape& from, bool isExclusive)
{
Ps::InlineArray<PxMaterial*, 64> materials;
PxU16 materialCount = from.getNbMaterials();
materials.resize(materialCount);
from.getMaterials(materials.begin(), materialCount);
PxShape* to = physics.createShape(from.getGeometry().any(), materials.begin(), materialCount, isExclusive, from.getFlags());
to->setLocalPose(from.getLocalPose());
to->setContactOffset(from.getContactOffset());
to->setRestOffset(from.getRestOffset());
to->setSimulationFilterData(from.getSimulationFilterData());
to->setQueryFilterData(from.getQueryFilterData());
return to;
}
void CPhysicManager::setupFiltering(physx::PxRigidActor* actor, unsigned int filterGroup, unsigned int filterMask)
{
using namespace physx;
PxFilterData filterData;
filterData.word0 = filterGroup;
filterData.word1 = filterMask;
const PxU32 numShapes = actor->getNbShapes();
PxShape** shapes = (PxShape**) malloc (sizeof(PxShape*)*numShapes);
actor->getShapes(shapes, numShapes);
for(PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = shapes[i];
shape->setSimulationFilterData(filterData);
}
free(shapes);
}
void TCompCharacterController::SetFilterData(PxFilterData& filter)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
m_filter = filter;
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
void UDestructibleComponent::SetCollisionResponseForActor(PxRigidDynamic* Actor, int32 ChunkIdx, const FCollisionResponseContainer* ResponseOverride /*= NULL*/)
{
#if WITH_APEX
if (ApexDestructibleActor == NULL)
{
return;
}
// Get collision channel and response
PxFilterData PQueryFilterData, PSimFilterData;
uint8 MoveChannel = GetCollisionObjectType();
if(IsCollisionEnabled())
{
UDestructibleMesh* TheDestructibleMesh = GetDestructibleMesh();
AActor* Owner = GetOwner();
bool bLargeChunk = IsChunkLarge(ChunkIdx);
const FCollisionResponseContainer& UseResponse = ResponseOverride == NULL ? (bLargeChunk ? LargeChunkCollisionResponse.GetResponseContainer() : SmallChunkCollisionResponse.GetResponseContainer()) : *ResponseOverride;
physx::PxU32 SupportDepth = TheDestructibleMesh->ApexDestructibleAsset->getChunkDepth(ChunkIdx);
const bool bEnableImpactDamage = IsImpactDamageEnabled(TheDestructibleMesh, SupportDepth);
CreateShapeFilterData(MoveChannel, GetUniqueID(), UseResponse, 0, ChunkIdxToBoneIdx(ChunkIdx), PQueryFilterData, PSimFilterData, BodyInstance.bUseCCD, bEnableImpactDamage, false);
PQueryFilterData.word3 |= EPDF_SimpleCollision | EPDF_ComplexCollision;
SCOPED_SCENE_WRITE_LOCK(Actor->getScene());
TArray<PxShape*> Shapes;
Shapes.AddUninitialized(Actor->getNbShapes());
int ShapeCount = Actor->getShapes(Shapes.GetData(), Shapes.Num());
for (int32 i=0; i < ShapeCount; ++i)
{
PxShape* Shape = Shapes[i];
Shape->setQueryFilterData(PQueryFilterData);
Shape->setSimulationFilterData(PSimFilterData);
Shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, true);
Shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
Shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
}
}
#endif
}
Entity* CreateBall(float _fRadius, SimpleTree& _rParentNode)
{
Entity* pBall = new Entity(EntityCategories::BALL);
// The model
Sphere* pSphere = new Sphere(Vector2(), _fRadius);
pSphere->setColour(BALL_COLOUR);
pSphere->setLevelOfDetail(10);
pBall->addComponent(pSphere);
pSphere->setEntity(pBall);
// The physical body
Body::Material material;
material.density = 0.5f;
material.friction = 0.5f;
material.restitution = 0.5f;
PhysXBody* pBody = static_cast<PhysXBody*>(PhysicsFactory::getInstance()->createBody(material, pSphere,
