/***********************************************************
create box actor
***********************************************************/
NxActor* PhysXEngine::CreateBox(const NxVec3 & StartPosition, float dimX, float dimY, float dimZ,
float density, bool Pushable)
{
// Add a single-shape actor to the scene
NxActorDesc actorDesc;
// The actor has one shape, a box, 1m on a side
NxBoxShapeDesc boxDesc;
boxDesc.dimensions.set(dimX, dimY, dimZ);
boxDesc.localPose.t = NxVec3(0, 0, 0);
if(Pushable)
{
NxBodyDesc bodyDesc;
actorDesc.body = &bodyDesc;
actorDesc.density = density;
boxDesc.group = GROUP_COLLIDABLE_PUSHABLE;
}
else
boxDesc.group = GROUP_COLLIDABLE_NON_PUSHABLE;
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.globalPose.t = StartPosition;
assert(actorDesc.isValid());
NxActor *pActor = gScene->createActor(actorDesc);
assert(pActor);
return pActor;
}
// Create a static trigger
static void CreateTrigger(const NxVec3& pos, NxF32 size = 2, const NxVec3* initial_velocity=NULL, bool kinematic = false)
{
// Our trigger is a cube
NxBodyDesc triggerBody;
NxBoxShapeDesc dummyShape;
NxBoxShapeDesc BoxDesc;
BoxDesc.dimensions = NxVec3(size, size, size);
BoxDesc.shapeFlags |= NX_TRIGGER_ENABLE;
NxActorDesc ActorDesc;
if(initial_velocity || kinematic) {
if (initial_velocity) {
triggerBody.linearVelocity = *initial_velocity;
}
if (kinematic) {
triggerBody.flags |= NX_BF_KINEMATIC;
}
triggerBody.mass = 1;
ActorDesc.body = &triggerBody;
NxF32 sizeinc = 1.01f;
dummyShape.dimensions.set(size*sizeinc, size*sizeinc, size*sizeinc);
dummyShape.group = 1;
ActorDesc.shapes.pushBack(&dummyShape);
}
ActorDesc.shapes.pushBack(&BoxDesc);
ActorDesc.globalPose.t = pos;
int thisNb = ++gNbTriggers;
gNbTouchedBodies.pushBack(0);
NX_ASSERT(gNbTouchedBodies.size() == gNbTriggers);
gMyPhysX.getScene()->setGroupCollisionFlag(1,0, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,1, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,2, true);
ActorDesc.userData = (void*)(-thisNb);
if (!ActorDesc.isValid()) {
printf("Invalid ActorDesc\n");
return;
}
NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc); // This is just a quick-and-dirty way to identify the trigger for rendering
NX_ASSERT(actor != NULL);
if (kinematic) {
KinematicActor k;
k.actor = actor;
if (initial_velocity) {
k.vel = *initial_velocity;
} else {
k.vel.set(0,0,0);
}
gKinematicActors.pushBack(k);
}
gMyPhysX.getScene()->setUserTriggerReport(&myTriggerCallback);
}
NxActor* CreateSphere(const NxVec3 &pos, int flag)
{
// Add a single-shape actor to the scene
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
// The actor has one shape, a sphere
NxSphereShapeDesc sphereDesc;
sphereDesc.radius = 1.5f;
sphereDesc.localPose.t = NxVec3(0,2.0f,0);
assert(sphereDesc.isValid());
actorDesc.shapes.pushBack(&sphereDesc);
if (0 == flag)
{ //Dynamic actor
bodyDesc.flags |= NX_BF_DISABLE_GRAVITY;
actorDesc.body = &bodyDesc;
actorDesc.density = 1.0f;
}
else if (1 == flag)
{ //Static actor
actorDesc.body = NULL;
actorDesc.density = 1.0f;
}
else if (2 == flag)
{ // Kinematic actor
bodyDesc.flags |= NX_BF_KINEMATIC;
actorDesc.body = &bodyDesc;
actorDesc.density = 1.0f;
}
actorDesc.globalPose.t = pos; //NxVec3(-6.5f, 0, 0);
assert(actorDesc.isValid());
NxActor *pActor = gScene->createActor(actorDesc);
assert(pActor);
return pActor;
}
pRigidBody*pFactory::createBox(CK3dEntity *referenceObject,CK3dEntity *worldReferenceObject,pObjectDescr*descr,int creationFlags)
{
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
pRigidBody*result = world->getBody(referenceObject);
if(result)
{
result->destroy();
delete result;
result = NULL;
}
// we create our final body in the given world :
result = createBody(referenceObject,worldReferenceObject);
if (result)
