void Lux::Physics::CapsuleCollider::SetOrientation(CapsuleOrientation a_Orientation)
{
m_Orientation = a_Orientation;
if (m_Shape)
{
PxTransform relativePose;
switch (m_Orientation)
{
case X_AXIS:
relativePose = PxTransform(PxQuat(PxHalfPi, PxVec3(0, 1, 0)));
break;
case Y_AXIS:
relativePose = PxTransform(PxQuat(PxHalfPi, PxVec3(0, 0, 1)));
break;
case Z_AXIS:
relativePose = PxTransform(PxQuat(PxHalfPi, PxVec3(1, 0, 0)));
break;
default:
Utility::ThrowError("Error Setting Capsule Orientation. Unsupported Enumerator.");
break;
}
m_Shape->setLocalPose(relativePose);
}
}
void TutorialScene::Initialize(const GameContext& gameContext)
{
UNREFERENCED_PARAMETER(gameContext);
// Create PhysX ground plane
auto physX = PhysxManager::GetInstance()->GetPhysics();
GetPhysxProxy()->EnablePhysxDebugRendering(true);
auto bouncyMaterial = physX->createMaterial(0, 0, 1);
auto ground = new GameObject();
ground->AddComponent(new RigidBodyComponent(true));
std::shared_ptr<PxGeometry> geom(new PxPlaneGeometry());
ground->AddComponent(new ColliderComponent(geom,*bouncyMaterial,PxTransform(PxQuat(XM_PIDIV2,PxVec3(0,0,1)))));
AddChild(ground);
// ADD SPHERE
m_pSphere = new SpherePrefab();
m_pSphere->GetTransform()->Translate(0,5,0);
// Sphere PhysX
auto rigidbody = new RigidBodyComponent();
m_pSphere->AddComponent(rigidbody);
std::shared_ptr<PxGeometry> spheregeom(new PxSphereGeometry(1));
m_pSphere->AddComponent(new ColliderComponent(spheregeom,*bouncyMaterial, PxTransform(PxQuat(XM_PIDIV2,PxVec3(0,0,1)))));
AddChild(m_pSphere);
auto inputAction = InputAction(0, InputTriggerState::Down, 'M');
gameContext.pInput->AddInputAction(inputAction);
}
physx::PxTransform Camera::GetTransform() const
{
PxVec3 viewY = m_dir.cross(PxVec3(0, 1, 0));
if (viewY.normalize() < 1e-6f)
return PxTransform(m_eye);
PxMat33 m(m_dir.cross(viewY), viewY, -m_dir);
return PxTransform(m_eye, PxQuat(m));
}
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;
}
bool UGripMotionControllerComponent::TeleportMoveGrippedActor(AActor * GrippedActorToMove)
{
if (!GrippedActorToMove || !GrippedActors.Num())
return false;
FTransform WorldTransform;
FTransform InverseTransform = this->GetComponentTransform().Inverse();
for (int i = GrippedActors.Num() - 1; i >= 0; --i)
{
if (GrippedActors[i].Actor == GrippedActorToMove)
{
// GetRelativeTransformReverse had some serious f*****g floating point errors associated with it that was f*****g everything up
// Not sure whats wrong with the function but I might want to push a patch out eventually
WorldTransform = GrippedActors[i].RelativeTransform.GetRelativeTransform(InverseTransform);
// Need to use WITH teleport for this function so that the velocity isn't updated and without sweep so that they don't collide
GrippedActors[i].Actor->SetActorTransform(WorldTransform, false, NULL, ETeleportType::TeleportPhysics);
FBPActorPhysicsHandleInformation * Handle = GetPhysicsGrip(GrippedActors[i]);
if (Handle && Handle->KinActorData)
{
{
PxScene* PScene = GetPhysXSceneFromIndex(Handle->SceneIndex);
if (PScene)
{
SCOPED_SCENE_WRITE_LOCK(PScene);
Handle->KinActorData->setKinematicTarget(PxTransform(U2PVector(WorldTransform.GetLocation()), Handle->KinActorData->getGlobalPose().q));
Handle->KinActorData->setGlobalPose(PxTransform(U2PVector(WorldTransform.GetLocation()), Handle->KinActorData->getGlobalPose().q));
}
}
//Handle->KinActorData->setGlobalPose(PxTransform(U2PVector(WorldTransform.GetLocation()), Handle->KinActorData->getGlobalPose().q));
UPrimitiveComponent *root = Cast<UPrimitiveComponent>(GrippedActors[i].Actor->GetRootComponent());
if (root)
{