BALL_POSITION, true));
pBall->addComponent(pBody);
pBody->setEntity(pBall);
// Collision detection
PxRigidDynamic* pRigidDynamic = pBody->getActor()->isRigidDynamic();
PxFilterData filterData;
filterData.word0 = EntityCategories::BALL;
filterData.word1 = EntityCategories::WALL_BLOCK;
PxShape* shapes;
pRigidDynamic->getShapes(&shapes, 1);
shapes->setSimulationFilterData(filterData);
pRigidDynamic->setContactReportThreshold(DESTRUCTION_FORCE_THRESHOLD);
// The scene
SimpleTree* pNode = new SimpleTree;
setTranslation(pNode->getTransformation(), BALL_POSITION);
pNode->setModel(pSphere);
pBody->setNode(pNode);
_rParentNode.addChild(pNode);
GazEngine::addEntity(pBall);
return pBall;
}
Entity* CreateWallBlock(const Matrix44& _rTransformation, float _fBlockSize, SimpleTree& _rParentNode)
{
Entity* pWallBlock = new Entity(EntityCategories::WALL_BLOCK);
// The model
Cube* pCube = new Cube(Vector2(), _fBlockSize);
pCube->setColour(Vector4(Math::getRandomFloat(0.0f, 1.0f), Math::getRandomFloat(0.0f, 1.0f),
Math::getRandomFloat(0.0f, 1.0f), 1.0f));
pWallBlock->addComponent(pCube);
pCube->setEntity(pWallBlock);
// The physical body
Body::Material material;
material.density = 0.5f;
material.friction = 0.5f;
material.restitution = 0.5f;
PhysXBody* pBody = static_cast<PhysXBody*>(PhysicsFactory::getInstance()->createBody(material, pCube,
getTranslation3(_rTransformation), true));
pWallBlock->addComponent(pBody);
pBody->setEntity(pWallBlock);
// Collision detection
PxRigidDynamic* pRigidDynamic = pBody->getActor()->isRigidDynamic();
PxFilterData filterData;
filterData.word0 = EntityCategories::WALL_BLOCK;
filterData.word1 = EntityCategories::BALL | EntityCategories::WALL_BLOCK;
PxShape* shapes;
pRigidDynamic->getShapes(&shapes, 1);
shapes->setSimulationFilterData(filterData);
pRigidDynamic->setContactReportThreshold(DESTRUCTION_FORCE_THRESHOLD);
// The scene
SimpleTree* pNode = new SimpleTree;
pNode->setTransformation(_rTransformation);
pNode->setModel(pCube);
pBody->setNode(pNode);
_rParentNode.addChild(pNode);
GazEngine::addEntity(pWallBlock);
return pWallBlock;
}
bool copyStaticProperties(PxRigidActor& to, const PxRigidActor& from,NxMirrorScene::MirrorFilter &mirrorFilter)
{
physx::shdfnd::InlineArray<PxShape*, 64> shapes;
shapes.resize(from.getNbShapes());
PxU32 shapeCount = from.getNbShapes();
from.getShapes(shapes.begin(), shapeCount);
physx::shdfnd::InlineArray<PxMaterial*, 64> materials;
for(PxU32 i = 0; i < shapeCount; i++)
{
PxShape* s = shapes[i];
if ( mirrorFilter.shouldMirror(*s) )
{
PxU32 materialCount = s->getNbMaterials();
materials.resize(materialCount);
s->getMaterials(materials.begin(), materialCount);
PxShape* shape = to.createShape(s->getGeometry().any(), materials.begin(), static_cast<physx::PxU16>(materialCount));
shape->setLocalPose( s->getLocalPose());
shape->setContactOffset(s->getContactOffset());
shape->setRestOffset(s->getRestOffset());
shape->setFlags(s->getFlags());
shape->setSimulationFilterData(s->getSimulationFilterData());
shape->setQueryFilterData(s->getQueryFilterData());
mirrorFilter.reviseMirrorShape(*shape);
}
}
to.setActorFlags(from.getActorFlags());
to.setOwnerClient(from.getOwnerClient());
to.setDominanceGroup(from.getDominanceGroup());
if ( to.getNbShapes() )
{
mirrorFilter.reviseMirrorActor(to);
}
return to.getNbShapes() != 0;
}
void TCompCharacterController::SetCollisions(bool new_collisions)
{
PxRigidActor *ra = m_pActor->getActor()->isRigidActor();
if (ra) {
const PxU32 numShapes = ra->getNbShapes();
PxShape **ptr;
