hsVectorStream* plPhysXCooking::CookHull(int nVerts, hsPoint3* verts, bool inflate)
{
NxConvexMeshDesc convexDesc;
convexDesc.numVertices = nVerts;
convexDesc.pointStrideBytes = sizeof(hsPoint3);
convexDesc.points = verts;
convexDesc.flags = NX_CF_COMPUTE_CONVEX;
if(inflate)
{
convexDesc.flags|= NX_CF_INFLATE_CONVEX ;
}
hsVectorStream* ram = new hsVectorStream;
plPXStream buf(ram);
bool status = NxCookConvexMesh(convexDesc, buf);
hsAssert(status, "Convex mesh failed to cook");
if (status)
{
ram->Rewind();
return ram;
}
else
{
delete ram;
return nil;
}
}
Menge::GeometryInterface * NovodexPhysicSystem::cookConvex( const float * _verts, int _vertexSize, const int * _indecies, int _indexSize )
{
NxConvexMeshDesc m_convexMesh;
m_convexMesh.numVertices = _vertexSize;
m_convexMesh.pointStrideBytes = 3 * sizeof(float);
m_convexMesh.points = _verts;
m_convexMesh.numTriangles = _indexSize;
m_convexMesh.triangles = _indecies;
m_convexMesh.triangleStrideBytes = 3 * sizeof(int);
m_convexMesh.flags = 0;
NxConvexShapeDesc * nxConvexShape = new NxConvexShapeDesc();
NxInitCooking();
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(m_convexMesh, buf);
assert(status);
nxConvexShape->meshData = m_physicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
nxConvexShape->group = GROUP_COLLIDABLE_PUSHABLE;
NovodexGeometry * novodexGeometry = new NovodexGeometry(nxConvexShape);
return novodexGeometry;
}
//-------------------------------------------------------------------------------------------------
bool sdPhysXCookUtility::CookConvexMesh(const NxConvexMeshDesc& kDesc, NxStream& kStream)
{
#ifdef COOKING_INTERFACE
return ms_pkCooking->NxCookConvexMesh(kDesc, kStream);
#else
return NxCookConvexMesh(kDesc, kStream);
#endif
}
bool CookConvexMesh(const NxConvexMeshDesc& desc, NxStream& stream)
{
#ifdef COOKING_INTERFACE
hasCookingLibrary();
if ( !gCooking ) return false;
return gCooking->NxCookConvexMesh(desc,stream);
#else
return NxCookConvexMesh(desc,stream);
#endif
}
// 增加一辆车
NxVehicle* NxAllVehicle::addVehicle(const NxVec3& pos, VehicleInfo vinfo, std::string name, NxScene* nxScene, NxPhysicsSDK* nxPhysics)
{
NxVehicleDesc vehicleDesc;
NxBoxShapeDesc boxShapes[2];
NxConvexShapeDesc carShape[2];
NxArray<NxVec3> points;
NxArray<NxVec3> points2;
NxReal halfWidth = vinfo.width / 2;//1.1529f;
NxReal halfLength = vinfo.length / 2;//2.5278f;
NxReal halfHeight = vinfo.height / 2; //0.6027;
points.pushBack().set(halfLength,-halfHeight * 0.1f, 0);
points.pushBack().set(halfLength * 0.7f, 0, 0);
points.pushBack().set(0.2f * halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(-halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f, halfWidth * 0.8f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f,-halfWidth * 0.8f);
points.pushBack().set(0,-halfHeight * 0.2f, halfWidth);
points.pushBack().set(0,-halfHeight * 0.2f,-halfWidth);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
for(NxU32 i = 2; i < 8; i++)
{
points2.pushBack(points[i]);
}
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f, halfWidth*0.7f);
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f,-halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f, halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f,-halfWidth*0.7f);
static NxConvexMeshDesc convexMesh;
convexMesh.numVertices = points.size();