{
result->setWorld(world);
using namespace vtTools::AttributeTools;
result->setFlags(descr->flags);
result->setHullType(descr->hullType);
result->setDataFlags(0x000);
result->checkDataFlags();
if (result->getSkinWidth()==-1.0f)
{
result->setSkinWidth(0.01f);
}
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
VxVector box_s= BoxGetZero(referenceObject);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
float density = result->getDensity();
float radius = referenceObject->GetRadius();
if (referenceObject->GetRadius() < 0.001f )
{
radius = 1.0f;
}
//////////////////////////////////////////////////////////////////////////
//create actors description
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
//////////////////////////////////////////////////////////////////////////
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
if (isFlagOn(result->getDataFlags(),EDF_MATERIAL_PARAMETER))
{
NxMaterialDesc entMatNull;entMatNull.setToDefault();
NxMaterialDesc *entMat = createMaterialFromEntity(referenceObject);
material = world->getScene()->createMaterial(entMatNull);
material->loadFromDesc(*entMat);
result->setMaterial(material);
}else{
if (world->getDefaultMaterial())
{
result->setMaterial(world->getDefaultMaterial());
}
}
//////////////////////////////////////////////////////////////////////////
NxBoxShapeDesc boxShape;
if (creationFlags & E_OFC_DIMENSION )
{
boxShape.dimensions = pMath::getFrom(box_s)*0.5f;
}
boxShape.density = descr->density;
boxShape.materialIndex = result->getMaterial()->getMaterialIndex();
if (result->getSkinWidth()!=-1.0f)
boxShape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&boxShape);
//////////////////////////////////////////////////////////////////////////
//dynamic object ?
if (result->getFlags() & BF_Moving){
actorDesc.body = &bodyDesc;
}
else
actorDesc.body = NULL;
//////////////////////////////////////////////////////////////////////////
//set transformations
actorDesc.density = descr->density;
if (creationFlags & E_OFC_POSITION)
{
actorDesc.globalPose.t = pos;
}
if (creationFlags & E_OFC_POSITION)
{
actorDesc.globalPose.M = rot;
}
//////////////////////////////////////////////////////////////////////////
//create the actor
int v = actorDesc.isValid();
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//////////////////////////////////////////////////////////////////////////
//set additional settings :
result->setActor(actor);
actor->setName(referenceObject->GetName());
actor->userData= result;
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&result->getMassOffset());
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
actor->raiseBodyFlag(NX_BF_KINEMATIC);
}
result->enableCollision((result->getFlags() & BF_Collision));
if (result->getFlags() & BF_Moving)
{
if (!(result->getFlags() & BF_Gravity))
{
actor->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
}
}
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
}
}
return result;
}
pRigidBody*pFactory::createRigidBodyFull(CK3dEntity *referenceObject, CK3dEntity *worldReferenceObject)
{
//################################################################
//
// Sanity checks
//
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
pRigidBody*result = world->getBody(referenceObject);
if(result)
{
result->destroy();
delete result;
result = NULL;
}
//################################################################
//
// Construct the result
//
result = createBody(referenceObject,worldReferenceObject);
if (result)
{
result->setWorld(world);
//----------------------------------------------------------------
//
// Handle different attribute types (Object or pBSetup)
//
int attTypeOld = GetPMan()->GetPAttribute();
int attTypeNew = GetPMan()->getAttributeTypeByGuid(VTS_PHYSIC_ACTOR);
