void InitNx() { // Create a memory allocator gAllocator = new UserAllocator; // Create the physics SDK gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator); if (!gPhysicsSDK) return; // Set the physics parameters gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01); // Set the debug visualization parameters gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1); //gPhysicsSDK->setParameter(NX_VISUALIZE_CLOTH_COLLISIONS, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_CLOTH_SLEEP, 1); // Check available hardware NxHWVersion hwCheck = gPhysicsSDK->getHWVersion(); if (hwCheck == NX_HW_VERSION_NONE) { gHardwareCloth = false; } else gHardwareCloth = true; // Create the scenes NxSceneDesc sceneDesc; sceneDesc.gravity = gDefaultGravity; sceneDesc.simType = NX_SIMULATION_HW; gScene = gPhysicsSDK->createScene(sceneDesc); if(!gScene){ sceneDesc.simType = NX_SIMULATION_SW; gScene = gPhysicsSDK->createScene(sceneDesc); if(!gScene) return; } // Create the default material NxMaterialDesc m; m.restitution = 0.5; m.staticFriction = 0.2; m.dynamicFriction = 0.2; NxMaterial* mat = gScene->getMaterialFromIndex(0); mat->loadFromDesc(m); SetupTearingScene(); if (gScene->getNbActors() > 0) gSelectedActor = *gScene->getActors(); else gSelectedActor = NULL; // Initialize HUD InitializeHUD(); InitializeSpecialHUD(); }
void InitNx() { // Create the physics SDK gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, NULL, &gErrorStream); if (!gPhysicsSDK) return; // Set the physics parameters gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.05); // Set the debug visualization parameters gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1); // gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_AXES, 1); // gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_CONTACT_POINT, 1); gPhysicsSDK->setParameter(NX_VISUALIZE_CONTACT_NORMAL, 1); // Create the scene NxSceneDesc sceneDesc; sceneDesc.gravity = gDefaultGravity; sceneDesc.simType = NX_SIMULATION_HW; gScene = gPhysicsSDK->createScene(sceneDesc); if(!gScene){ sceneDesc.simType = NX_SIMULATION_SW; gScene = gPhysicsSDK->createScene(sceneDesc); if(!gScene) return; } NxU32 set = 0; #ifdef WIN32 set = SetCurrentDirectory(&fname[0]); if (!set) set = SetCurrentDirectory(&fname1[0]); if (!set) { char basePath[256]; GetModuleFileName(NULL, basePath, 256); char* pTmp = strrchr(basePath, '\\'); basePath[pTmp-basePath+1] = 0; SetCurrentDirectory(basePath);//for running from start menu set = SetCurrentDirectory(&fname2[0]); } if (!set) set = SetCurrentDirectory(&fname3[0]); #elif LINUX set = chdir(&fname[0]); if (set != 0) set = chdir(&fname2[0]); if (set != 0) set = chdir(&fname3[0]); #endif // Create the default material NxMaterialDesc defaultMaterial; defaultMaterial.restitution = 0; defaultMaterial.staticFriction = 0.5; defaultMaterial.dynamicFriction = 0.5; NxMaterial* m = gScene->getMaterialFromIndex(0); m->loadFromDesc(defaultMaterial); char buffer[512]; FindMediaFile("Course.pml", buffer); nxmlLoadScene(buffer, gPhysicsSDK, gScene); // Switch from Max Coordinate System to // Training Program Coordinate System NxMat34 mat; NxMat33 orient; orient.setColumn(0, NxVec3(-1,0,0)); orient.setColumn(1, NxVec3(0,0,1)); orient.setColumn(2, NxVec3(0,1,0)); mat.M = orient; SwitchCoordinateSystem(gScene, mat); // Reset wheel material wsm = NULL; // Create the trike actor trike = CreateTrike(NxVec3(0,3,0)); trike->wakeUp(1e30); AddUserDataToActors(gScene); gSelectedActor = trike; // Initialize HUD InitializeHUD(); InitializeSpecialHUD(); // Get the current time getElapsedTime(); // Start the first frame of the simulation if (gScene) StartPhysics(); }
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; }