FBodyInstance * body = root->GetBodyInstance();
if (body)
{
body->SetBodyTransform(WorldTransform, ETeleportType::TeleportPhysics);
}
}
}
return true;
}
}
return false;
}
void createChain(const PxTransform& t, PxU32 length, const PxGeometry& g, PxReal separation, JointCreateFunction createJoint)
{
PxVec3 offset(separation / 2, 0, 0);
PxTransform localTm(offset);
PxRigidDynamic* prev = NULL;
for (PxU32 i = 0; i<length; i++)
{
PxRigidDynamic* current = PxCreateDynamic(*gPhysics, t*localTm, g, *gMaterial, 1.0f);
(*createJoint)(prev, prev ? PxTransform(offset) : t, current, PxTransform(-offset));
gScene->addActor(*current);
prev = current;
localTm.p.x += separation;
}
}
void Enemy::Move(D3DXVECTOR3 dir, float dT)
{
PxRaycastHit* hit = physics->RaycastMultiple(actor->getGlobalPose().p,PxVec3(0,-1,0).getNormalized(),colCapsuleHeight+0.1f,NULL,PxQueryFlag::eSTATIC);
if(hit[0].actor == NULL)
{
dir.y = -9.8f*dT*2.5f;
if(obj->position.y-colCapsuleHeight < -13.6f)
{
obj->position.y = -13.6f+colCapsuleHeight;
}
}
else if(hit[1].actor == NULL && hit[0].actor == actor)
{
dir.y = -9.8f*dT*2.5f;
if(obj->position.y-colCapsuleHeight < -13.6f)
{
obj->position.y = -13.6f+colCapsuleHeight;
}
}
obj->position += dir*dT;
D3DXQUATERNION rotQuat;
D3DXQuaternionRotationYawPitchRoll(&rotQuat,0,0,90*ToRadian);
if(actor->isRigidDynamic() != NULL) actor->isRigidDynamic()->setKinematicTarget(PxTransform(PxVec3(obj->position.x,obj->position.y,obj->position.z),PxQuat(rotQuat.x,rotQuat.y,rotQuat.z,rotQuat.w)));
}
void Physics::setupPCTutorial()
{
//add a plane to the scene
PxTransform transform = PxTransform(PxVec3(0, 0, 0),
PxQuat((float)PxHalfPi, PxVec3(0, 0, 1)));
PxRigidStatic* plane = PxCreateStatic(*m_physics, transform,
PxPlaneGeometry(), *m_physics_material);
m_physics_scene->addActor(*plane);
my_hit_report = new MyControllerHitReport();
m_controller_manager = PxCreateControllerManager(*m_physics_scene);
PxCapsuleControllerDesc desc;
desc.height = 1.6f;
desc.radius = 0.4f;
desc.position.set(0, 0, 0);
desc.material = m_physics_material;
desc.reportCallback = my_hit_report;
desc.density = 10;
player_controller = m_controller_manager->createController(desc);
player_controller->setPosition(desc.position);
my_hit_report->player_contact_normal = PxVec3(0, 0, 0);
}
void Apex::LoadDynamicTriangleMesh(int numVerts, PxVec3* verts, ObjectInfo info)
{
PxRigidDynamic* meshActor = mPhysics->createRigidDynamic(PxTransform::createIdentity());
PxShape* meshShape, *convexShape;
if(meshActor)
{
//meshActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
PxTriangleMeshDesc meshDesc;
meshDesc.points.count = numVerts;
meshDesc.points.stride = sizeof(PxVec3);
meshDesc.points.data = verts;
//meshDesc.triangles.count = numInds/3.;
//meshDesc.triangles.stride = 3*sizeof(int);
//meshDesc.triangles.data = inds;
PxToolkit::MemoryOutputStream writeBuffer;
bool status = mCooking->cookTriangleMesh(meshDesc, writeBuffer);
if(!status)
return;
PxToolkit::MemoryInputData readBuffer(writeBuffer.getData(), writeBuffer.getSize());
PxTriangleMeshGeometry triGeom;
triGeom.triangleMesh = mPhysics->createTriangleMesh(readBuffer);
//triGeom.scale = PxMeshScale(PxVec3(info.sx,info.sy,info.sz),physx::PxQuat::createIdentity());
meshShape = meshActor->createShape(triGeom, *defaultMaterial);
//meshShape->setLocalPose(PxTransform(PxVec3(info.x,info.y,info.z)));
meshShape->setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS, true);
PxConvexMeshDesc convexDesc;
convexDesc.points.count = numVerts;
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = verts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
if(!convexDesc.isValid())