pObjectDescr *oDescr = NULL;
//----------------------------------------------------------------
//
// the old way :
//
if (referenceObject->HasAttribute(attTypeOld))
{
result->retrieveSettingsFromAttribute();
oDescr = pFactory::Instance()->createPObjectDescrFromParameter(referenceObject->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
bool hierarchy = result->getFlags() & BF_Hierarchy;
bool isDeformable = result->getFlags() & BF_Deformable;
bool trigger = (result->getFlags() & BF_TriggerShape);
//----------------------------------------------------------------
//
// the new way
//
if (referenceObject->HasAttribute(attTypeNew))
{
oDescr = new pObjectDescr();
}
result->checkDataFlags();
/*
pObjectDescr *oDescr =
if (!oDescr)
return result;
*/
//################################################################
//
// Older versions have the hierarchy mode settings not the body flags
// We migrate it :
//
if (oDescr->hirarchy)
{
result->setFlags( (result->getFlags() | BF_Hierarchy ));
}
if (hierarchy)
{
oDescr->hirarchy = hierarchy;
}
//################################################################
//
// Deformable ?
//
pCloth *cloth = NULL;
pClothDesc cDescr;
if (isDeformable)
{
cDescr.setToDefault();
cDescr.worldReference = worldReferenceObject->GetID();
if ( result->getFlags() & BF_Gravity )
{
cDescr.flags |= PCF_Gravity;
}
if ( result->getFlags() & BF_Collision )
{
}
if (!cloth)
{
cloth = pFactory::Instance()->createCloth(referenceObject,cDescr);
if (!cloth)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Cannot create cloth : factory object failed !");
}
}
}
//################################################################
//
// Some settings
//
if (result->getSkinWidth()==-1.0f)
{
result->setSkinWidth(0.01f);
}
float radius = referenceObject->GetRadius();
if (referenceObject->GetRadius() < 0.001f )
{
radius = 1.0f;
}
float density = result->getDensity();
VxVector box_s= BoxGetZero(referenceObject);
//################################################################
//
// Calculate destination matrix
//
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
//////////////////////////////////////////////////////////////////////////
//create actors description
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
switch(result->getHullType())
{
//////////////////////////////////////////////////////////////////////////
case HT_Box:
{
NxBoxShapeDesc shape;
if (! isDeformable )
{
shape.dimensions = pMath::getFrom(box_s)*0.5f;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Sphere:
{
NxSphereShapeDesc shape;
if (! isDeformable )
{
shape.radius = radius;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Mesh:
{
if (! (result->getFlags() & BF_Deformable) )
{
//xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Can not use a mesh as de");
//return NULL;
}
NxTriangleMeshDesc myMesh;
myMesh.setToDefault();
createMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxTriangleMeshShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return NULL;
}
MemoryWriteBuffer buf;
status = CookTriangleMesh(myMesh, buf);
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't cook mesh!");
return NULL;
}
shape.meshData = getManager()->getPhysicsSDK()->createTriangleMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexMesh:
{
if (referenceObject->GetCurrentMesh())
{
if (referenceObject->GetCurrentMesh()->GetVertexCount()>=256 )
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Only 256 vertices for convex meshs allowed, by Ageia!");
goto nothing;
}
}else
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Object has no mesh!");
goto nothing;
}
NxConvexMeshDesc myMesh;
myMesh.setToDefault();
createConvexMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxConvexShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
