// add some physics objects into the scene
void AddPhyObjects()
{
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
gScene->addActor(*groundPlane);
PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(PxVec3(0, -5, -10));
gScene->addActor(*dynamic);
// add capsule into the scene
shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
body = gPhysics->createRigidDynamic(localTmC);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
// add a static box as the trigger
shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
body = gPhysics->createRigidDynamic(localTmTrigger);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
body->attachShape(*shape);
body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
gScene->addActor(*body);
shape->release();
}
void GOCCharacterController::Create(Ogre::Vector3 dimensions)
{
QuitAllNewsgroups();
JoinNewsgroup(GlobalMessageIDs::PHYSICS_SUBSTEP);
JoinNewsgroup(GlobalMessageIDs::PHYSICS_END);
if (dimensions.x == 0 || dimensions.y == 0 || dimensions.z == 0) dimensions = Ogre::Vector3(1,1,1);
mFreezed = false;
mSpeedFactor = 1;
mDirection = Ogre::Vector3(0,0,0);
mDimensions = dimensions;
PxMaterial *mat = &OgrePhysX::World::getSingleton().getDefaultMaterial();
mActor = Main::Instance().GetPhysXScene()->createRigidDynamic(
PxBoxGeometry(mDimensions.x*0.5f, mDimensions.y*0.5f, mDimensions.z*0.5f),
mDensity,
*mat,
PxTransform(PxVec3(0, mDimensions.y*0.5f, 0)));
mActor.getFirstShape()->setSimulationFilterData(PhysXFilterData::Instance().Character);
mActor.getFirstShape()->setQueryFilterData(PhysXFilterData::Instance().Character);
mActor.getPxActor()->userData = mOwnerGO.lock().get();
mActor.getPxActor()->setMassSpaceInertiaTensor(PxVec3(0,1,0));
mActor.getPxActor()->setSolverIterationCounts(8);
}
// Set up PhysX
void InitializePhysX() {
gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
gPvd = PxCreatePvd(*gFoundation);
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = contactReportFilterShader/*PxDefaultSimulationFilterShader*/;
sceneDesc.simulationEventCallback = &gContactReportCallback; // contact callback
sceneDesc.contactModifyCallback = &gModContactReportCallback; // modification contact callback
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
if (pvdClient)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
// add some physics objects
AddPhyObjects();
createChain(PxTransform(PxVec3(10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createLimitedSpherical);
createChain(PxTransform(PxVec3(0.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createBreakableFixed);
createChain(PxTransform(PxVec3(-10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createDampedD6);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 2.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL, 2.0f);
}
void JF::Component::ColisionBox::SethalfExtents(XMFLOAT3 _vhalfExtents)
{
// 1)
m_Size = _vhalfExtents;
// 2)
if (m_pRigidBody != nullptr && m_pShape != nullptr)
{
m_pRigidBody->detachShape(*m_pShape);
m_pShape->setGeometry(PxBoxGeometry(m_Size.x, m_Size.y, m_Size.z));
m_pRigidBody->attachShape(*m_pShape);
}
}
void FBXActor::createCollisionShapes(PhysicsDemoScene *a_app)
{
float density = 300;
//pole
PxBoxGeometry box = PxBoxGeometry(0.1f,4,0.1f);
PxTransform transform(*((PxMat44*)(&m_world))); //cast from glm to PhysX matrices
PxRigidDynamic* dynamicActor = PxCreateDynamic(*a_app->g_Physics, transform, box, *a_app->g_PhysicsMaterial, density);
dynamicActor->userData = this; //set the user data to point at this FBXActor class
//offset
int nShapes = dynamicActor->getNbShapes();
PxShape* shapes;
dynamicActor->getShapes(&shapes, nShapes);
PxTransform relativePose = PxTransform(PxVec3(0.0f,4.0f,0.0f));