return;
PxToolkit::MemoryOutputStream buf;
if(!mCooking->cookConvexMesh(convexDesc, buf))
return;
PxToolkit::MemoryInputData input(buf.getData(), buf.getSize());
PxConvexMesh* convexMesh = mPhysics->createConvexMesh(input);
PxConvexMeshGeometry convexGeom = PxConvexMeshGeometry(convexMesh);
convexShape = meshActor->createShape(convexGeom, *defaultMaterial);
//convexShape->setLocalPose(PxTransform(PxVec3(info.x,info.y,info.z)));
//convexShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
convexShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
meshShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
meshActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, false);
meshActor->setGlobalPose(PxTransform(PxVec3(info.x,info.y,info.z), PxQuat(info.ry, PxVec3(0.0f,1.0f,0.0f))));
mScene[mCurrentScene]->addActor(*meshActor);
dynamicActors.push_back(meshActor);
}
}
void GOCCharacterController::Create(Ogre::Vector3 dimensions)
{
QuitAllNewsgroups();
JoinNewsgroup(GlobalMessageIDs::PHYSICS_SUBSTEP);
JoinNewsgroup(GlobalMessageIDs::PHYSICS_END);
if (dimensions.x == 0 || dimensions.y == 0 || dimensions.z == 0) dimensions = Ogre::Vector3(1,1,1);
mFreezed = false;
mSpeedFactor = 1;
mDirection = Ogre::Vector3(0,0,0);
mDimensions = dimensions;
PxMaterial *mat = &OgrePhysX::World::getSingleton().getDefaultMaterial();
mActor = Main::Instance().GetPhysXScene()->createRigidDynamic(
PxBoxGeometry(mDimensions.x*0.5f, mDimensions.y*0.5f, mDimensions.z*0.5f),
mDensity,
*mat,
PxTransform(PxVec3(0, mDimensions.y*0.5f, 0)));
mActor.getFirstShape()->setSimulationFilterData(PhysXFilterData::Instance().Character);
mActor.getFirstShape()->setQueryFilterData(PhysXFilterData::Instance().Character);
mActor.getPxActor()->userData = mOwnerGO.lock().get();
mActor.getPxActor()->setMassSpaceInertiaTensor(PxVec3(0,1,0));
mActor.getPxActor()->setSolverIterationCounts(8);
}
// Each frame, we do a shape query for static and dynamic objects
// If this is the first time the synchronize has been called, then we create
// a trigger actor with two spheres in the primary scene. This trigger
// actor is used to detect when objects move in and outside of the static and dynamic
// mirror range specified.
void MirrorScene::synchronizePrimaryScene(const physx::PxVec3 &cameraPos)
{
PxVec3 diff = cameraPos - mLastCameraLocation;
PxF32 dist = diff.magnitudeSquared();
if ( dist > mMirrorDistanceThreshold )
{
mLastCameraLocation = cameraPos;
if ( mTriggerActor == NULL )
{
createTriggerActor(cameraPos); // Create the scene mirroring trigger actor
}
if ( mTriggerActor )
{
mPrimaryScene.lockWrite(__FILE__,__LINE__);
mTriggerActor->setKinematicTarget( PxTransform(cameraPos) ); // Update the position of the trigger actor to be the current camera location
mPrimaryScene.unlockWrite();
}
}
// Now, iterate on all of the current actors which are being mirrored
// Only the primary scene after modifies this hash, so it is safe to do this
// without any concerns of thread locking.
// The mirrored scene thread does access the contents of this hash (MirrorActor)
{
mPrimaryScene.lockRead(__FILE__,__LINE__);
for (ActorHash::Iterator i=mActors.getIterator(); !i.done(); ++i)
{
MirrorActor *ma = i->second;
ma->synchronizePose(); // check to see if the position of this object in the primary
// scene has changed. If it has, then we create a command for the mirror scene to update
// it's mirror actor to that new position.
}
mPrimaryScene.unlockRead();
}
}
/**
* Method is used to add heightfield actor to physics scene.
* @param entity is actor logic object.
* @param heightData is terrain height map data.
