void PhysXPhysics::VSyncVisibleScene()
{
for (ActorIdToPysXRigidBodyTable::const_iterator it = m_actorRigidBodyMap.begin(); it != m_actorRigidBodyMap.end(); it++)
{
ActorId const id = it->first;
PxTransform pxLoc = it->second->getGlobalPose();
Mat4x4 loc;
PxMatrixToMat4x4(PxMat44(pxLoc), &loc);
Actor* pActor = g_pApp->m_pGame->VGetActor(id);
if (pActor)
{
TransformComponent* pTransformComponent = pActor->GetComponent<TransformComponent>(TransformComponent::g_Name);
if (pTransformComponent)
{
if (pTransformComponent->GetTransform() != loc)
{
Vec3 rot = loc.GetYawPitchRoll();
pTransformComponent->SetPosition(loc.GetPosition());
pTransformComponent->SetRotation(Vec3(XMConvertToDegrees(rot.x), XMConvertToDegrees(rot.y), XMConvertToDegrees(rot.z)));
EventDataPtr pEvent(BE_NEW EvtData_Move_Actor(id, loc));
IEventManager::Get()->VQueueEvent(pEvent);
}
}
}
}
}
PxMat44 Camera3D::getViewProjection() const
{
//This comes from the conjugate rotation because the world should appear to rotate
//opposite to the camera's rotation.
PxMat44 cameraRotation = PxMat44(getTransform().getTransformedRot().getConjugate());
PxMat44 cameraTranslation;
//Similarly, the translation is inverted because the world appears to move opposite
//to the camera's movement.
cameraTranslation = Utility::initTranslation(getTransform().getTransformedPos() * -1);
return m_projection * cameraRotation * cameraTranslation;
}
//-------------------------------------------------------------------------
//
void ModelRendering::render(const GameObjectRef &iGameObject)
{
LPDIRECT3DDEVICE9 wD3dDevice = Game<IRenderManager>()->d3dDevice();
PxMat44 wMatrixTransfo(PxIdentity);
IPoseInterfaceRef wGOPose = iGameObject->as<IPoseInterface>();
if (wGOPose)
{
wMatrixTransfo = PxMat44(wGOPose->pose());
}
wD3dDevice->SetTransform(D3DTS_WORLD, (D3DMATRIX*)&wMatrixTransfo);
_model.render();
}
PhysXRigidBody::PhysXRigidBody(
PxPhysics* PxDevice, PhysXMaterial* Material, const ERigidBodies Type,
scene::SceneNode* RootNode, const SRigidBodyConstruction &Construct) :
BaseObject ( ),
PhysicsBaseObject ( ),
RigidBody (Type, Construct),
PhysXBaseObject (Material ),
PxActor_ (0 )
{
if (!PxDevice || !RootNode || !Material)
throw io::stringc("Invalid arguments for rigid body");
/* Create dynamic rigid body */
PxBaseActor_ = PxActor_ = PxDevice->createRigidDynamic(
PxTransform(PxMat44(RootNode->getTransformMatrix(true).getArray()))
);
PxBaseActor_->userData = RootNode;
if (!PxActor_)
throw io::stringc("Could not create PhysX actor for rigid body");
/* Create base shape */
switch (Type)
{
case RIGIDBODY_BOX: createBox (Construct); break;
case RIGIDBODY_SPHERE: createSphere (Construct); break;
case RIGIDBODY_CAPSULE: createCapsule (Construct); break;
default:
throw io::stringc("Unsupported rigid body type");
}
/* Initialize root node and actor */
setRootNode(RootNode);
setMass(1.0f);
}
PhysXStaticObject::PhysXStaticObject(
PxPhysics* PxDevice, PxCooking* PxCookDevice, PhysXMaterial* Material, scene::Mesh* Mesh) :
BaseObject ( ),
PhysicsBaseObject ( ),
StaticPhysicsObject (Mesh ),
PhysXBaseObject (Material ),
PxActor_ (0 )
{
if (!PxDevice || !Mesh || !Material)
throw io::stringc("Invalid arguments for static physics object");
/* Create dynamic rigid body */
