void TutorialApplication::crearEscenario(void)
{
Ogre::Light* luzPrincipal = mSceneMgr->createLight();
luzPrincipal->setType(Ogre::Light::LT_DIRECTIONAL);
luzPrincipal->setPosition(Ogre::Vector3(0, 100, 0));
luzPrincipal->setDirection(Ogre::Vector3(0, -1, 0));
luzPrincipal->setDiffuseColour(Ogre::ColourValue(1, 1, 1));
luzPrincipal->setSpecularColour(Ogre::ColourValue(1, 1, 1));
Ogre::Plane plane(Ogre::Vector3::UNIT_Y, 0);
Ogre::MeshManager::getSingleton().createPlane("ground", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
plane, 254, 127, 10, 10, true, 1, 5, 5, Ogre::Vector3::UNIT_Z);
Ogre::Entity* groundEntity = mSceneMgr->createEntity("ground");
mSceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(groundEntity);
groundEntity->setCastShadows(false);
groundEntity->setMaterialName("Custom/TelaBillar");
PxPhysics* gPhysics = PhysxOgr::PhysxController::getInstance()->getPhysics();
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gPhysics->createMaterial(0.5f, 0.5f, 0.6f));
mPhysx->getScene()->addActor(*groundPlane);
crearBorde(Ogre::Vector3(-132, 0, 0), Ogre::Vector3(0.1, 0.1, 1.27));
crearBorde(Ogre::Vector3(132, 0, 0), Ogre::Vector3(0.1, 0.1, 1.27));
crearBorde(Ogre::Vector3(0, 0, 68.5), Ogre::Vector3(2.54, 0.1, 0.1));
crearBorde(Ogre::Vector3(0, 0, -68.5), Ogre::Vector3(2.54, 0.1, 0.1));
}
void
PhsXWorld::_addCharacter(float mass, float radius, float height, float stepHeight, std::shared_ptr<nau::scene::IScene> &aScene, std::string name) {
PxPhysics *gPhysics = &(m_pDynamicsWorld->getPhysics());
PxCapsuleControllerDesc desc;
//desc.height = 1.3f;
//desc.radius = 0.35f;
desc.height = height;
desc.radius = radius;
PxVec3 pos = PxMat44(const_cast<float*> (aScene->getTransform().getMatrix())).getPosition();
desc.position = PxExtendedVec3(pos.x, pos.y, pos.z);
desc.material = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
desc.userData = aScene.get();
desc.reportCallback = this;
desc.climbingMode = PxCapsuleClimbingMode::eCONSTRAINED;
desc.stepOffset = stepHeight;
desc.upDirection = PxVec3(0, 1, 0);
//desc.slopeLimit = cosf(DegToRad(80.0f));
controller = manager->createController(desc);
}
void InitPhysX() {
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);
gPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale() );
if(gPhysicsSDK == NULL) {
cerr<<"Error create PhysX."<<endl;
}
PxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);
sceneDesc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
gScene = gPhysicsSDK->createScene(sceneDesc);
PxMaterial* material = gPhysicsSDK->createMaterial(0.5,0.5,0.5);
PxTransform planePos = PxTransform(PxVec3(0.0f),PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));
PxRigidStatic* plane = gPhysicsSDK->createRigidStatic(planePos);
plane->createShape(PxPlaneGeometry(), *material);
gScene->addActor(*plane);
PxTransform boxPos(PxVec3(0.0f, 10.0f, 0.0f));
PxBoxGeometry boxGeometry(PxVec3(2,2,2));
gBox = PxCreateDynamic(*gPhysicsSDK, boxPos, boxGeometry, *material, 1.0f);
gScene->addActor(*gBox);
}
void
PhsXWorld::_addRigid(float mass, float friction, float restitution, std::shared_ptr<nau::scene::IScene> &aScene, std::string name, nau::math::vec3 aVec) {
PxPhysics *gPhysics = &(m_pDynamicsWorld->getPhysics());
if (mass == 0.0f) {
PxRigidStatic* staticActor;
if (name.compare("plane") == 0) {
staticActor = PxCreatePlane(*gPhysics,
PxPlane(0.0f, 1.0f, 0.0f, 0.0f),
*(gPhysics->createMaterial(friction, friction, restitution))
);
}
else {
/*if (name.compare("box") == 0) {
staticActor = PxCreateStatic(*gPhysics,
PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))),
PxBoxGeometry(1.0f,1.0f,1.0f),
*(gPhysics->createMaterial(1.0f, 1.0f, 0.6f))
);
}
else {*/
staticActor = gPhysics->createRigidStatic(PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))));
PxTriangleMeshGeometry triGeom;
triGeom.triangleMesh = gPhysics->createTriangleMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene));
staticActor->createShape(triGeom, *(gPhysics->createMaterial(friction, friction, restitution)));
//}
}
staticActor->userData = aScene.get();
m_pDynamicsWorld->addActor(*staticActor);
}
else {
PxRigidDynamic* dynamic;
//if (name.compare("ball") == 0) {
// dynamic = PxCreateDynamic(*gPhysics,
// PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))),
// PxSphereGeometry(1),
// *(gPhysics->createMaterial(0.5f, 0.5f, 0.6f)),
// 10.0f
// );
// //dynamic->setLinearVelocity(PxVec3(0, -50, -100));
//}
//else {
PxTransform trans = PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix())));
dynamic = gPhysics->createRigidDynamic(trans);
PxConvexMesh * convexMesh = gPhysics->createConvexMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene, false));
PxConvexMeshGeometry convGeom(convexMesh);
//PxConvexMeshGeometry convGeom(convexMesh, PxMeshScale(0.5f));
//convGeom.convexMesh = gPhysics->createConvexMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene, false));
//PxShape *shape = dynamic->createShape(convGeom, *(gPhysics->createMaterial(0.5f, 0.5f, 0.6f)), PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE);
PxShape *shape = dynamic->createShape(convGeom, *(gPhysics->createMaterial(friction, friction, restitution)));
//shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
//dynamic->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, false);
//}
dynamic->userData = aScene.get();
//dynamic->setAngularDamping(0.5f);
//dynamic->setLinearVelocity(velocity);
m_pDynamicsWorld->addActor(*dynamic);
}
}