* @param params is terrain parameters: heightmap size, row/column scale, max. height.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addHeightFieldActor(SceneEntity* entity, unsigned char* heightData, const Vector4D& params, PxU32 filterGroup, PxU32 filterMask)
{
int terrainSize = static_cast<int>(params.x());
PxHeightFieldSample* samples = new PxHeightFieldSample[terrainSize*terrainSize];
PxHeightFieldDesc descriptor;
descriptor.nbColumns = static_cast<int>(terrainSize);
descriptor.nbRows = static_cast<int>(terrainSize);
for(int i = 0; i < terrainSize*terrainSize; ++i)
samples[i].height = static_cast<PxI16>(heightData[i]);
descriptor.samples.data = samples;
descriptor.samples.stride = sizeof(PxHeightFieldSample);
PxHeightField* heightField = physicsSDK->createHeightField(descriptor);
PxHeightFieldGeometry geometry(heightField, PxMeshGeometryFlags(),params.w()*0.00390625f,params.y(),params.z());
PxTransform transformation = PxTransform(PxVec3(-terrainSize*0.5f*params.y(),0.0f,-terrainSize*0.5f*params.z()),PxQuat::createIdentity());
PxRigidStatic* heightFieldActor = physicsSDK->createRigidStatic(transformation);
PxShape* aHeightFieldShape = heightFieldActor->createShape(geometry,*materials[0].second);
heightFieldActor->setName(entity->entityName.c_str());
setupFiltering(heightFieldActor,filterGroup,filterMask);
scene->addActor(*heightFieldActor);
StaticActor* s = new StaticActor();
s->entityLogic = entity;
s->entityPhysics = heightFieldActor;
staticActors.push_back(s);
}
void setupActor
(PxRigidDynamic* vehActor,
const PxFilterData& vehQryFilterData,
const PxGeometry** wheelGeometries, const PxTransform* wheelLocalPoses, const PxU32 numWheelGeometries, const PxMaterial* wheelMaterial, const PxFilterData& wheelCollFilterData,
const PxGeometry** chassisGeometries, const PxTransform* chassisLocalPoses, const PxU32 numChassisGeometries, const PxMaterial* chassisMaterial, const PxFilterData& chassisCollFilterData,
const PxVehicleChassisData& chassisData,
PxPhysics* physics)
{
//Add all the wheel shapes to the actor.
for(PxU32 i=0;i<numWheelGeometries;i++)
{
PxShape* wheelShape=vehActor->createShape(*wheelGeometries[i],*wheelMaterial);
wheelShape->setQueryFilterData(vehQryFilterData);
wheelShape->setSimulationFilterData(wheelCollFilterData);
wheelShape->setLocalPose(wheelLocalPoses[i]);
}
//Add the chassis shapes to the actor.
for(PxU32 i=0;i<numChassisGeometries;i++)
{
PxShape* chassisShape=vehActor->createShape(*chassisGeometries[i],*chassisMaterial);
chassisShape->setQueryFilterData(vehQryFilterData);
chassisShape->setSimulationFilterData(chassisCollFilterData);
chassisShape->setLocalPose(chassisLocalPoses[i]);
}
vehActor->setMass(chassisData.mMass);
vehActor->setMassSpaceInertiaTensor(chassisData.mMOI);
vehActor->setCMassLocalPose(PxTransform(chassisData.mCMOffset,PxQuat::createIdentity()));
}
bool Collider::Init(bool isDynamic)
{
bool ret = false;
const Transform& transform = mOwner.GetTransform();
mTransform.position = transform.position;
mTransform.rotation = transform.rotation;
PxVec3 pos = ConvertPxVec3(transform.position);
PxQuat rot = ConvertPxQuat(transform.rotation);
PxScene* scene = mOwner.GetScene().GetPxScene();
CHECK(scene);
if (isDynamic)
{
PxRigidDynamic* dyn = gPhysics->createRigidDynamic(PxTransform(pos, rot));
dyn->setLinearDamping(0.25);
dyn->setAngularDamping(0.25);
mActor = dyn;
mRigidBody = new RigidBody(*dyn);
}
else
{
mActor = gPhysics->createRigidStatic(PxTransform(pos, rot));
}
CHECK(mActor);
mActor->userData = &mOwner;
OnInitShape();
CHECK(mGizmo);
mOwner.GetScene().AddGizmo(mGizmo);
mGizmo->SetColor(Color(0, 1, 0, 1));
scene->addActor(*mActor);
SetLocalPose(Vector3(), Quat());
ret = true;
Exit0:
return ret;
}
int RayCastManagerImpl::CastSweep(const XMFLOAT3& p_origin, XMFLOAT3& p_direction, float p_width, const float& p_range, int& o_flag)
{
if(p_range <= 0.0f)
{
cout << "Physcs. Raytracer. Sweep. Range of sweep was zero or below" << endl;
return -1;
}
// Cast directx things to physx
PxVec3 origin = PxVec3(p_origin.x, p_origin.y, p_origin.z);
PxVec3 direction = PxVec3(p_direction.x, p_direction.y, p_direction.z);
direction.normalize();
PxSweepBuffer hit; // Used to save the hit
/// Paramters for the sweep
// PxGeometry* geometry
bool status = m_utils.m_worldScene->sweep(PxSphereGeometry(p_width), PxTransform(origin), direction, p_range, hit, PxHitFlag::eMESH_BOTH_SIDES);
// hit.block.position;
if(!status && !hit.hasBlock)
{
// No hit detected, return -1 TODOKO Maybee i should return something better?