PxBaseActor_ = PxActor_ = PxDevice->createRigidStatic(
PxTransform(PxMat44(Mesh->getTransformMatrix(true).getArray()))
//PxTransform(PxVec3(0.0f), PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)))
);
if (!PxActor_)
throw io::stringc("Could not create PhysX actor for static object");
/* Create base shape */
createMesh(PxDevice, PxCookDevice, Mesh);
//addShape(PxPlaneGeometry());
}
void GLES2Renderer::bindMeshContext(const RendererMeshContext &context)
{
physx::PxMat44 model = physx::PxMat44::createIdentity();
physx::PxMat44 modelView;
if(context.transform) model = *context.transform;
GLfloat glmvp[16];
GLfloat glmodel[16];
GLfloat glview[16];
GLfloat glmodelview[16];
GLES2RendererMaterial::shaderProgram& program = g_hackCurrentMat->m_program[g_hackCurrentMat->m_currentPass];
// if we don't use MojoShader
if (program.modelMatrixUniform != -1)
{
PxToGL(glmodel, model);
glUniformMatrix4fv(program.modelMatrixUniform, 1, GL_FALSE, glmodel);
}
if (program.viewMatrixUniform != -1)
{
PxToGL(glview, m_viewMatrix);
glUniformMatrix4fv(program.viewMatrixUniform, 1, GL_FALSE, glview);
}
if (program.projMatrixUniform != -1)
{
glUniformMatrix4fv(program.projMatrixUniform, 1, GL_FALSE, m_glProjectionMatrix);
}
if (program.modelViewMatrixUniform != -1)
{
modelView = m_viewMatrix * model;
PxToGL(glmodelview, modelView);
glUniformMatrix4fv(program.modelViewMatrixUniform, 1, GL_FALSE, glmodelview);
}
if (program.modelViewProjMatrixUniform != -1)
{
modelView = m_viewMatrix * model;
physx::PxMat44 MVP = PxMat44(m_glProjectionMatrix).getTranspose();
MVP = MVP * modelView;
PxToGLColumnMajor(glmvp, MVP);
glUniformMatrix4fv(program.modelViewProjMatrixUniform, 1, GL_FALSE, glmvp);
}
// if we use MojoShader
if(program.vertexMojoResult || program.fragmentMojoResult)
{
// model matrix
{
const RendererMaterial::Variable* var = g_hackCurrentMat->findVariable("g_modelMatrix", RendererMaterial::VARIABLE_FLOAT4x4);
if(var)
{
if (context.shaderData)
{
memcpy(&glmodel, context.shaderData, 16 * sizeof(PxF32));
}
else
{
PxToGL(glmodel, model);
}
g_hackCurrentMat->bindVariable(g_hackCurrentMat->m_currentPass, *var, glmodel);
}
}
// model-view matrix
{
const RendererMaterial::Variable* var = g_hackCurrentMat->findVariable("g_modelViewMatrix", RendererMaterial::VARIABLE_FLOAT4x4);
if(var)
{
modelView = m_viewMatrix * model;
PxToGL(glmodelview, modelView);
g_hackCurrentMat->bindVariable(g_hackCurrentMat->m_currentPass, *var, glmodelview);
}
}
// model-view-project matrix
{
const RendererMaterial::Variable* var = g_hackCurrentMat->findVariable("g_MVP", RendererMaterial::VARIABLE_FLOAT4x4);
if(var)
{
physx::PxMat44 MVP = physx::PxMat44(m_glProjectionMatrix);
modelView = m_viewMatrix * model;
PxToGL(glmodelview, modelView);
physx::PxMat44 MV(glmodelview);
MVP = MV * MVP;
memcpy(glmvp, MVP.front(), sizeof(MVP));
g_hackCurrentMat->bindVariable(g_hackCurrentMat->m_currentPass, *var, glmvp);
}
}
}
g_hackCurrentMat->submitUniforms();
switch(context.cullMode)
{
case RendererMeshContext::CLOCKWISE:
glFrontFace( GL_CW );
glCullFace( GL_BACK );
glEnable( GL_CULL_FACE );
break;
case RendererMeshContext::COUNTER_CLOCKWISE:
glFrontFace( GL_CCW );
glCullFace( GL_BACK );
glEnable( GL_CULL_FACE );
break;
case RendererMeshContext::NONE:
glDisable( GL_CULL_FACE );