goto nothing;
}
MemoryWriteBuffer buf;
status = CookConvexMesh(myMesh, buf);
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't cook convex mesh!");
goto nothing;
}
shape.meshData = getManager()->getPhysicsSDK()->createConvexMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
int h = shape.isValid();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexCylinder:
{
NxConvexShapeDesc shape;
if (!_createConvexCylinder(&shape,referenceObject))
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Capsule:
{
NxCapsuleShapeDesc shape;
if ( !isDeformable )
{
pCapsuleSettings cSettings;
pFactory::Instance()->findSettings(cSettings,referenceObject);
shape.radius = cSettings.radius > 0.0f ? cSettings.radius : box_s.v[cSettings.localRadiusAxis] * 0.5f;
shape.height = cSettings.height > 0.0f ? cSettings.height : box_s.v[cSettings.localLengthAxis] - ( 2*shape.radius) ;
}
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
// shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
case HT_Wheel:
{
// xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
/*
NxWheelShapeDesc shape;
shape.radius = box_s.z*0.5f;
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
if (referenceObject && referenceObject->HasAttribute(GetPMan()->att_wheelDescr ))
{
CKParameter *par = referenceObject->GetAttributeParameter(GetPMan()->att_wheelDescr );
if (par)
{
pWheelDescr *wheelDescr = pFactory::Instance()->copyTo(par);
if (wheelDescr)
{
float heightModifier = (wheelDescr->wheelSuspension + radius ) / wheelDescr->wheelSuspension;
shape.suspension.damper = wheelDescr->springDamping * heightModifier;
shape.suspension.targetValue = wheelDescr->springBias * heightModifier;
shape.suspensionTravel = wheelDescr->wheelSuspension;
shape.lateralTireForceFunction.stiffnessFactor *= wheelDescr->frictionToSide;
shape.longitudalTireForceFunction.stiffnessFactor*=wheelDescr->frictionToFront;
shape.inverseWheelMass = 0.1;
int isValid = shape.isValid();
actorDesc.shapes.pushBack(&shape);
}
}else
{
XString name = result->GetVT3DObject()->GetName();
name << " needs to have an additional wheel attribute attached ! ";
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,name.CStr());
}
}
*/
break;
}
}
//////////////////////////////////////////////////////////////////////////
//dynamic object ?
if (result->getFlags() & BF_Moving){
actorDesc.body = &bodyDesc;
}
else
actorDesc.body = NULL;
//////////////////////////////////////////////////////////////////////////
//set transformations
actorDesc.density = result->getDensity();
if ( !isDeformable)
{
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = rot;
}
//////////////////////////////////////////////////////////////////////////
//create the actor
int v = actorDesc.isValid();
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//////////////////////////////////////////////////////////////////////////
//set additional settings :
result->setActor(actor);
actor->setName(referenceObject->GetName());
actor->userData= result;
//////////////////////////////////////////////////////////////////////////
//Deformable :
if (isDeformable && cloth)
{
pDeformableSettings dSettings;
dSettings.ImpulsThresold = 50.0f;
dSettings.PenetrationDepth= 0.1f ;
dSettings.MaxDeform = 2.0f;
CKParameterOut *poutDS = referenceObject->GetAttributeParameter(GetPMan()->att_deformable);
if (poutDS)
{
pFactory::Instance()->copyTo(dSettings,poutDS);
}
cloth->attachToCore(referenceObject,dSettings.ImpulsThresold,dSettings.PenetrationDepth,dSettings.MaxDeform);
result->setCloth(cloth);
}
//////////////////////////////////////////////////////////////////////////
//
// Extra settings :
//
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&result->getMassOffset());