return -1;
}
// Start with checking static and dynamic rigid bodies
unordered_map<PxRigidActor*, int> idsByRigidBody = m_utils.m_rigidBodyManager->GetIDsByBodies();
if(idsByRigidBody.find(hit.block.actor) != idsByRigidBody.end())
{
PxRigidActor* actorAsRigic = (PxRigidActor*)hit.block.actor;
if(actorAsRigic->isRigidDynamic())
{
PxRigidDynamic* actorsAsDynamic = (PxRigidDynamic*)hit.block.actor;
if(actorsAsDynamic->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
{
o_flag = 0;
}
}
else if(actorAsRigic->isRigidStatic())
{
o_flag = 3;
}
return idsByRigidBody.find(hit.block.actor)->second;
}
else
{
// Nothing
}
// Now comes the difficult task of checking vs character controllers
unordered_map<PxController*, int> idsByCharacterController = m_utils.m_characterControlManager->GetIdsByControllers();
for(auto pairs : idsByCharacterController) // Loop through every pair in the list
{
if(pairs.first->getActor() == hit.block.actor) // The first part contains the actor pointer
{
o_flag = 1;
return pairs.second; // If this is true we found a hit vs character controller, second contains ID
}
}
return -1;
}
/** Component tick override. Updates the PhysX scene with the Actor transform
@param [in] deltaSeconds last frame duration */
void RigidStatic::tick(float deltaSeconds)
{
shared_ptr<Actor> actor = getActor();
// physxRigidStatic->setGlobalPose(transformToPhysXTransform(actor->transform));
physxRigidStatic->setGlobalPose(PxTransform(glmMat4ToPhysxMat4(actor->transform->getPosRotMatrix())));
}
void Item::SetPosition(OPvec3 pos) {
physics.entity.transform.position = pos;
physics.physX->setGlobalPose(PxTransform(
PxVec3(
physics.entity.transform.position.x,
physics.entity.transform.position.y,
physics.entity.transform.position.z)));
//OPphysXGetTransform((OPphysXRigidActor*)physics.physX, &physics.entity.rendererEntity->world);
}
void Physx1::setUpTutorial()
{
//add a plane
PxTransform pose = PxTransform(PxVec3(0, 0, 0), PxQuat(PxHalfPi * 1.0f, PxVec3(0, 0, 1)));
PxRigidStatic* plane = PxCreateStatic(*m_Physics, pose, PxPlaneGeometry(), *m_PhysicsMaterial);
//add it to the physx scene
m_PhysicsScene->addActor(*plane);
}
/**
* Method is used to add new static actor to physics scene. Now only plane shape can be used.
* @param entity is pointer to scene entity which will be added to physics simulation.
