bool
Character::getFramePose(PxTransform &rootTransform, SampleArray<PxVec3> &positions, SampleArray<PxU32> &indexBuffers)
{
if (mCurrentMotion == NULL)
return false;
PxU32 frameNo = PxU32(mFrameTime);
if (frameNo >= mCurrentMotion->mNbFrames)
return false;
positions.resize(mNbBones+1);
// copy precomputed bone position in local space
positions[0] = PxVec3(0.0f); // root position
for (PxU32 i = 0; i < mNbBones; i++)
positions[i+1] = mCurrentBoneTransform[i].p;
// copy capsule index data
indexBuffers.resize(mASFData->mNbBones * 2);
for (PxU32 i = 0; i < mASFData->mNbBones; i++)
{
Acclaim::Bone& bone = mASFData->mBones[i];
indexBuffers[i*2] = bone.mID;
indexBuffers[i*2+1] = (bone.mParent) ? bone.mParent->mID : 0;
}
// compute root transform
rootTransform = mCharacterPose.transform(mCurrentRootTransform);
return true;
}
bool
Skin::computeNewPositions(Character &character, SampleArray<PxVec3> &particlePositions)
{
if (character.mCurrentMotion == NULL)
return false;
PxTransform t = character.mCurrentBoneTransform[mBoneID];
particlePositions.resize(mBindPos.size());
for (PxU32 i = 0; i < mBindPos.size(); i++)
particlePositions[i] = t.transform(mBindPos[i]);
return true;
}
void
SampleCharacterCloth::createCape()
{
// compute root transform and positions of all the bones
PxTransform rootPose;
SampleArray<PxVec3> positions;
SampleArray<PxU32> indexPairs;
mCharacter.getFramePose(rootPose, positions, indexPairs);
// convert bones to collision capsules
SampleArray<PxClothCollisionSphere> spheres;
spheres.resize(positions.size());
for (PxU32 i = 0; i < positions.size(); i++)
{
spheres[i].pos = positions[i];
spheres[i].radius = gCharacterScale * gSphereRadius[i];
}
PxClothCollisionData collisionData;
collisionData.numSpheres = static_cast<PxU32>(positions.size());
collisionData.spheres = spheres.begin();
collisionData.numPairs = static_cast<PxU32>(indexPairs.size()) / 2; // number of capsules
collisionData.pairIndexBuffer = indexPairs.begin();
// create the cloth cape mesh from file
PxClothMeshDesc meshDesc;
SampleArray<PxVec3> vertices;
SampleArray<PxU32> primitives;
SampleArray<PxReal> uvs;
const char* capeFileName = getSampleMediaFilename("ctdm_cape_m.obj");
PxReal clothScale = gCharacterScale * 0.3f;
PxVec3 offset = PxVec3(0,-1.5,0);
PxQuat rot = PxQuat(0, PxVec3(0,1,0));
Test::ClothHelpers::createMeshFromObj(capeFileName, clothScale, &rot, &offset,
vertices, primitives, &uvs, meshDesc);
if (!meshDesc.isValid()) fatalError("Could not load ctdm_cape_m.obj\n");
// create the cloth
PxCloth& cloth = *createClothFromMeshDesc(
meshDesc, rootPose, &collisionData, PxVec3(0,-1,0),
uvs.begin(), "dummy_cape_d.bmp", PxVec3(0.5f, 0.5f, 0.5f), 0.8f);
mCape = &cloth;
// attach top verts
PxClothReadData* readData = cloth.lockClothReadData();
PX_ASSERT(readData);
PxU32 numParticles = cloth.getNbParticles();
SampleArray<PxClothParticle> particles(numParticles);
SampleArray<PxVec3> particlePositions(numParticles);
for(PxU32 i = 0; i < numParticles; i++)
{
particles[i].pos = readData->particles[i].pos;
particles[i].invWeight = (uvs[i*2+1] > 0.85f) ? 0.0f : readData->particles[i].invWeight;
particlePositions[i] = readData->particles[i].pos;
}
readData->unlock();
cloth.setParticles(particles.begin(), particles.begin());
// compute initial skin binding to the character
mSkin.bindToCharacter(mCharacter, particlePositions);
// set solver settings
cloth.setSolverFrequency(240);
// damp global particle velocity to 90% every 0.1 seconds
cloth.setDampingCoefficient(0.1f); // damp local particle velocity
cloth.setDragCoefficient(0.1f); // transfer frame velocity
// reduce effect of local frame acceleration
cloth.setInertiaScale(0.3f);
const bool useVirtualParticles = true;
const bool useSweptContact = true;
const bool useCustomConfig = true;
// virtual particles
if (useVirtualParticles)
Test::ClothHelpers::createVirtualParticles(cloth, meshDesc, 4);
// ccd
cloth.setClothFlag(PxClothFlag::eSWEPT_CONTACT, useSweptContact);
// use GPU or not
#if PX_SUPPORT_GPU_PHYSX
cloth.setClothFlag(PxClothFlag::eGPU, mUseGPU);
#endif
// custom fiber configuration
if (useCustomConfig)
{
PxClothPhaseSolverConfig config;
config = cloth.getPhaseSolverConfig(PxClothFabricPhaseType::eSTRETCHING);
config.solverType = PxClothPhaseSolverConfig::eSTIFF;
config.stiffness = 1.0f;
cloth.setPhaseSolverConfig(PxClothFabricPhaseType::eSTRETCHING, config);
config = cloth.getPhaseSolverConfig(PxClothFabricPhaseType::eSTRETCHING_HORIZONTAL);
config.solverType = PxClothPhaseSolverConfig::eFAST;
config.stiffness = 1.0f;
cloth.setPhaseSolverConfig(PxClothFabricPhaseType::eSTRETCHING_HORIZONTAL, config);
config = cloth.getPhaseSolverConfig(PxClothFabricPhaseType::eSHEARING);
config.solverType = PxClothPhaseSolverConfig::eFAST;
config.stiffness = 0.75f;
cloth.setPhaseSolverConfig(PxClothFabricPhaseType::eSHEARING, config);
config = cloth.getPhaseSolverConfig(PxClothFabricPhaseType::eBENDING_ANGLE);
config.solverType = PxClothPhaseSolverConfig::eBENDING;
config.stiffness = 0.5f;
cloth.setPhaseSolverConfig(PxClothFabricPhaseType::eBENDING_ANGLE, config);
}
}