ptr = new PxShape*[numShapes];
ra->getShapes(ptr, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
PxShape* shape = ptr[i];
if (!new_collisions) {
m_filter.word1 &= ~ItLightensFilter::eCOLLISION;
m_filter.word1 &= ~ItLightensFilter::eCAN_TRIGGER; //for test only
}
else {
m_filter.word1 |= ItLightensFilter::eCOLLISION;
m_filter.word1 |= ItLightensFilter::eCAN_TRIGGER; //for test only
}
shape->setSimulationFilterData(m_filter);
shape->setQueryFilterData(m_filter);
}
}
}
void SampleNorthPole::setDetachable(PxShape& shape)
{
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= PxU32(DETACHABLE_FLAG);
shape.setSimulationFilterData(fd);
}
void SampleNorthPole::setSnowball(PxShape& shape)
{
PxFilterData fd = shape.getSimulationFilterData();
fd.word3 |= SNOWBALL_FLAG;
shape.setSimulationFilterData(fd);
}
bool CTank::CreateTankActor( CPhysX * pPhysX )
{
if( !LoadData( "InitShader.lua" ) )
return false;
// CParamTank* pParamTank = new CParamTank;
//
// if( !CLua::LoadParamTank( "", &pParamTank ) )
// {
//
// }
if( GameObject * pBody = GetDetail( BODY ) )
{
if ( pBody->CreateTriangleMesh( pPhysX ) )
{
pBody->Update( 0.f );
PxTriangleMesh* triangleMesh = pBody->GetTriangleMesh();
D3DXVECTOR3 Position = pBody->GetPosition();
//D3DXComputeBoundingBox(Vertices, g_pMesh->GetNumVertices(), FVFVertexSize, &pMin, &pMax);
//PxRigidDynamic* pRigDynAct = pPhysX->GetPhysics()->createRigidDynamic( PxTransform( physx::PxVec3( Position.x, Position.y, Position.z ) ) );
// PxRigidDynamic* pRigDynAct = PxCreateDynamic( *pPhysX->GetPhysics(), PxTransform( physx::PxVec3( Position.x, Position.y, Position.z ) ), PxBoxGeometry( 14.f, 4.6f, 6.f ), *pMaterial, 1.f );
//
// if( pRigDynAct && pMaterial && triangleMesh )
// {
// //pRigDynAct->createShape( PxTriangleMeshGeometry( triangleMesh ), *pMaterial );
//
// pRigDynAct->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, false);
// pRigDynAct->setActorFlag( PxActorFlag::eVISUALIZATION, true );
// pRigDynAct->setAngularDamping( 0.5f );
// //pRigDynAct->setMass( 10000.f );
// PxRigidBodyExt::updateMassAndInertia( *pRigDynAct, 10.f );
//
// if( pMaterial )
// pPhysX->PushMaterial( pMaterial );
//
// pPhysX->AddActorScene( pRigDynAct );
// m_pActor = pRigDynAct;
//
// return true;
// }
const int nWheels = 12;
PxF32 chassisMass = 1500.f;
const PxF32 wheelMass = 50.f;
PxF32 fShift = -0.85f;
PxVec3 wheelCentreOffsets[ nWheels ];
for( int i = 0; i < nWheels/2; ++i )
{
wheelCentreOffsets[ i*2 ] = PxVec3( -1.2f, -0.5f, 2.1f + i * fShift );
wheelCentreOffsets[ i*2+1 ] = PxVec3( 1.2f, -0.5f, 2.1f + i * fShift );
}
// размеры корпуса
const PxVec3 chassisDims( 2.4f, 1.f, 6.f );// = computeChassisAABBDimensions(chassisConvexMesh);
// Начало координат находится в центре шасси сетки
// Установить центр масс будет ниже этой точки
const PxVec3 chassisCMOffset = PxVec3( 0.f, -chassisDims.y * 0.5f - 0.65f, 0.f );
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate( nWheels );
PxVehicleWheelsSimData& wheelsData = *wheelsSimData;
PxVehicleDriveSimData4W driveData;
PxVec3 chassisMOI( (chassisDims.y*chassisDims.y + chassisDims.z * chassisDims.z) * chassisMass / 12.f,
(chassisDims.x*chassisDims.x + chassisDims.z * chassisDims.z) * chassisMass / 12.f,
(chassisDims.x*chassisDims.x + chassisDims.y * chassisDims.y) * chassisMass / 12.f);
// структура шасси
PxVehicleChassisData chassisData;
chassisData.mMass = chassisMass; // Масса транспортного средства жесткой актер тела
chassisData.mMOI = chassisMOI; // Момент инерции автомобиля жесткая актер тела.