* @param type is enumeration of shape type.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addStaticActor(SceneEntity* entity, ShapeType type, PxU32 filterGroup, PxU32 filterMask)
{
PxVec3 position;
PxQuat orientation;
PxTransform transformation;
if(entity == nullptr)
{
transformation = PxTransform(PxVec3(0.0f,1.0f,0.0f),PxQuat(PxHalfPi,PxVec3(0.0f, 0.0f, 1.0f)));
}
else
{
position = PxVec3(entity->entityState.position[0],entity->entityState.position[1],entity->entityState.position[2]);
orientation = PxQuat(entity->entityState.orientation[0],entity->entityState.orientation[1],entity->entityState.orientation[2],entity->entityState.orientation[3]);
transformation = PxTransform(position,orientation);
}
PxRigidStatic* actor = nullptr;
actor = physicsSDK->createRigidStatic(transformation);
if(!actor)
Logger::getInstance()->saveLog(Log<string>("Static Actor creation error occurred!"));
PxShape* shape = nullptr;
if(type == PLANE)
shape = actor->createShape(PxPlaneGeometry(),*materials[0].second);
else
return;
if(!shape)
Logger::getInstance()->saveLog(Log<string>("Static Actor shape creation error occurred!"));
actor->setName("World Plane");
setupFiltering(actor,filterGroup,filterMask);
scene->addActor(*actor);
StaticActor* s = new StaticActor();
s->entityLogic = entity;
s->entityPhysics = actor;
staticActors.push_back(s);
}
// Set up PhysX
void InitializePhysX() {
gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
gPvd = PxCreatePvd(*gFoundation);
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = contactReportFilterShader/*PxDefaultSimulationFilterShader*/;
sceneDesc.simulationEventCallback = &gContactReportCallback; // contact callback
sceneDesc.contactModifyCallback = &gModContactReportCallback; // modification contact callback
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
if (pvdClient)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
// add some physics objects
AddPhyObjects();
createChain(PxTransform(PxVec3(10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createLimitedSpherical);
createChain(PxTransform(PxVec3(0.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createBreakableFixed);
createChain(PxTransform(PxVec3(-10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createDampedD6);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 2.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL, 2.0f);
}
bool ParticleChain::checkPenetration(const Ogre::Vector3 &position, Ogre::Vector3 &closestSurfacePos, Ogre::Vector3 &collisionNormal)
{
PxShape *hit = nullptr;
PxVec3 pxPos = Convert::toPx(position);
if (mPhysXScene->getPxScene()->overlapAny(PxSphereGeometry(0.05f), PxTransform(pxPos), hit))
{
PxVec3 actorCenter = hit->getActor().getWorldBounds().getCenter();
PxVec3 rayDir = actorCenter - pxPos;
rayDir.normalize();
PxVec3 rayOrigin = pxPos - rayDir.multiply(PxVec3(0.2f, 0.2f, 0.2f));
if (mPhysXScene->getPxScene()->overlapAny(PxSphereGeometry(0.05f), PxTransform(rayOrigin), hit)) return false;
PxRaycastHit rayHit;
if (mPhysXScene->getPxScene()->raycastSingle(rayOrigin, rayDir, 0.2f, PxSceneQueryFlag::eIMPACT|PxSceneQueryFlag::eNORMAL|PxSceneQueryFlag::eDISTANCE, rayHit))
{
closestSurfacePos = Convert::toOgre(rayHit.impact);
collisionNormal = Convert::toOgre(rayHit.normal);
return true;
}
}
return false;
}
void FConstraintInstance::UpdateDriveTarget()
{
#if WITH_PHYSX
ExecuteOnUnbrokenJointReadWrite([&] (PxD6Joint* Joint)
{
FQuat OrientationTargetQuat(AngularOrientationTarget);
Joint->setDrivePosition(PxTransform(U2PVector(LinearPositionTarget), U2PQuat(OrientationTargetQuat)));
Joint->setDriveVelocity(U2PVector(LinearVelocityTarget), U2PVector(RevolutionsToRads(AngularVelocityTarget)));
});
#endif
}
void FConstraintInstance::UpdateDriveTarget()
{
#if WITH_PHYSX
if (PxD6Joint* PJoint = GetUnbrokenJoint())
