void labscale::CreateRegolithContainer()
{
// Geometry variables
PxReal box_d = labscale::reg_box.diameter;
PxReal box_h = labscale::reg_box.fillHeight*2;
PxReal wall_dh = box_d/20;
// We'll make the regolith container with a kinematic actor
PxRigidDynamic* theBox = gPhysX.mPhysics->createRigidDynamic(PxTransform(PxVec3(0,0.05*wall_dh,0)));
if (!theBox)
ncc__error("Actor creation failed!");
theBox->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
// Define sides
PxBoxGeometry box_bottom(box_d/2,wall_dh/2,box_d/2);
PxBoxGeometry box_side(wall_dh/2,box_h/2,box_d/2);
PxMaterial* defmat=gPhysX.mDefaultMaterial;
// Attach the sides, making front wall invisible
theBox->createShape(box_bottom,*defmat,PxTransform(PxVec3(0,wall_dh/2,0))); // the bottom
theBox->createShape(box_side,*defmat,PxTransform(PxVec3(-box_d/2,box_h/2,0),PxQuat(0,PxVec3(0,1,0)))); // left wall
theBox->createShape(box_side,*defmat,PxTransform(PxVec3( box_d/2,box_h/2,0),PxQuat(0,PxVec3(0,1,0)))); // right wall
theBox->createShape(box_side,*defmat,PxTransform(PxVec3(0,box_h/2,-box_d/2),PxQuat(PxPi/2,PxVec3(0,1,0)))); // back wall
PxShape* fwall = theBox->createShape(box_side,*defmat,PxTransform(PxVec3(0,box_h/2, box_d/2),PxQuat(PxPi/2,PxVec3(0,1,0)))); // front wall
fwall->setName("~fwall");
// Name, color, and register the container
theBox->setName("the_box");
ColorActor(theBox, ncc::rgb::rRed);
gPhysX.mScene->addActor(*theBox);
labscale::VIPs.container = theBox;
}
void Physics::Shoot()
{
float densityS = 100;
PxSphereGeometry sphere(1);
PxTransform transformS(PxVec3(m_camera.world[3].x, m_camera.world[3].y, m_camera.world[3].z));
PxRigidDynamic* dynamicActorS = PxCreateDynamic(*g_Physics, transformS, sphere, *g_PhysicsMaterial, densityS);
dynamicActorS->setName("Bullet");
setupFiltering(dynamicActorS, FilterGroup::ePLAYER, FilterGroup::eGROUND);
//add it to the physx scene
g_PhysicsScene->addActor(*dynamicActorS);
dynamicActorS->addForce(PxVec3(-m_camera.world[2].x, -m_camera.world[2].y, -m_camera.world[2].z)*muzzleSpeed, PxForceMode::eIMPULSE, true);
}
PxRigidDynamic * labscale::CreateRegolithGrain()
{
PxMaterial* glass = gPhysX.mPhysics->createMaterial(0.5, 0.5, 0.5); // "glass"
PxReal radius = labscale::regolith.diameter/2;
PxReal rho = labscale::regolith.materialDensity;
PxRigidDynamic* actor = CreateRubbleGrain(PxVec3(0,1.5*labscale::reg_box.fillHeight,0),eSPHERE_GRAIN,radius,*glass,rho);
actor->setName("regolith");
if (!actor)
ncc__error("actor creations failed");
return actor;
}
/**
* Method is used to add new dynamic actor to physics scene.
* @param entity is pointer to scene entity which will be added to physics simulation.
* @param type is enumeration of shape type.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addDynamicActor(SceneEntity* entity, ShapeType type, PxU32 filterGroup, PxU32 filterMask)
{
PxRigidDynamic* actor = nullptr;
PxVec3 position = PxVec3(entity->entityState.position[0],entity->entityState.position[1],entity->entityState.position[2]);
PxQuat orientation = PxQuat(entity->entityState.orientation[0],entity->entityState.orientation[1],entity->entityState.orientation[2],entity->entityState.orientation[3]);
PxReal density = 1.0f;
PxTransform transformation = PxTransform(position,orientation);
if(type == BOX)
{
float x = (entity->entityGeometry.geometryBox->max.x() - entity->entityGeometry.geometryBox->min.x())*entity->entityState.scale.x()*0.5f;
float y = (entity->entityGeometry.geometryBox->max.y() - entity->entityGeometry.geometryBox->min.y())*entity->entityState.scale.y()*0.5f;
float z = (entity->entityGeometry.geometryBox->max.z() - entity->entityGeometry.geometryBox->min.z())*entity->entityState.scale.z()*0.5f;
PxVec3 dimensions(x,y,z);
actor = PxCreateDynamic(*physicsSDK,transformation,PxBoxGeometry(dimensions),*materials[0].second,density);
PxRigidBodyExt::updateMassAndInertia(*actor, density);
}
else if(type == SPHERE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxSphereGeometry(radius),*materials[0].second,density);
}
else if(type == CAPSULE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxCapsuleGeometry(radius/2, radius),*materials[0].second,density);
}
else if(type == CONVEX)
{
/*int vertsCount = entity->entityGeometry.geometryMesh->getVerticesAmount();
AyumiUtils::Vertex<>* verts = entity->entityGeometry.geometryMesh->getVertices();
PxVec3* convexVerts = new PxVec3[vertsCount];
for(int i = 0; i < vertsCount; ++i)
convexVerts[i] = PxVec3(verts[i].x,verts[i].y,verts[i].z);
PxConvexMeshDesc convexDesc;
convexDesc.points.count = entity->entityGeometry.geometryMesh->getVerticesAmount();
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = convexVerts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
MemoryWriteBuffer buf;
if(cooking->cookConvexMesh(convexDesc, buf))
{
PxConvexMesh* convexMesh = physicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
actor = PxCreateDynamic(*physicsSDK,transformation,PxConvexMeshGeometry(convexMesh,PxMeshScale()),*materials[0].second,density);
}
else
{
Logger::getInstance()->saveLog(Log<string>("Convex Mesh creation error occurred!"));
return;
}*/
//delete[] convexVerts;
}
else
{
Logger::getInstance()->saveLog(Log<string>("Dynamic Actor shape creation error occurred!"));
return;
}
if(!actor)
Logger::getInstance()->saveLog(Log<string>("Static Actor creation error occurred!"));
PxRigidBodyExt::updateMassAndInertia(*actor, density);
actor->setAngularDamping(0.75);
actor->setLinearVelocity(PxVec3(0,0,0));
actor->setName(entity->entityName.c_str());
setupFiltering(actor,filterGroup,filterMask);
scene->addActor(*actor);
DynamicActor* d = new DynamicActor();
d->entityLogic = entity;
d->entityPhysics = actor;
d->shapesAmount = actor->getNbShapes();
d->shapes = new PxShape*[d->shapesAmount];
dynamicActors.push_back(d);
}