chassisData.mCMOffset = chassisCMOffset; // Центр масс смещение автомобиля жесткая актер тела.
// Немного настройки здесь.Автомобиль будет иметь более отзывчивым поворот, если мы сведем
// у-компоненты шасси момента инерции.
chassisMOI.y *= 0.8f;
const PxF32 massRear = 0.5f * chassisMass * ( chassisDims.z - 3 * chassisCMOffset.z ) / chassisDims.z;
const PxF32 massFront = massRear;
//Extract the wheel radius and width from the wheel convex meshes
PxF32 wheelWidths[ nWheels ] = {0.f};
PxF32 wheelRadii[ nWheels ] = {0.f};
for( PxU32 i = 0; i < nWheels; ++i )
{
wheelWidths[ i ] = 0.5f;
wheelRadii [ i ] = 0.32f;
}
// Теперь вычислим колеса массы и инерции компонентов вокруг оси оси
PxF32 wheelMOIs[ nWheels ];
for( PxU32 i = 0; i < nWheels; ++i )
{
wheelMOIs[ i ] = 0.5f * wheelMass * wheelRadii[ i ] * wheelRadii[ i ];
}
// Давайте создадим структуру данных колеса теперь с радиусом, массы и МВД
PxVehicleWheelData wheels[ nWheels ];
for(PxU32 i = 0; i < nWheels; ++i )
{
wheels[ i ].mRadius = wheelRadii[ i ]; // Радиус блок, который включает в себя колеса металл плюс резиновые шины
wheels[ i ].mMass = wheelMass; // Масса колеса плюс шины
wheels[ i ].mMOI = wheelMOIs[ i ]; // Момент инерции колеса
wheels[ i ].mWidth = wheelWidths[ i ]; // Максимальная ширина блок, который включает в себя колеса плюс шин
//wheels[ i ].mMaxHandBrakeTorque = 0.f; // Отключение стояночного тормоза от передних колес и позволяют для задних колес
//wheels[ i ].mMaxSteer = 0.f; // Включить рулевого управления для передних колес и отключить для передних колес
//wheels[ i ].mDampingRate = 1.f; // Скорость затухания описывает скорость, с которой свободно вращающееся колесо теряет скорость вращения
}
//Let's set up the tire data structures now.
//Put slicks on the front tires and wets on the rear tires.
PxVehicleTireData tires[ nWheels ];
for(PxU32 i = 0; i < nWheels; ++i )
{
tires[ i ].mType = 1; // тип сцепления шин с поверхностью
}
// Структура данных подвески
PxVehicleSuspensionData susps[ nWheels ];
for( PxU32 i = 0; i < nWheels; i++ )
{
susps[ i ].mMaxCompression = 0.03f; // Максимальное сжатие пружинной подвески
susps[ i ].mMaxDroop = 0.03f; // Максимальное удлинение пружинной подвески
susps[ i ].mSpringStrength = 20000.f; // пружинная сила подвески блока
susps[ i ].mSpringDamperRate = 500.f;
susps[ i ].mSprungMass = chassisMass / nWheels; // Масса транспортного средства, которая поддерживается пружинная подвеска, указанных в кг.