{
FQuat OrientationTargetQuat(AngularOrientationTarget);
PJoint->setDrivePosition(PxTransform(U2PVector(LinearPositionTarget), U2PQuat(OrientationTargetQuat)));
PJoint->setDriveVelocity(U2PVector(LinearVelocityTarget), U2PVector(RevolutionsToRads(AngularVelocityTarget)));
}
#endif
}
void labscale::CreateRegolithContainer()
{
// Geometry variables
PxReal box_d = labscale::reg_box.diameter;
PxReal box_h = labscale::reg_box.fillHeight*2;
PxReal wall_dh = box_d/20;
// We'll make the regolith container with a kinematic actor
PxRigidDynamic* theBox = gPhysX.mPhysics->createRigidDynamic(PxTransform(PxVec3(0,0.05*wall_dh,0)));
if (!theBox)
ncc__error("Actor creation failed!");
theBox->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
// Define sides
PxBoxGeometry box_bottom(box_d/2,wall_dh/2,box_d/2);
PxBoxGeometry box_side(wall_dh/2,box_h/2,box_d/2);
PxMaterial* defmat=gPhysX.mDefaultMaterial;
// Attach the sides, making front wall invisible
theBox->createShape(box_bottom,*defmat,PxTransform(PxVec3(0,wall_dh/2,0))); // the bottom
theBox->createShape(box_side,*defmat,PxTransform(PxVec3(-box_d/2,box_h/2,0),PxQuat(0,PxVec3(0,1,0)))); // left wall
theBox->createShape(box_side,*defmat,PxTransform(PxVec3( box_d/2,box_h/2,0),PxQuat(0,PxVec3(0,1,0)))); // right wall
theBox->createShape(box_side,*defmat,PxTransform(PxVec3(0,box_h/2,-box_d/2),PxQuat(PxPi/2,PxVec3(0,1,0)))); // back wall
PxShape* fwall = theBox->createShape(box_side,*defmat,PxTransform(PxVec3(0,box_h/2, box_d/2),PxQuat(PxPi/2,PxVec3(0,1,0)))); // front wall
fwall->setName("~fwall");
// Name, color, and register the container
theBox->setName("the_box");
ColorActor(theBox, ncc::rgb::rRed);
gPhysX.mScene->addActor(*theBox);
labscale::VIPs.container = theBox;
}
void
Spacetime::setState(matrix<double> stateVector) {
std::vector<PxQuat> theta;
for (int i = 0; i < joints.size(); i++) {
PxQuat q = PxQuat::createIdentity();
if (i == 0) {
if (DOF > X) { q *= PxQuat(stateVector((i)*DOF+X,0), PxVec3(1,0,0)); }
if (DOF > Y) { q *= PxQuat(stateVector((i)*DOF+Y,0), PxVec3(0,1,0)); }
if (DOF > Z) { q *= PxQuat(stateVector((i)*DOF+Z,0), PxVec3(0,0,1)); }
} else {
if (DOF > X) { q *= PxQuat(stateVector((i)*DOF+X,0), PxVec3(1,0,0)) * theta[(i-1)*DOF+X]; }
if (DOF > Y) { q *= PxQuat(stateVector((i)*DOF+Y,0), PxVec3(0,1,0)) * theta[(i-1)*DOF+Y]; }
if (DOF > Z) { q *= PxQuat(stateVector((i)*DOF+Z,0), PxVec3(0,0,1)) * theta[(i-1)*DOF+Z]; }
}
theta.push_back(q);
}
dynamic_actors[0]->setGlobalPose(PxTransform(root, PxQuat::createIdentity()));
PxVec3 lastJointPos = dynamic_actors[0]->getGlobalPose().p + PxVec3(0,0.5,0);
PxQuat lastJointRot = dynamic_actors[0]->getGlobalPose().q;
for (int i = 0; i < joints.size(); i++) {
PxRigidDynamic *current = dynamic_actors[i+1];
PxVec3 t = theta[i].rotate(-joint_local_positions[i]);
PxVec3 gPos = lastJointPos + t;
current->setGlobalPose(PxTransform(gPos, theta[i]));
lastJointPos = lastJointPos + 2*t;
}
for (int i = 0; i < joints.size(); i++) {
PxRigidDynamic *current = dynamic_actors[i+1];
PxVec3 angularVelocity;
if (DOF > X) { angularVelocity[X] = stateVector(joints.size()*DOF + i*DOF+X,0); }
else { angularVelocity[X] = 0.0; }
if (DOF > Y) { angularVelocity[Y] = stateVector(joints.size()*DOF + i*DOF+Y,0); }
else { angularVelocity[Y] = 0.0; }
if (DOF > Z) { angularVelocity[Z] = stateVector(joints.size()*DOF + i*DOF+Z,0); }
else { angularVelocity[Z] = 0.0; }
current->setAngularVelocity(angularVelocity);
current->setLinearVelocity(PxVec3(0,0,0));
}
}
void CThrowBomb::initThrow() {
lcurrent = hcurrent = 0;
initial_pos = transform->getPosition();
VEC3 offset = offset_init_throw.x * dir_throw.Cross(VEC3_UP)
+ offset_init_throw.y * VEC3_UP
+ offset_init_throw.z * dir_throw;
initial_pos += offset;
rd->setGlobalPose(PxTransform(
PhysxConversion::Vec3ToPxVec3(transform->getPosition()),
