physx::PxRigidStatic* CPhysicManager::createStaticSphere(const Vector3 &position, const float &radius, bool trigger, int group, const Logic::Component::IPhysic *component)
{
assert(m_scene);
PxVec3 p = Vector3ToPxVec3(position);
PxTransform pose(p);
PxSphereGeometry geom(radius);
PxRigidStatic *actor = PxCreateStatic(*m_physics,pose,geom,*m_defaultMaterial);
if(trigger) {
PxShape *shape;
actor->getShapes(&shape,1,0);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
}
actor->userData = (void*)component;
PxSetGroup(*actor,group);
setupFiltering(actor,FilterGroup::eSPACE_FILTER,FilterGroup::eSPACE_FILTER);
//m_scene->addActor(*actor);
return actor;
}
PxRigidStatic* CPhysicManager::createStaticBox(const Vector3 &position, const Vector3 &dimensions, bool trigger,
int group, const IPhysic *component)
{
assert(m_scene);
PxVec3 p = Vector3ToPxVec3(position);
PxVec3 d = Vector3ToPxVec3(dimensions);
PxTransform pose(p);
PxBoxGeometry geom(d);
PxTransform localPose(PxVec3(0,dimensions.y,0));
PxRigidStatic *actor = PxCreateStatic(*m_physics,pose,geom,*m_defaultMaterial,localPose);
if(trigger) {
PxShape *shape;
actor->getShapes(&shape,1,0);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
}
actor->userData = (void*)component;
PxSetGroup(*actor,group);
setupFiltering(actor,FilterGroup::eSPACE_FILTER,FilterGroup::eSPACE_FILTER);
//m_scene->addActor(*actor);
return actor;
}
PxRigidActor* gkPhysX::createGrid()
{
PxRigidStatic* plane = PxCreatePlane(*m_Physics, PxPlane(PxVec3(0,1,0), 0), *m_Material);
m_Scene->addActor(*plane);
PxShape* shape;
plane->getShapes(&shape, 1);
return plane;
}
void Physics::setShapeAsTrigger(PxRigidActor* actorIn)
{
PxRigidStatic* staticActor = actorIn->is<PxRigidStatic>();
assert(staticActor);
const PxU32 numShapes = staticActor->getNbShapes();
PxShape** shapes = (PxShape**)_aligned_malloc(sizeof(PxShape*)*numShapes, 16);
staticActor->getShapes(shapes, numShapes);
for (PxU32 i = 0; i < numShapes; i++)
{
shapes[i]->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shapes[i]->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
}
}
void PhysicsEngine::createPizzaPickup(physx::PxVec3 location, physx::PxF32 radius)
{
PxBoxGeometry geometry(radius, radius, radius);
PxTransform transform(location, PxQuat::createIdentity());
PxMaterial* material = physics->createMaterial(0.5f, 0.5f, 0.5f);
PxRigidStatic* actor = PxCreateStatic(*physics, transform, geometry, *material);
PxShape* shape;
actor->getShapes(&shape, 1);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
shape->setFlag(PxShapeFlag::eSCENE_QUERY_SHAPE, false);
scene->addActor(*actor);
}
PxRigidStatic* createDrivablePlane(physx::PxMaterial* material, PxPhysics* physics)
{
//Add a plane to the scene.
PxRigidStatic* groundPlane = PxCreatePlane(*physics, PxPlane(0,1,0,0), *material);
//Get the plane shape so we can set query and simulation filter data.
PxShape* shapes[1];
groundPlane->getShapes(shapes, 1);
//Set the query filter data of the ground plane so that the vehicle raycasts can hit the ground.
physx::PxFilterData qryFilterData;
setupDrivableSurface(qryFilterData);
shapes[0]->setQueryFilterData(qryFilterData);
//Set the simulation filter data of the ground plane so that it collides with the chassis of a vehicle but not the wheels.
PxFilterData simFilterData;
simFilterData.word0 = COLLISION_FLAG_GROUND;
simFilterData.word1 = COLLISION_FLAG_GROUND_AGAINST;
shapes[0]->setSimulationFilterData(simFilterData);
return groundPlane;
}
PxRigidStatic* CServer::createStaticBox(const Vector3 &position, const Vector3 &dimensions, bool trigger,
int group, const IPhysics *component)
{
assert(_scene);
// Nota: PhysX coloca el sistema de coordenadas local en el centro de la caja, mientras
// que la lógica asume que el origen del sistema de coordenadas está en el centro de la
// cara inferior. Para unificar necesitamos realizar una traslación en el eje Y.
// Afortunadamente, el descriptor que se usa para crear el actor permite definir esta
// transformación local, por lo que la conversión entre sistemas de coordenadas es transparente.
// Crear un cubo estático
PxTransform pose(Vector3ToPxVec3(position));
PxBoxGeometry geom(Vector3ToPxVec3(dimensions));
PxMaterial *material = _defaultMaterial;
PxTransform localPose(PxVec3(0, dimensions.y, 0)); // Transformación de coordenadas lógicas a coodenadas de PhysX
PxRigidStatic *actor = PxCreateStatic(*_physics, pose, geom, *material, localPose);
// Transformarlo en trigger si es necesario
if (trigger) {
PxShape *shape;
actor->getShapes(&shape, 1, 0);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
}
// Anotar el componente lógico asociado a la entidad física
actor->userData = (void *) component;
// Establecer el grupo de colisión
PxSetGroup(*actor, group);
// Añadir el actor a la escena
_scene->addActor(*actor);
return actor;
}