}
PxVec3 suspTravelDirections[ nWheels ];
PxVec3 wheelCentreCMOffsets[ nWheels ];
PxVec3 suspForceAppCMOffsets[ nWheels ];
PxVec3 tireForceAppCMOffsets[ nWheels ];
for( PxU32 i = 0 ; i < nWheels; ++i )
{
wheelCentreCMOffsets [ i ] = wheelCentreOffsets[ i ] - chassisCMOffset;
suspForceAppCMOffsets[ i ] = PxVec3( wheelCentreCMOffsets[ i ].x, -0.3f, wheelCentreCMOffsets[ i ].z );
tireForceAppCMOffsets[ i ] = PxVec3( wheelCentreCMOffsets[ i ].x, -0.3f, wheelCentreCMOffsets[ i ].z );
suspTravelDirections [ i ] = PxVec3( 0, -1, 0 ); // направление подвески
}
// Теперь добавьте колеса, шины и подвеска данных
for( PxU32 i = 0; i < nWheels; ++i )
{
wheelsData.setWheelData( i, wheels[ i ] ); // установить данные колеса
wheelsData.setTireData( i, tires[ i ] ); // Установите шину данных колеса
wheelsData.setSuspensionData( i, susps[ i ] ); // Установите подвеску данные колеса
wheelsData.setSuspTravelDirection( i, suspTravelDirections[ i ] ); // Установить направление движения подвески колес
wheelsData.setWheelCentreOffset( i, wheelCentreCMOffsets[ i ] ); // Установить смещение от центра жесткой тело массой в центре колеса
wheelsData.setSuspForceAppPointOffset( i, suspForceAppCMOffsets[ i ] ); // Установить приложение точкой подвески силу подвески колес
wheelsData.setTireForceAppPointOffset( i, tireForceAppCMOffsets[ i ] ); // Установить приложение точку шин силу шинах колес
}
//Diff
PxVehicleDifferential4WData diff;
diff.mType = PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD;
driveData.setDiffData( diff );
//Engine
PxVehicleEngineData engine;
engine.mPeakTorque = 300.f; // максимальная скорость вращения двигателя
engine.mMaxOmega = 400.f; // Максимальный крутящий момент доступен обратиться к двигателю
engine.mDampingRateFullThrottle = 0.15f; // скорость затухания двигатель при полностью открытой дроссельной заслонке
engine.mDampingRateZeroThrottleClutchEngaged = 8.f; // скорость затухания двигатель при нулевой газ при включении сцепления
engine.mDampingRateZeroThrottleClutchDisengaged = 0.35f; // Краткие скорость затухания двигатель при нулевой газ при выключенном сцеплении (на нейтральной передаче)
driveData.setEngineData( engine );
//Gears
PxVehicleGearsData gears;
gears.mSwitchTime = 0.5f;
driveData.setGearsData( gears );
// Прочность сцепления
PxVehicleClutchData clutch;
clutch.mStrength = PxVehicleGearsData::eMAX_NUM_GEAR_RATIOS;
driveData.setClutchData( clutch );
//Ackermann steer accuracy
PxVehicleAckermannGeometryData ackermann;
ackermann.mAccuracy = 0.1f;
ackermann.mAxleSeparation = wheelCentreOffsets[ 0 ].z - wheelCentreOffsets[ nWheels - 1 ].z; // Расстояние между центром передней оси и центром задней оси
ackermann.mFrontWidth = wheelCentreOffsets[ 0 ].x - wheelCentreOffsets[ 1 ].x; // Расстояние между центральной точке два передних колеса
ackermann.mRearWidth = wheelCentreOffsets[ nWheels - 2 ].x - wheelCentreOffsets[ nWheels - 1 ].x; // Расстояние между центральной точке два задних колеса
driveData.setAckermannGeometryData(ackermann);
PxTriangleMesh * pTriangleMesh = 0;
D3DXVECTOR3 vPosition;