break;
default:
RENDERER_ASSERT(0, "Invalid Cull Mode");
}
RENDERER_ASSERT(context.numBones <= RENDERER_MAX_BONES, "Too many bones.");
if(context.boneMatrices && context.numBones>0 && context.numBones <= RENDERER_MAX_BONES &&
program.boneMatricesUniform != -1)
{
GLfloat glbonematrix[16*RENDERER_MAX_BONES];
for(PxU32 i=0; i<context.numBones; i++)
{
PxToGL(glbonematrix+(16*i), context.boneMatrices[i]);
}
glUniformMatrix4fv(program.boneMatricesUniform, context.numBones, GL_FALSE, glbonematrix);
}
}
osg::Node* createNodeForActor( PxRigidActor* actor )
{
if ( !actor ) return NULL;
std::vector<PxShape*> shapes( actor->getNbShapes() );
osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
transform->setMatrix( toMatrix(PxMat44(actor->getGlobalPose())) );
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
transform->addChild( geode.get() );
PxU32 num = actor->getShapes( &(shapes[0]), actor->getNbShapes() );
for ( PxU32 i=0; i<num; ++i )
{
PxShape* shape = shapes[i];
osg::Matrix localMatrix = toMatrix( PxMat44(actor->getGlobalPose()) );
osg::Vec3 localPos = toVec3( shape->getLocalPose().p );
osg::Quat localQuat(shape->getLocalPose().q.x, shape->getLocalPose().q.y,
shape->getLocalPose().q.z, shape->getLocalPose().q.w);
switch ( shape->getGeometryType() )
{
case PxGeometryType::eSPHERE:
{
PxSphereGeometry sphere;
shape->getSphereGeometry( sphere );
osg::Sphere* sphereShape = new osg::Sphere(localPos, sphere.radius);
geode->addDrawable( new osg::ShapeDrawable(sphereShape) );
}
break;
case PxGeometryType::ePLANE:
// TODO
break;
case PxGeometryType::eCAPSULE:
{
PxCapsuleGeometry capsule;
shape->getCapsuleGeometry( capsule );
osg::Capsule* capsuleShape = new osg::Capsule(
localPos, capsule.radius, capsule.halfHeight * 2.0f);
capsuleShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(capsuleShape) );
}
break;
case PxGeometryType::eBOX:
{
PxBoxGeometry box;
shape->getBoxGeometry( box );
osg::Box* boxShape = new osg::Box(localPos,
box.halfExtents[0] * 2.0f, box.halfExtents[1] * 2.0f, box.halfExtents[2] * 2.0f);
boxShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(boxShape) );
}
break;
case PxGeometryType::eCONVEXMESH:
{
PxConvexMeshGeometry convexMeshGeom;
shape->getConvexMeshGeometry( convexMeshGeom );
// TODO: consider convexMeshGeom.scale
PxConvexMesh* convexMesh = convexMeshGeom.convexMesh;
if ( convexMesh )
{
/*for ( unsigned int i=0; i<convexMesh->getNbPolygons(); ++i )
{
}*/
// TODO
}
}
break;
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry triangleMeshGeom;
shape->getTriangleMeshGeometry( triangleMeshGeom );
// TODO: consider triangleMeshGeom.scale
PxTriangleMesh* triangleMesh = triangleMeshGeom.triangleMesh;
if ( triangleMesh )
{
osg::ref_ptr<osg::Vec3Array> va = new osg::Vec3Array( triangleMesh->getNbVertices() );
for ( unsigned int i=0; i<va->size(); ++i )
(*va)[i] = toVec3( *(triangleMesh->getVertices() + i) ) * localMatrix;
osg::ref_ptr<osg::DrawElements> de;
if ( triangleMesh->getTriangleMeshFlags()&PxTriangleMeshFlag::eHAS_16BIT_TRIANGLE_INDICES )
{
osg::DrawElementsUShort* de16 = new osg::DrawElementsUShort(GL_TRIANGLES);
de = de16;
const PxU16* indices = (const PxU16*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de16->push_back( indices[3 * i + 0] );