convexMesh.points = &(points[0].x);
convexMesh.pointStrideBytes = sizeof(NxVec3);
convexMesh.flags |= NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(convexMesh, buf);
if(status)
{
carShape[0].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf.data));
vehicleDesc.carShapes.pushBack(&carShape[0]);
}
static NxConvexMeshDesc convexMesh2;
convexMesh2.numVertices = points2.size();
convexMesh2.points = (&points2[0].x);
convexMesh2.pointStrideBytes = sizeof(NxVec3);
convexMesh2.flags = NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf2;
status = NxCookConvexMesh(convexMesh2, buf2);
if(status)
{
carShape[1].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf2.data));
vehicleDesc.carShapes.pushBack(&carShape[1]);
}
vehicleDesc.position = pos;
vehicleDesc.mass = vinfo.mass;//1200;//monsterTruck ? 12000 :
vehicleDesc.digitalSteeringDelta = vinfo.steerablity;//0.04f;
vehicleDesc.steeringMaxAngle = vinfo.maxSteeringAngle; //30.f;
vehicleDesc.motorForce = vinfo.maxAcceleraion * vinfo.mass;//3500.f;//monsterTruck?180.f:
NxVehicleMotorDesc motorDesc;
NxVehicleGearDesc gearDesc;
NxReal wheelRadius = 0.4f;
vehicleDesc.maxVelocity = vinfo.maxVelocity; //80.f;//(monsterTruck)?40.f:80.f;
motorDesc.setToCorvette();
vehicleDesc.motorDesc = &motorDesc;
gearDesc.setToCorvette();
vehicleDesc.gearDesc = &gearDesc;
vehicleDesc.differentialRatio = 3.42f;
wheelRadius = 0.3622f;
vehicleDesc.centerOfMass.set(0,-0.7f,0);
NxWheelDesc wheelDesc[4];
for(NxU32 i=0;i<4;i++)
{
wheelDesc[i].wheelApproximation = 10;
//wheelDesc[i].wheelFlags |= NX_WF_BUILD_LOWER_HALF;
wheelDesc[i].wheelRadius = wheelRadius;//(monsterTruck)?wheelRadius*3.f:wheelRadius;
wheelDesc[i].wheelWidth = 0.1923f;//(monsterTruck)?0.3f:0.1923f;
wheelDesc[i].wheelSuspension = 0.2f;//(monsterTruck)?0.6f:0.2f;
wheelDesc[i].springRestitution = 7000;//monsterTruck?(crovette?5000:4000):7000;
wheelDesc[i].springDamping = 800;
wheelDesc[i].springBias = 0.0f; // 设为1.0后居然会出错!!!!!!!!
//wheelDesc[i].maxHandBraking = 1.f; //monsterTruck?0.5f:1.f;
wheelDesc[i].inverseWheelMass = 4.0f / vinfo.maxAcceleraion; // 换算成动力
wheelDesc[i].frictionToFront = 1.f;
wheelDesc[i].frictionToSide = 2.f;
vehicleDesc.carWheels.pushBack(&wheelDesc[i]);
}
NxReal heightPos = -0.3622f; //(monsterTruck)?1.f:
wheelDesc[0].position.set( 1.02f, heightPos, 1.26);
wheelDesc[1].position.set( 1.12f, heightPos,-1.54);
wheelDesc[2].position.set(-1.02f, heightPos, 1.26);
wheelDesc[3].position.set(-1.12f, heightPos,-1.54);
NxU32 flags = NX_WF_BUILD_LOWER_HALF;
wheelDesc[0].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[1].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[2].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
wheelDesc[3].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
vehicleDesc.steeringSteerPoint.set(1.8, 0, 0);
vehicleDesc.steeringTurnPoint.set(-1.5, 0, 0);
NxVehicle* vehicle = NxVehicle::createVehicle(nxScene, &vehicleDesc, name);
NxQuat q;
// 少转过90度,可能会有问题
q.fromAngleAxis(90.0f, NxVec3(0.0f, 1.0f, 0.0f));
vehicle->getActor()->setGlobalOrientationQuat(q);
vehicle->mVInfo = vinfo;
vehicle->setOilAmount(vinfo.oilAmount);
// 加到队列中
mAllVehicle.pushBack(vehicle);
mIsLive.pushBack(0);
// miUserVehicle = mAllVehicle.size() - 1;
return vehicle;
}
void plGenericPhysical::IWritePXPhysical(hsStream* S, plResManager* mgr) {
S->writeFloat(fMass);