if( GameObject * pRoller = GetDetail( WHEEL_LEFT_1ST ) )
{
if( pRoller->CreateTriangleMesh( pPhysX ) )
{
pRoller->Update( 0.f );
pTriangleMesh = pRoller->GetTriangleMesh();
Position = pRoller->GetPosition();
}
}
// Нам нужно добавить колеса столкновения форм, их местный позы, материал для колес, и моделирование фильтра для колес
PxTriangleMeshGeometry WheelGeom( pTriangleMesh );
PxGeometry* wheelGeometries[ nWheels ] = {0};
PxTransform wheelLocalPoses[ nWheels ];
for( PxU32 i = 0; i < nWheels; ++i )
{
wheelGeometries[ i ] = &WheelGeom;
wheelLocalPoses[ i ] = PxTransform::createIdentity();
}
PxMaterial* pMaterial = pPhysX->GetPhysics()->createMaterial( 0.5f, 0.5f, 0.1f ); //коэффициенты трения скольжения и покоя(Dynamic friction,Static friction), коэффициент упругости
const PxMaterial& wheelMaterial = *pMaterial;
PxFilterData wheelCollFilterData;
wheelCollFilterData.word0 = COLLISION_FLAG_WHEEL;
wheelCollFilterData.word1 = COLLISION_FLAG_WHEEL_AGAINST;
// Нам нужно добавить шасси столкновения форм, их местный позы, материала для шасси и моделирования фильтр для шасси.
//PxBoxGeometry chassisConvexGeom( 1.5f, 0.3f, 4.f );
PxBoxGeometry chassisConvexGeom( chassisDims.x/2, chassisDims.y/2, chassisDims.z/2 );
const PxGeometry* chassisGeoms = &chassisConvexGeom;
const PxTransform chassisLocalPoses = PxTransform::createIdentity();
const PxMaterial& chassisMaterial = *pMaterial;
PxFilterData chassisCollFilterData;
chassisCollFilterData.word0 = COLLISION_FLAG_CHASSIS;
chassisCollFilterData.word1 = COLLISION_FLAG_CHASSIS_AGAINST;
// Создание фильтра запроса данных для автомобилей, чтобы машины не пытайтесь ездить на себя.
PxFilterData vehQryFilterData;
SampleVehicleSetupVehicleShapeQueryFilterData( &vehQryFilterData );
PxRigidDynamic* vehActor = pPhysX->GetPhysics()->createRigidDynamic( PxTransform::createIdentity() );
//Add all the wheel shapes to the actor.
for( PxU32 i = 0; i < nWheels; ++i )
{
PxShape* wheelShape=vehActor->createShape( *wheelGeometries[ i ], wheelMaterial );
wheelShape->setQueryFilterData( vehQryFilterData );
wheelShape->setSimulationFilterData( wheelCollFilterData );
wheelShape->setLocalPose( wheelLocalPoses[ i ] );
wheelShape->setFlag( PxShapeFlag::eSIMULATION_SHAPE, true );
}
//Add the chassis shapes to the actor
PxShape* chassisShape = vehActor->createShape( *chassisGeoms, chassisMaterial );
chassisShape->setQueryFilterData( vehQryFilterData );
chassisShape->setSimulationFilterData( chassisCollFilterData );
chassisShape->setLocalPose( PxTransform( physx::PxVec3( 0, 0, 0 ) ) );
vehActor->setMass( chassisData.mMass );
vehActor->setMassSpaceInertiaTensor( chassisData.mMOI );
vehActor->setCMassLocalPose( PxTransform( chassisData.mCMOffset, PxQuat::createIdentity() ) );
vehActor->setGlobalPose( PxTransform( physx::PxVec3( 0, 8, 0 ), PxQuat::createIdentity() ) );
PxVehicleDriveTank* pTank = PxVehicleDriveTank::allocate( nWheels );
pTank->setup( pPhysX->GetPhysics(), vehActor, *wheelsSimData, driveData, nWheels );
pPhysX->AddActorScene( vehActor );
m_pActor = vehActor;
pPhysX->AddTank( pTank );
//Free the sim data because we don't need that any more.
