NiPoint3 NiPoint3::operator- () const
{
return NiPoint3(-x, -y, -z);
}
//-------------------------------------------------------------------------------------------------
bool sdPhysicsSystem::CreateTerrain(sdTerrain* pkTerrain)
{
NIASSERT(pkTerrain);
NIASSERT(m_pkHeightField == NULL)
sdHeightMap* pkHeightMap = pkTerrain->GetHeightMap();
NIASSERT(pkHeightMap);
uint uiBlockSize = pkHeightMap->GetSize() + 1; ///< 每边顶点数(??为什么加一??)
uint uiNumVert = uiBlockSize * uiBlockSize; ///< 总顶点数
float fMinHeight = pkHeightMap->GetMinHeight();
float fMaxHeight = pkHeightMap->GetMaxHeight();
float fMidHeight = (fMaxHeight + fMinHeight) * 0.5f;
float fHalfDeltaHeight = (fMaxHeight - fMinHeight) * 0.5f;
float fThirtyTwoKb = 32766.f;
fHalfDeltaHeight = fabs(fHalfDeltaHeight) < 0.0001f ? 0.0001f : fHalfDeltaHeight; ///< 防止值过小
NxHeightFieldSample* pnxHeightFieldSample = NiAlloc2(NxHeightFieldSample, uiNumVert, NiMemHint::NONE);
NIASSERT(pnxHeightFieldSample);
// 创建高度域描述
NxHeightFieldDesc nxHeightFieldDesc;
nxHeightFieldDesc.nbColumns = uiBlockSize;
nxHeightFieldDesc.nbRows = uiBlockSize;
nxHeightFieldDesc.convexEdgeThreshold = 0.f;
nxHeightFieldDesc.thickness = -1000.f;
nxHeightFieldDesc.samples = pnxHeightFieldSample;
nxHeightFieldDesc.sampleStride = sizeof(NxU32);
uchar* pucData = (uchar*)pnxHeightFieldSample;
for (int i = 0; i < (int)uiBlockSize; ++i)
{
for (int j = 0; j < (int)uiBlockSize; ++j)
{
float fHeight = pkHeightMap->GetRawHeight(i, j);
NxI16 nxHeight = (NxI16)(fThirtyTwoKb * ((fHeight - fMinHeight) / fHalfDeltaHeight));
NxHeightFieldSample* pkHeightFieldSample = (NxHeightFieldSample*)(pucData);
pkHeightFieldSample->height = nxHeight;
pkHeightFieldSample->materialIndex0 = 1;
pkHeightFieldSample->materialIndex1 = 1;
pkHeightFieldSample->tessFlag = 1;
pucData += nxHeightFieldDesc.sampleStride;
}
}
// 创建高度域
m_pkHeightField = m_pkPhysicsSDK->createHeightField(nxHeightFieldDesc);
NIASSERT(m_pkHeightField);
//
NiFree(pnxHeightFieldSample);
pnxHeightFieldSample = NULL;
// 创建对象描述
NiPoint3 kWorldCenter(0, 0, fMidHeight); ///< ??为什么是这个值??
NxVec3 nxWorldCenter;
NiPhysXTypes::NiPoint3ToNxVec3(kWorldCenter, nxWorldCenter);
NiMatrix3 kWorldRotation(NiPoint3(0.f, 1.f, 0.f), NiPoint3(0.f, 0.f, 1.f), NiPoint3(1.f, 0.f, 0.f));
NxMat33 nxWorldRotation;
NiPhysXTypes::NiMatrix3ToNxMat33(kWorldRotation, nxWorldRotation);
NxMat34 kPose;
kPose.t = nxWorldCenter;
kPose.M = nxWorldRotation;
NxHeightFieldShapeDesc nxHeightFieldShapeDesc;
nxHeightFieldShapeDesc.heightField = m_pkHeightField;
nxHeightFieldShapeDesc.heightScale = fHalfDeltaHeight / fThirtyTwoKb;
nxHeightFieldShapeDesc.rowScale = 1.f;
nxHeightFieldShapeDesc.columnScale = 1.f;
nxHeightFieldShapeDesc.materialIndexHighBits = 0;
nxHeightFieldShapeDesc.holeMaterial = 100;
nxHeightFieldShapeDesc.meshFlags = NX_MESH_SMOOTH_SPHERE_COLLISIONS;
nxHeightFieldShapeDesc.shapeFlags |= NX_SF_FEATURE_INDICES;
// nxHeightFieldShapeDesc.shapeFlags |= NX_SF_VISUALIZATION;
nxHeightFieldShapeDesc.shapeFlags &= ~NX_SF_VISUALIZATION;
nxHeightFieldShapeDesc.group = E_COLLISION_GROUP_MASK_TERRAIN;
nxHeightFieldShapeDesc.name = "PhysX_Terrain";
NxActorDesc nxActorDesc;
nxActorDesc.body = NULL;
nxActorDesc.name = NULL;
nxActorDesc.shapes.push_back(&nxHeightFieldShapeDesc);
nxActorDesc.globalPose = kPose;
nxActorDesc.group = E_COLLISION_GROUP_MASK_TERRAIN;
// 创建对象
NxActor* pkActor = m_pkScene->createActor(nxActorDesc);
NIASSERT(pkActor);
return true;
}
NiPoint3 NiPoint3::operator/ (float scalar) const
{
float invScalar = 1.0f / scalar;
return NiPoint3(invScalar * x, invScalar * y, invScalar * z);
}
// Scalar operations
NiPoint3 NiPoint3::operator* (float scalar) const
{
return NiPoint3(scalar * x, scalar * y, scalar * z);
}
NiPoint3 NiPoint3::operator- (const NiPoint3& pt) const
{
return NiPoint3(x - pt.x, y - pt.y, z - pt.z);
}
NiPoint3 NiPoint3::operator+ (const NiPoint3& pt) const
{
return NiPoint3(x + pt.x, y + pt.y, z + pt.z);
}
NiPoint3 CyPlot::getPoint()
{
return m_pPlot ? m_pPlot->getPoint() : NiPoint3(0,0,0);
}