shapes->setLocalPose(relativePose);
//head
box = PxBoxGeometry(0.8f,0.5f,0.3f);
relativePose = PxTransform(PxVec3(0.0f,2.0f,0.0f));
PxShape* shape = dynamicActor->createShape(box, *a_app->g_PhysicsMaterial);
if (shape)
{
shape->setLocalPose(relativePose);
}
PxRigidBodyExt::updateMassAndInertia(*dynamicActor, (PxReal)density);
//add to scene
a_app->g_PhysicsScene->addActor(*dynamicActor);
a_app->g_PhysXActors.push_back(dynamicActor);
}
void BoxCollider::OnInitShape()
{
PxMaterial* mtl = gPhysics->createMaterial(0.5f, 0.5f, 0.1f);
CHECK(mtl);
mShape = mActor->createShape(PxBoxGeometry(mSize.x, mSize.y, mSize.z), *mtl);
CHECK(mShape);
mGizmo = new Gizmo(mTransform);
mGizmo->SetMesh(ShapeMesh::CreateBox(mSize));
CHECK(mGizmo);
Exit0:
;
}
xmodel::xmodel(PxPhysics * mPhysics,PxScene* mScene,double mass):
pos(0,0,0)
{
PxMaterial* aMaterial;
aMaterial = mPhysics->createMaterial(0.01f, 0.01f, 0.1); //static friction, dynamic friction, restitution
if(!aMaterial)
printf("createMaterial failed!");
PxTransform pt(PxVec3(0,0,0.3),PxQuat(0,0,0,1));
actor = PxCreateDynamic(*mPhysics, pt, PxBoxGeometry(0.5,0.5,0.128),*aMaterial, mass*4);
actor->setLinearVelocity(PxVec3(0,0,0));
mScene->addActor(*actor);
physx::PxVec3 p=actor->getGlobalPose().p;
pos.x=p.x;
pos.y=p.y;
pos.z=p.z;
}
std::vector<int> RayCastManagerImpl::OverlapBoxMultipleHits(const XMFLOAT3& p_origin, const XMFLOAT3& p_halfExtents)
{
std::vector<int> returnVec;
PxVec3 origin = PxVec3(p_origin.x, p_origin.y, p_origin.z);
PxVec3 halfExtents = PxVec3(p_halfExtents.x, p_halfExtents.y, p_halfExtents.z);
PxTransform position = PxTransform(origin);
PxOverlapHit hitBuffer[256]; // Max 256 hits will be stored?
PxOverlapBuffer hit(hitBuffer, 256); // Used to save the hit
PxBoxGeometry box = PxBoxGeometry(halfExtents);
/// Paramters for the sweep
// PxGeometry* geometry
bool status = m_utils.m_worldScene->overlap(box, position, hit);
size_t numberOfHits = hit.getNbAnyHits();
for(size_t i = 0; i < numberOfHits; i++)
{
// Start with checking static and dynamic rigid bodies
unordered_map<PxRigidActor*, int> idsByRigidBody = m_utils.m_rigidBodyManager->GetIDsByBodies();
if(idsByRigidBody.find(hit.getAnyHit(i).actor) != idsByRigidBody.end())
{
returnVec.push_back(idsByRigidBody.find(hit.getAnyHit(i).actor)->second);
}
else
{
// Nothing
}
// Now comes the difficult task of checking vs character controllers
unordered_map<PxController*, int> idsByCharacterController = m_utils.m_characterControlManager->GetIdsByControllers();
for(auto pairs : idsByCharacterController) // Loop through every pair in the list
{
if(pairs.first->getActor() == hit.getAnyHit(i).actor) // The first part contains the actor pointer
{
returnVec.push_back(pairs.second); // If this is true we found a hit vs character controller, second contains ID
}
}
}
return returnVec;
}
PxActor* World::addBox(const ofVec3f& size, const ofVec3f& pos, const ofQuaternion& rot, float mass)
{
assert(inited);
return createRigidBody(PxBoxGeometry(toPx(size)), mass, pos, rot);
}
void BoundingBox::SetScale(OPvec3 scale)
{
scale = scale;
PxBoxGeometry geo = PxBoxGeometry(scale.x / 2.0, scale.y / 2.0, scale.z / 2.0);
shapes->setGeometry(geo);
}
/**
* 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);
}
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);
}
void PhysXPhysics::VAddBox(Vec3 scale, Actor* gameActor, const std::string& densityStr, const std::string& physicsMaterial, bool gravityEnabled, float linearDamping, float angularDamping, Mat4x4 relativeTransform, const std::string& bodyType)
{
float density = LookupDensity(densityStr);
AddShape(gameActor, &PxBoxGeometry(scale.x, scale.y, scale.z), density, physicsMaterial, gravityEnabled, linearDamping, angularDamping, bodyType);
}