wheelsSimData->free();
//pTank->setDriveModel( PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL );
pTank->setToRestState();
pTank->mDriveDynData.setUseAutoGears( true );
return true;
}
}
return false;
}
// Creates an physics entity from an entity info structure and a starting transform
void PhysicsEngine::createEntity(PhysicsEntity* entity, PhysicsEntityInfo* info, PxTransform transform)
{
transform.p.y += info->yPosOffset;
// Set static/dynamic info for actor depending on its type
PxRigidActor* actor;
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidDynamic* dynamicActor = physics->createRigidDynamic(transform);
dynamicActor->setLinearDamping(dInfo->linearDamping);
dynamicActor->setAngularDamping(dInfo->angularDamping);
dynamicActor->setMaxAngularVelocity(dInfo->maxAngularVelocity);
actor = dynamicActor;
}
else if (info->type == PhysicsType::STATIC)
{
PxRigidStatic* staticActor = physics->createRigidStatic(transform);
actor = staticActor;
}
// All shapes in actor
for (auto sInfo : info->shapeInfo)
{
// Create material and geometry for shape and add it to actor
PxGeometry* geometry;
PxMaterial* material;
if (sInfo->geometry == Geometry::SPHERE)
{
SphereInfo* sphInfo = (SphereInfo*)sInfo;
geometry = new PxSphereGeometry(sphInfo->radius);
}
else if (sInfo->geometry == Geometry::BOX)
{
BoxInfo* boxInfo = (BoxInfo*)sInfo;
geometry = new PxBoxGeometry(boxInfo->halfX, boxInfo->halfY, boxInfo->halfZ);
}
else if (sInfo->geometry == Geometry::CAPSULE)
{
CapsuleInfo* capInfo = (CapsuleInfo*)sInfo;
geometry = new PxCapsuleGeometry(capInfo->radius, capInfo->halfHeight);
}
else if (sInfo->geometry == Geometry::CONVEX_MESH)
{
ConvexMeshInfo* cmInfo = (ConvexMeshInfo*)sInfo;
PxConvexMesh* mesh = helper->createConvexMesh(cmInfo->verts.data(), cmInfo->verts.size());
geometry = new PxConvexMeshGeometry(mesh);
}
// Not working until index drawing is set up
else if (sInfo->geometry == Geometry::TRIANGLE_MESH)
{
TriangleMeshInfo* tmInfo = (TriangleMeshInfo*)sInfo;
PxTriangleMesh* mesh = helper->createTriangleMesh(tmInfo->verts.data(), tmInfo->verts.size(), tmInfo->faces.data(), tmInfo->faces.size()/3);
geometry = new PxTriangleMeshGeometry(mesh);
}
material = (sInfo->isDrivable) ? drivingSurfaces[0] : physics->createMaterial(sInfo->dynamicFriction, sInfo->staticFriction, sInfo->restitution);
PxShape* shape = actor->createShape(*geometry, *material); // TODO support shape flags
shape->setLocalPose(sInfo->transform);
material->release();
delete geometry;
// Set up querry filter data for shape
PxFilterData qryFilterData;
qryFilterData.word3 = (sInfo->isDrivable) ? (PxU32)Surface::DRIVABLE : (PxU32)Surface::UNDRIVABLE;
shape->setQueryFilterData(qryFilterData);
// Set up simulation filter data for shape
PxFilterData simFilterData;
simFilterData.word0 = (PxU32)sInfo->filterFlag0;
simFilterData.word1 = (PxU32)sInfo->filterFlag1;
simFilterData.word2 = (PxU32)sInfo->filterFlag2;
simFilterData.word3 = (PxU32)sInfo->filterFlag3;
shape->setSimulationFilterData(simFilterData);
if (info->type == PhysicsType::DYNAMIC)
{
DynamicInfo* dInfo = info->dynamicInfo;
PxRigidBodyExt::updateMassAndInertia(*(PxRigidBody*)actor, dInfo->density, &dInfo->cmOffset);
PxRigidBody* body = (PxRigidBody*)actor;
}
}
// Add actor to scene, set actor for entity, and set user data for actor. Creates one to one between entities and phyX
scene->addActor(*actor);
entity->setActor(actor);
actor->userData = entity;
}