pWorld*pFactory::createWorld(CK3dEntity* referenceObject, pWorldSettings *worldSettings,pSleepingSettings *sleepSettings) { using namespace vtTools::AttributeTools; using namespace vtTools::ParameterTools; ////////////////////////////////////////////////////////////////////////// //sanity checks : if (!referenceObject || !GetPMan() ) { return NULL; } if (!getPhysicSDK()) { //xLogger::xLog(XL_START,ELOGWARNING,E_LI_MANAGER,"No physic sdk loaded"); return NULL; } int worldAtt = GetPMan()->att_world_object; int surfaceAttribute = GetPMan()->att_surface_props; //exists ? Delete it ! pWorld *w = GetPMan()->getWorld(referenceObject->GetID()); if (w) { GetPMan()->deleteWorld(referenceObject->GetID()); } //our new world : pWorld *result = new pWorld(referenceObject); GetPMan()->getWorlds()->InsertUnique(referenceObject,result); result->initUserReports(); ////////////////////////////////////////////////////////////////////////// //there is no world settings attribute : if (!referenceObject->HasAttribute(worldAtt) ) { referenceObject->SetAttribute(worldAtt); using namespace vtTools; VxVector grav = worldSettings->getGravity(); float sWith = worldSettings->getSkinWith(); AttributeTools::SetAttributeValue<VxVector>(referenceObject,worldAtt,0,&grav); AttributeTools::SetAttributeValue<float>(referenceObject,worldAtt,1,&sWith); } if (!worldSettings) { worldSettings = pFactory::Instance()->createWorldSettings(XString("Default"),GetPMan()->getDefaultConfig()); } if (!worldSettings) { worldSettings = new pWorldSettings(); } ////////////////////////////////////////////////////////////////////////// //pSDK Scene creation : // Create a scene NxSceneDesc sceneDesc; sceneDesc.gravity = pMath::getFrom(worldSettings->getGravity()); sceneDesc.upAxis = 1; sceneDesc.flags |=NX_SF_ENABLE_ACTIVETRANSFORMS; sceneDesc.userNotify =&myNotify; sceneDesc.userContactReport = result->contactReport; NxScene *scene = NULL; if (getPhysicSDK()) { scene = getPhysicSDK()->createScene(sceneDesc); if(scene == NULL) { xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Couldn't create scene!"); return NULL; } } result->setScene(scene); scene->setUserContactReport(result->contactReport); scene->setUserTriggerReport(result->triggerReport); NxMaterialDesc *materialDescr = NULL; NxMaterial *material = NULL; if (referenceObject->HasAttribute(surfaceAttribute)) { materialDescr = createMaterialFromEntity(referenceObject); material = result->getScene()->createMaterial(*materialDescr); material->userData = (void*)GetValueFromParameterStruct<int>(referenceObject->GetAttributeParameter(surfaceAttribute) ,E_MS_XML_TYPE); }else{ if (getDefaultDocument()) { materialDescr = createMaterialFromXML("Default",getDefaultDocument()); } if (materialDescr) { material = result->getScene()->createMaterial(*materialDescr); } if (!material) { materialDescr = new NxMaterialDesc(); materialDescr->setToDefault(); material = result->getScene()->getMaterialFromIndex(0); material->loadFromDesc(*materialDescr); } } int z = (int)material->userData; NxMaterial *zeroMaterial = result->getScene()->getMaterialFromIndex(0); zeroMaterial->setDirOfAnisotropy(material->getDirOfAnisotropy()); zeroMaterial->setStaticFriction(material->getStaticFriction()); zeroMaterial->setDynamicFriction(material->getDynamicFriction()); zeroMaterial->setStaticFrictionV(material->getStaticFrictionV()); zeroMaterial->setDynamicFrictionV(material->getDynamicFrictionV()); zeroMaterial->setFrictionCombineMode(material->getFrictionCombineMode()); zeroMaterial->setRestitutionCombineMode(material->getRestitutionCombineMode()); zeroMaterial->setFlags(material->getFlags()); zeroMaterial->userData = material->userData; if (!material) { xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Couldn't create default material!"); } result->setDefaultMaterial(material); scene->userData = result; //NxConstraintDominance testDom(1.0, 1.0f); //result->getScene()->setDominanceGroupPair(1, 2,testDom ); //board - debris ////////////////////////////////////////////////////////////////////////// //there is no world settings attribute : /* if (!referenceObject->HasAttribute(GetPMan()->att_sleep_settings) ) { referenceObject->SetAttribute(GetPMan()->att_sleep_settings); using namespace vtTools; AttributeTools::SetAttributeValue<int>(referenceObject,GetPMan()->att_sleep_settings,0,&sSettings->m_SleepSteps); AttributeTools::SetAttributeValue<float>(referenceObject,GetPMan()->att_sleep_settings,1,&sSettings->m_AngularThresold); AttributeTools::SetAttributeValue<float>(referenceObject,GetPMan()->att_sleep_settings,2,&sSettings->m_LinearThresold); AttributeTools::SetAttributeValue<int>(referenceObject,GetPMan()->att_sleep_settings,3,&sSettings->m_AutoSleepFlag); } */ /* result->SleepingSettings(sSettings); ////////////////////////////////////////////////////////////////////////// result->Reference(referenceObject); result->Init(); */ result->_checkForDominanceConstraints(); result->_construct(); return result; //return NULL; }