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
result->setKinematic(true);
}
if (result->getFlags() & BF_Moving )
{
result->enableGravity(result->getFlags() & BF_Gravity);
}
//----------------------------------------------------------------
//
// Special Parameters
//
//- look for optimization attribute :
result->checkForOptimization();
//----------------------------------------------------------------
//
// store mesh meta info in the first main mesh
//
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
pMaterial bMaterial;
bool hasMaterial = pFactory::Instance()->findSettings(bMaterial,referenceObject);
if (!hasMaterial)
{
if (world->getDefaultMaterial())
{
int z = (int)world->getDefaultMaterial()->userData;
shape->setMaterial(world->getDefaultMaterial()->getMaterialIndex());
//pFactory::Instance()->copyTo(bMaterial,world->getDefaultMaterial());
}
}else{
NxMaterialDesc nxMatDescr;
pFactory::Instance()->copyTo(nxMatDescr,bMaterial);
NxMaterial *nxMaterial = world->getScene()->createMaterial(nxMatDescr);
if (nxMaterial)
{
shape->setMaterial(nxMaterial->getMaterialIndex());
}
}
}
result->enableCollision( (result->getFlags() & BF_Collision), referenceObject );
//- handle collisions setup
if (oDescr->version == pObjectDescr::E_OD_VERSION::OD_DECR_V1)
result->updateCollisionSettings(*oDescr,referenceObject);
xLogger::xLog(ELOGINFO,E_LI_MANAGER,"Rigid body creation successful : %s",referenceObject->GetName());
//----------------------------------------------------------------
//
// Parse hierarchy
//
if (!oDescr->hirarchy)
return result;
CK3dEntity* subEntity = NULL;
while (subEntity= referenceObject->HierarchyParser(subEntity) )
{
if (subEntity->HasAttribute(GetPMan()->GetPAttribute()))
{
pObjectDescr *subDescr = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
if (subDescr->flags & BF_SubShape)
{
//////////////////////////////////////////////////////////////////////////
//
// Regular Mesh :
//
if (subDescr->hullType != HT_Cloth)
{
result->addSubShape(NULL,*oDescr,subEntity);
}
//////////////////////////////////////////////////////////////////////////
//
// Cloth Mesh :
//
if (subDescr->hullType == HT_Cloth)
{
//pClothDesc *cloth = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
}
}
}
if (oDescr->hirarchy)
{
if (oDescr->newDensity!=0.0f || oDescr->totalMass!=0.0f )
{
result->updateMassFromShapes(oDescr->newDensity,oDescr->totalMass);
}
}
return result;
}
nothing:
return result;
}
//-----------------------------------------------------------------------
PhysicsActor* PhysXActorExtern::createPhysicsActor(PhysicsActorDesc* physicsActorDesc, PhysicsShapeDesc* physicsShapeDesc)
{
if (!PhysXBridge::getSingletonPtr()->getScene() || !physicsActorDesc || !physicsShapeDesc)
return 0;
NxBodyDesc bodyDesc;
bodyDesc.setToDefault();
NxReal angularDamping = bodyDesc.angularDamping;
NxVec3 angularVelocity = bodyDesc.angularVelocity;
NxVec3 linearVelocity = bodyDesc.linearVelocity;
bodyDesc.angularDamping = physicsShapeDesc->mAngularDamping;
bodyDesc.angularVelocity = PhysXMath::convert(physicsShapeDesc->mAngularVelocity);
bodyDesc.linearVelocity = PhysXMath::convert(physicsActorDesc->direction);
NxActorDesc actorDesc;
NxActorDesc defaultActorDesc;
actorDesc.setToDefault();
defaultActorDesc.setToDefault();
switch (physicsShapeDesc->mPhysicsShapeType)
{
case ST_BOX:
{
PhysicsBoxDesc* physicsBoxDesc = static_cast<PhysicsBoxDesc*>(physicsShapeDesc);
NxBoxShapeDesc boxDesc;
boxDesc.setToDefault();
boxDesc.dimensions = PhysXMath::convert(physicsBoxDesc->mDimensions);
boxDesc.group = physicsBoxDesc->mCollisionGroup;
boxDesc.groupsMask = PhysXMath::convert(physicsBoxDesc->mGroupMask);
boxDesc.materialIndex = physicsBoxDesc->mMaterialIndex;