PhysxConversion::CQuaternionToPxQuat(transform->getRotation())
));
}
void UPhysicsHandleComponent::UpdateHandleTransform(const FTransform& NewTransform)
{
if(!KinActorData)
{
return;
}
#if WITH_PHYSX
bool bChangedPosition = true;
bool bChangedRotation = true;
PxRigidDynamic* KinActor = KinActorData;
// Check if the new location is worthy of change
PxVec3 PNewLocation = U2PVector(NewTransform.GetTranslation());
PxVec3 PCurrentLocation = KinActor->getGlobalPose().p;
if((PNewLocation - PCurrentLocation).magnitudeSquared() <= 0.01f*0.01f)
{
PNewLocation = PCurrentLocation;
bChangedPosition = false;
}
// Check if the new rotation is worthy of change
PxQuat PNewOrientation = U2PQuat(NewTransform.GetRotation());
PxQuat PCurrentOrientation = KinActor->getGlobalPose().q;
if(!(FMath::Abs(PNewOrientation.dot(PCurrentOrientation)) < (1.f - KINDA_SMALL_NUMBER)))
{
PNewOrientation = PCurrentOrientation;
bChangedRotation = false;
}
// Don't call moveKinematic if it hasn't changed - that will stop bodies from going to sleep.
if (bChangedPosition || bChangedRotation)
{
KinActor->setKinematicTarget(PxTransform(PNewLocation, PNewOrientation));
//LOC_MOD
//PxD6Joint* Joint = (PxD6Joint*) HandleData;
//if(Joint)// && (PNewLocation - PCurrentLocation).magnitudeSquared() > 0.01f*0.01f)
//{
// PxRigidActor* Actor0, *Actor1;
// Joint->getActors(Actor0, Actor1);
// //Joint->setDrivePosition(PxTransform(Actor0->getGlobalPose().transformInv(PNewLocation)));
// Joint->setDrivePosition(PxTransform::createIdentity());
// //Joint->setDriveVelocity(PxVec3(0), PxVec3(0));
//}
}
#endif // WITH_PHYSX
}
void ResetScene()
{
PxVec3 resetPosition;
for(int i = 0; i < boxes.size(); i++)
{
srand((time(NULL) * i) + time(NULL));
resetPosition = PxVec3((float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT));
boxes[i]->actor->isRigidDynamic()->setLinearVelocity(PxVec3(0,0,0));
boxes[i]->actor->setGlobalPose(PxTransform(resetPosition, PxQuat::createIdentity()));
}
}
void FBXActor::createCollisionShapes(PhysicsDemoScene *a_app)
{
float density = 300;
//pole
PxBoxGeometry box = PxBoxGeometry(0.1f,4,0.1f);
PxTransform transform(*((PxMat44*)(&m_world))); //cast from glm to PhysX matrices
PxRigidDynamic* dynamicActor = PxCreateDynamic(*a_app->g_Physics, transform, box, *a_app->g_PhysicsMaterial, density);
dynamicActor->userData = this; //set the user data to point at this FBXActor class
//offset
int nShapes = dynamicActor->getNbShapes();
PxShape* shapes;
dynamicActor->getShapes(&shapes, nShapes);
PxTransform relativePose = PxTransform(PxVec3(0.0f,4.0f,0.0f));
shapes->setLocalPose(relativePose);
//head
box = PxBoxGeometry(0.8f,0.5f,0.3f);
relativePose = PxTransform(PxVec3(0.0f,2.0f,0.0f));
PxShape* shape = dynamicActor->createShape(box, *a_app->g_PhysicsMaterial);
if (shape)
{
shape->setLocalPose(relativePose);
}
PxRigidBodyExt::updateMassAndInertia(*dynamicActor, (PxReal)density);
//add to scene
a_app->g_PhysicsScene->addActor(*dynamicActor);
a_app->g_PhysXActors.push_back(dynamicActor);
}
// add some physics objects into the scene
void AddPhyObjects()
{
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
gScene->addActor(*groundPlane);
PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(PxVec3(0, -5, -10));
gScene->addActor(*dynamic);
// add capsule into the scene
shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
body = gPhysics->createRigidDynamic(localTmC);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
// add a static box as the trigger
shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
body = gPhysics->createRigidDynamic(localTmTrigger);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
body->attachShape(*shape);
body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
gScene->addActor(*body);
shape->release();
}