S->writeFloat(fFriction);
S->writeFloat(fRestitution);
S->writeByte(fBounds);
S->writeByte(plPXSimDefs::toGroup(fMemberGroup, fCollideGroup));
S->writeInt(plPXSimDefs::setReportsOn(fReportGroup));
S->writeShort(fLOSDBs);
mgr->writeKey(S, fObjectKey);
mgr->writeKey(S, fSceneNode);
mgr->writeKey(S, fSubWorld);
mgr->writeKey(S, fSoundGroup);
fPos.write(S);
fRot.write(S);
fProps.write(S);
if (fBounds == plSimDefs::kSphereBounds) {
S->writeFloat(fRadius);
fOffset.write(S);
} else if (fBounds == plSimDefs::kBoxBounds) {
fDimensions.write(S);
fOffset.write(S);
} else if (fBounds == plSimDefs::kHullBounds) {
#ifdef HAVE_PX_SDK
if (!sPhysxWasInit) {
NxInitCooking();
sPhysxWasInit = true;
}
NxConvexMeshDesc convexDesc;
convexDesc.numVertices = fVerts.size();
convexDesc.pointStrideBytes = sizeof(hsVector3);
convexDesc.points = &fVerts[0];
convexDesc.flags = NX_CF_COMPUTE_CONVEX;
plPXStream buf(S);
if (!NxCookConvexMesh(convexDesc, buf))
throw hsBadParamException(__FILE__, __LINE__, "Incorrect data for PhysX Hull Bake");
#else
throw hsNotImplementedException(__FILE__, __LINE__, "PhysX HullBounds");
#endif
} else { // Proxy or Explicit
#ifdef HAVE_PX_SDK
if (!sPhysxWasInit) {
NxInitCooking();
sPhysxWasInit = true;
}
NxTriangleMeshDesc triDesc;
triDesc.numVertices = fVerts.size();
triDesc.pointStrideBytes = sizeof(hsVector3);
triDesc.points = &fVerts[0];
triDesc.numTriangles = fIndices.size() / 3;
triDesc.triangleStrideBytes = sizeof(unsigned int) * 3;
triDesc.triangles = &fIndices[0];
triDesc.flags = 0; // 32-bit appears to be the default for index size
plPXStream buf(S);
if (!NxCookTriangleMesh(triDesc, buf))
throw hsBadParamException(__FILE__, __LINE__, "Incorrect data for a PhysX Trimesh Bake");
#else
throw hsNotImplementedException(__FILE__, __LINE__, "PhysX TriangleMesh");
#endif
}
}
NxActor* CreatePyramid(const NxVec3& pos, const NxVec3& boxDim, const NxReal density)
{
// Add a single-shape actor to the scene
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
// 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
NxConvexMeshDesc convexDesc;
convexDesc.numVertices = 8;
convexDesc.pointStrideBytes = sizeof(NxVec3);
convexDesc.points = verts;
convexDesc.flags = NX_CF_COMPUTE_CONVEX | NX_CF_USE_LEGACY_COOKER;
// The actor has one shape, a convex mesh
NxConvexShapeDesc convexShapeDesc;
convexShapeDesc.localPose.t = NxVec3(0,boxDim.y,0);
NxInitCooking();
if (0)
{
// Cooking from file
#ifndef LINUX
bool status = NxCookConvexMesh(convexDesc, UserStream("c:\\tmp.bin", false));
convexShapeDesc.meshData = gPhysicsSDK->createConvexMesh(UserStream("c:\\tmp.bin", true));
#else
printf("Linux does not behave well with UserStreams, use Memorybuffers instead\n");
#endif
}
else
{
// Cooking from memory
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(convexDesc, buf);
convexShapeDesc.meshData = gPhysicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
}
if (convexShapeDesc.meshData)
{
NxActorDesc actorDesc;
actorDesc.shapes.pushBack(&convexShapeDesc);
if (density)
{
actorDesc.body = &bodyDesc;
actorDesc.density = density;
}
else
{
actorDesc.body = NULL;
}
actorDesc.globalPose.t = pos;
NxActor* actor = gScene->createActor(actorDesc);
return actor;
// gPhysicsSDK->releaseConvexMesh(*convexShapeDesc.meshData);
}
return NULL;
}
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;
}