actorDesc.density = NxComputeBoxDensity(2 * boxDesc.dimensions, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&boxDesc);
}
break;
case ST_SPHERE:
{
PhysicsSphereDesc* physicsSphereDesc = static_cast<PhysicsSphereDesc*>(physicsShapeDesc);
NxSphereShapeDesc sphereDec;
sphereDec.setToDefault();
sphereDec.radius = physicsSphereDesc->mRadius;
sphereDec.group = physicsSphereDesc->mCollisionGroup;
sphereDec.groupsMask = PhysXMath::convert(physicsSphereDesc->mGroupMask);
sphereDec.materialIndex = physicsSphereDesc->mMaterialIndex;
actorDesc.density = NxComputeSphereDensity(sphereDec.radius, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&sphereDec);
}
break;
case ST_CAPSULE:
{
PhysicsCapsuleDesc* physicsCapsuleDesc = static_cast<PhysicsCapsuleDesc*>(physicsShapeDesc);
NxCapsuleShapeDesc capsuleDec;
capsuleDec.setToDefault();
capsuleDec.radius = physicsCapsuleDesc->mRadius;
capsuleDec.height = physicsCapsuleDesc->mHeight;
capsuleDec.group = physicsCapsuleDesc->mCollisionGroup;
capsuleDec.groupsMask = PhysXMath::convert(physicsCapsuleDesc->mGroupMask);
capsuleDec.materialIndex = physicsCapsuleDesc->mMaterialIndex;
actorDesc.density = NxComputeCylinderDensity(capsuleDec.radius, capsuleDec.height, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&capsuleDec);
}
break;
}
actorDesc.globalPose.t = PhysXMath::convert(physicsActorDesc->position);
actorDesc.body = &bodyDesc;
actorDesc.group = physicsActorDesc->collisionGroup;
PhysXActor* physXActor = 0;
if (!actorDesc.isValid())
{
actorDesc = defaultActorDesc;
Ogre::LogManager::getSingleton().logMessage("ParticleUniverse PhysXActor: Cannot create actor; use default attributes.");
}
NxActor* nxActor = PhysXBridge::getSingletonPtr()->getScene()->createActor(actorDesc);
if (nxActor)
{
physXActor = OGRE_NEW_T(PhysXActor, Ogre::MEMCATEGORY_SCENE_OBJECTS)();
physXActor->position = PhysXMath::convert(nxActor->getGlobalPosition());
physXActor->direction = PhysXMath::convert(nxActor->getLinearVelocity());
nxActor->setGlobalOrientationQuat(PhysXMath::convert(physicsActorDesc->orientation));
physXActor->orientation = physicsActorDesc->orientation;
physXActor->mass = nxActor->getMass();
physXActor->collisionGroup = nxActor->getGroup();
physXActor->nxActor = nxActor;
}
return physXActor;
}
NxActor* CreateConvex(const NxVec3 &pos, int flag)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxVec3 boxDim(1,0.8,1.5);
// Pyramid
NxVec3 verts[8] = { NxVec3(boxDim.x, -boxDim.y, -boxDim.z),
NxVec3(-boxDim.x, -boxDim.y, -boxDim.z),
NxVec3(-boxDim.x, -boxDim.y, boxDim.z),
NxVec3(boxDim.x, -boxDim.y, boxDim.z),
NxVec3(boxDim.x*0.5, boxDim.y, -boxDim.z*0.5),
NxVec3(-boxDim.x*0.5, boxDim.y, -boxDim.z*0.5),
NxVec3(-boxDim.x*0.5, boxDim.y, boxDim.z*0.5),
NxVec3(boxDim.x*0.5, boxDim.y, boxDim.z*0.5)
};
// Create descriptor for convex mesh
if (!convexDesc)
{
convexDesc = new NxConvexMeshDesc();
assert(convexDesc);
}
convexDesc->numVertices = 8;
convexDesc->pointStrideBytes = sizeof(NxVec3);
convexDesc->points = verts;
convexDesc->flags = NX_CF_COMPUTE_CONVEX;
NxConvexShapeDesc convexShapeDesc;
convexShapeDesc.localPose.t = NxVec3(0, 2.0f, boxDim.z * 0.4);
convexShapeDesc.userData = convexDesc;
NxInitCooking();
// Cooking from memory
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(*convexDesc, buf);
//
// Please note about the created Convex Mesh, user needs to release it when no one uses it to save memory. It can be detected
// by API "meshData->getReferenceCount() == 0". And, the release API is "gPhysicsSDK->releaseConvexMesh(*convexShapeDesc.meshData);"
//
NxConvexMesh *pMesh = gPhysicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
assert(pMesh);
convexShapeDesc.meshData = pMesh;
NxCloseCooking();
if (pMesh)
{
// Save mesh in userData for drawing.