de16->push_back( indices[3 * i + 1] );
de16->push_back( indices[3 * i + 2] );
}
}
else
{
osg::DrawElementsUInt* de32 = new osg::DrawElementsUInt(GL_TRIANGLES);
de = de32;
const PxU32* indices = (const PxU32*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de32->push_back( indices[3 * i + 0] );
de32->push_back( indices[3 * i + 1] );
de32->push_back( indices[3 * i + 2] );
}
}
geode->addDrawable( createGeometry(va.get(), NULL, NULL, de.get()) );
}
}
break;
case PxGeometryType::eHEIGHTFIELD:
{
PxHeightFieldGeometry hfGeom;
shape->getHeightFieldGeometry( hfGeom );
// TODO: consider hfGeom.*scale
PxHeightField* heightField = hfGeom.heightField;
if ( heightField )
{
// TODO
}
}
break;
}
}
return transform.release();
}
PxMat44 toPhysicsMatrix( const osg::Matrix& matrix )
{
PxReal d[16];
for ( int i=0; i<16; ++i ) d[i] = *(matrix.ptr() + i);
return PxMat44(d);
}
void JF::Component::ColisionBox::Reset()
{
// 1)
auto* pTransform = GetOwner()->GetComponent<JF::Component::Transform>();
XMFLOAT4X4& rMatrix = pTransform->GetTransformMatrix();
assert(pTransform != nullptr);
// 2)
m_pShape = m_pPXDevice->GetPhysics()->createShape(
PxBoxGeometry(m_Size.x, m_Size.y, m_Size.z),
*m_pPXDevice->GetMaterial());
// 3)
PxTransform localTm( PxMat44(
PxVec4(rMatrix._11, rMatrix._12, rMatrix._13, rMatrix._14),
PxVec4(rMatrix._21, rMatrix._22, rMatrix._23, rMatrix._24),
PxVec4(rMatrix._31, rMatrix._32, rMatrix._33, rMatrix._34),
PxVec4(rMatrix._41, rMatrix._42, rMatrix._43, rMatrix._44)
));
// 4)
m_pRigidBody = m_pPXDevice->GetPhysics()->createRigidDynamic(localTm);
m_pRigidBody->attachShape(*m_pShape);
PxRigidBodyExt::updateMassAndInertia(*m_pRigidBody, 10.0f);
m_pRigidBody->setLinearVelocity(PxVec3(0, 10, 2.0f));
m_pPXDevice->GetScene()->addActor(*m_pRigidBody);
// 5)
float cX = 0.0f;
float cY = 0.0f;
float cZ = 0.0f;
float eX = 1.0f;
float eY = 1.0f;
float eZ = 1.0f;
// 정점
JF::Vertex::PosColor vertices[] =
{
// 1, 1, 1 (0)
{ XMFLOAT3(cX + eX, cY + eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, 1, -1 (1)
{ XMFLOAT3(cX + eX, cY + eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, 1, 1 (2)
{ XMFLOAT3(cX + -eX, cY + eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, 1, -1 (3)
{ XMFLOAT3(cX + -eX, cY + eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, -1, 1 (4)
{ XMFLOAT3(cX + eX, cY + -eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, -1, -1 (5)
{ XMFLOAT3(cX + eX, cY + -eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, -1, 1 (6)
{ XMFLOAT3(cX + -eX, cY + -eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, -1, -1 (7)
{ XMFLOAT3(cX + -eX, cY + -eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) }
};
m_VertexSize = ARRAYSIZE(vertices);
// 인덱스
UINT indices[] =
{
// Top
0,1, 1,3, 3,2, 0,2,
// Bottom
4,5, 5,7, 7,6, 6,4,
// Top - Bottom
0,4, 1,5, 2,6, 3,7
};
m_indexCnt = ARRAYSIZE(indices);
// Create
gRENDERER->CreateVertexBuffer(&vertices[0], sizeof(JF::Vertex::PosColor) * m_VertexSize, &m_VertBuff);
gRENDERER->CreateIndexBuffer(&indices[0], sizeof(UINT) * m_indexCnt, &m_IndexBuff);
}
PxMat44 PhysicsTransform::getMatrix() const
{
return PxMat44(m_actor->getGlobalPose());
}
PxMat44 Camera3D::getView() const
{
return m_projection * PxMat44(getTransform().getTransformedRot().getConjugate());
}