pMesh->saveToDesc(*convexDesc);
//
NxActorDesc actorDesc;
assert(convexShapeDesc.isValid());
actorDesc.shapes.pushBack(&convexShapeDesc);
if (0 == flag)
{ //Dynamic actor
bodyDesc.flags |= NX_BF_DISABLE_GRAVITY;
actorDesc.body = &bodyDesc;
actorDesc.density = 1.0f;
}
else if (1 == flag)
{ //Static actor
actorDesc.body = NULL;
actorDesc.density = 1.0f;
}
else if (2 == flag)
{ // Kinematic actor
bodyDesc.flags |= NX_BF_KINEMATIC;
actorDesc.body = &bodyDesc;
actorDesc.density = 1.0f;
}
actorDesc.globalPose.t = pos; //NxVec3(6.5f, 0.0f, 0.0f);
assert(actorDesc.isValid());
NxActor* actor = gScene->createActor(actorDesc);
assert(actor);
return actor;
}
return NULL;
}
NxActor* CreateLander(NxVec3 position)
{
NxActor* actor=NULL;
switch (gLanderType)
{
case CAPSULE_LANDER:
actor = CreateCapsuleGrain(position,gLanderMass/pow(gLanderSize.x,3.0f),gLanderSize.x);
break;
case SPHERE_LANDER:
actor = CreateSphericalGrain(position,gLanderMass/pow(gLanderSize.x,3.0f),gLanderSize.x);
break;
case ROLY_POLY:
{// Two slightly offset spheres, one heavy, one slightly smaller, and hollow
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxReal radius=gLanderSize.x;
// The bottom "roly"
NxSphereShapeDesc rolyDesc;
rolyDesc.radius=radius*gLanderSize.z; // relative to top hemisphere
rolyDesc.localPose.t=NxVec3(0.0f,radius,0.0f);
rolyDesc.materialIndex=gLanderDownMaterial->getMaterialIndex(); // note: both hemispheres use "down" material
rolyDesc.mass=1; // relative to top hemisphere
rolyDesc.skinWidth=radius/60;
rolyDesc.name="downside";
actorDesc.shapes.pushBack(&rolyDesc);
// The top "poly"
NxSphereShapeDesc polyDesc;
polyDesc.radius=radius;
polyDesc.localPose.t=NxVec3(0.0f,radius+gLanderSize.y,0.0f);
polyDesc.materialIndex=gLanderDownMaterial->getMaterialIndex(); // note: both hemispheres use "down" material
polyDesc.mass=1;
polyDesc.skinWidth=radius/60;
polyDesc.name="upside";
actorDesc.shapes.pushBack(&polyDesc);
// The weight
NxSphereShapeDesc wDesc;
wDesc.radius=radius/10;
wDesc.localPose.t=NxVec3(0.0f,wDesc.radius,0.0f);
wDesc.materialIndex=gLanderDownMaterial->getMaterialIndex(); // note: this is irrelevant
wDesc.mass=gRPWeight; // relative to top hemisphere
wDesc.skinWidth=radius/120;
wDesc.name="weight";
actorDesc.shapes.pushBack(&wDesc);
// the lander
bodyDesc.mass=gLanderMass;
actorDesc.body=&bodyDesc;
actorDesc.globalPose.t=position;
assert(actorDesc.isValid());
actor=gScene->createActor(actorDesc);
assert(actor);
actor->setName("~lander");
//actor->raiseBodyFlag(NX_BF_KINEMATIC);
break;
}
case SHAPED_CHARGE:
{// Two flat plates, like a two-layer ruler, one heavy and absorbing, one hollow and elastic
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxVec3 boxDim=gLanderSize/2; // remember NxShapeDesc.dimension is the "radius"
boxDim.y/=2; // remember we're going to stack two of these
// The down side
NxBoxShapeDesc downsideDesc;
downsideDesc.dimensions.set(boxDim);
downsideDesc.localPose.t=NxVec3(0.0f,boxDim.y,0.0f);
downsideDesc.materialIndex=gLanderDownMaterial->getMaterialIndex();
downsideDesc.density=gLanderMassRatio;
downsideDesc.skinWidth=boxDim.y/60;
downsideDesc.name="downside";
actorDesc.shapes.pushBack(&downsideDesc);
// The up side
NxBoxShapeDesc upsideDesc;
upsideDesc.dimensions.set(boxDim);
upsideDesc.localPose.t=NxVec3(0.0f,3.0*boxDim.y,0.0f);
upsideDesc.materialIndex=gLanderUpMaterial->getMaterialIndex();
upsideDesc.density=1;
upsideDesc.skinWidth=boxDim.y/60;
upsideDesc.name="upside";
actorDesc.shapes.pushBack(&upsideDesc);
// The Lander
bodyDesc.mass=gLanderMass;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = position;
assert(actorDesc.isValid());
actor = gScene->createActor(actorDesc);
assert(actor);
actor->setName("~lander");
break;
}
case CUBESAT:
{// JPL's new fad, comes in units of 10x10x10 cm
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxVec3 boxDim(0.05); // remember NxShapeDesc.dimension is the "radius"
// U1 - the dead weight
NxBoxShapeDesc U1Desc;
U1Desc.dimensions.set(boxDim);
U1Desc.localPose.t=NxVec3(0.0f,boxDim.y,0.0f);
U1Desc.materialIndex=gLanderDownMaterial->getMaterialIndex();
U1Desc.mass=10*gLanderMass;
U1Desc.skinWidth=boxDim.y/60;
U1Desc.name="U1";
actorDesc.shapes.pushBack(&U1Desc);
// U2
NxBoxShapeDesc U2Desc;
U2Desc.dimensions.set(boxDim);
U2Desc.localPose.t=NxVec3(0.0f,3.0*boxDim.y,0.0f);
U2Desc.materialIndex=gLanderUpMaterial->getMaterialIndex();
U2Desc.mass=gLanderMass;
U2Desc.skinWidth=boxDim.y/60;
U2Desc.name="U2";
actorDesc.shapes.pushBack(&U2Desc);
// U3
NxBoxShapeDesc U3Desc;
U3Desc.dimensions.set(boxDim);
U3Desc.localPose.t=NxVec3(0.0f,5.0*boxDim.y,0.0f);
U3Desc.materialIndex=gLanderUpMaterial->getMaterialIndex();
U3Desc.mass=gLanderMass;
U3Desc.skinWidth=boxDim.y/60;
U3Desc.name="U3";
actorDesc.shapes.pushBack(&U3Desc);
// The Cubesat
bodyDesc.mass=gLanderMass;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = position;
assert(actorDesc.isValid());
actor = gScene->createActor(actorDesc);
assert(actor);
actor->setName("~lander");
break;
}
default:
printf("Error: unknown lander type\n");
break;
}
return actor;
}