// Create a static trigger static void CreateTrigger(const NxVec3& pos, NxF32 size = 2, const NxVec3* initial_velocity=NULL, bool kinematic = false) { // Our trigger is a cube NxBodyDesc triggerBody; NxBoxShapeDesc dummyShape; NxBoxShapeDesc BoxDesc; BoxDesc.dimensions = NxVec3(size, size, size); BoxDesc.shapeFlags |= NX_TRIGGER_ENABLE; NxActorDesc ActorDesc; if(initial_velocity || kinematic) { if (initial_velocity) { triggerBody.linearVelocity = *initial_velocity; } if (kinematic) { triggerBody.flags |= NX_BF_KINEMATIC; } triggerBody.mass = 1; ActorDesc.body = &triggerBody; NxF32 sizeinc = 1.01f; dummyShape.dimensions.set(size*sizeinc, size*sizeinc, size*sizeinc); dummyShape.group = 1; ActorDesc.shapes.pushBack(&dummyShape); } ActorDesc.shapes.pushBack(&BoxDesc); ActorDesc.globalPose.t = pos; int thisNb = ++gNbTriggers; gNbTouchedBodies.pushBack(0); NX_ASSERT(gNbTouchedBodies.size() == gNbTriggers); gMyPhysX.getScene()->setGroupCollisionFlag(1,0, false); gMyPhysX.getScene()->setGroupCollisionFlag(1,1, false); gMyPhysX.getScene()->setGroupCollisionFlag(1,2, true); ActorDesc.userData = (void*)(-thisNb); if (!ActorDesc.isValid()) { printf("Invalid ActorDesc\n"); return; } NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc); // This is just a quick-and-dirty way to identify the trigger for rendering NX_ASSERT(actor != NULL); if (kinematic) { KinematicActor k; k.actor = actor; if (initial_velocity) { k.vel = *initial_velocity; } else { k.vel.set(0,0,0); } gKinematicActors.pushBack(k); } gMyPhysX.getScene()->setUserTriggerReport(&myTriggerCallback); }
virtual void onContactNotify(NxContactPair& pair, NxU32 events) { // Iterate through contact points NxContactStreamIterator i(pair.stream); //user can call getNumPairs() here while(i.goNextPair()) { //user can also call getShape() and getNumPatches() here while(i.goNextPatch()) { //user can also call getPatchNormal() and getNumPoints() here const NxVec3& contactNormal = i.getPatchNormal(); while(i.goNextPoint()) { //user can also call getPoint() and getSeparation() here if(i.getSeparation()<0.0f) { const NxVec3& contactPoint = i.getPoint(); NxU32 faceIndex = i.getFeatureIndex0(); if(faceIndex==0xffffffff) faceIndex = i.getFeatureIndex1(); if(faceIndex!=0xffffffff) { gTouchedTris.pushBack(faceIndex); //printf("Contack!\n"); } } } } } }
bool CPhysicsManager::ReleasePhysicActor (CPhysicActor* actor) { assert(actor != NULL); assert(m_pScene != NULL); assert(m_pPhysicsSDK != NULL); bool isOk = false; NxActor* nxActor = actor->GetPhXActor(); if( nxActor != 0) { NxArray<NxCCDSkeleton*> skeletons; for (NxU32 i = 0; i < nxActor->getNbShapes(); i++) { NxShape* shape = nxActor->getShapes()[i]; if (shape->getCCDSkeleton() != NULL) { skeletons.pushBack(shape->getCCDSkeleton()); } } for (NxU32 i = 0; i < skeletons.size(); i++) { m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]); } m_pScene->releaseActor(*nxActor); nxActor = 0; } return true; }
//---------------------------------------------------------------------------- // ReleaseAllActors : Alliberem tots els actors de l'escena de PhysX //---------------------------------------------------------------------------- bool CPhysicsManager::ReleaseAllActors ( void ) //EUserDataFlag _eFlags ) { assert ( m_pScene != NULL ); assert ( m_pPhysicsSDK != NULL ); bool isOk = true; NxActor** l_ppActorList = m_pScene->getActors(); NxU32 l_TotalActors = m_pScene->getNbActors(); while ( l_TotalActors -- ) { NxActor* nxActor = *l_ppActorList; if ( nxActor != 0) { NxArray<NxCCDSkeleton*> skeletons; for (NxU32 i = 0; i < nxActor->getNbShapes(); i++) { NxShape* shape = nxActor->getShapes()[i]; if (shape->getCCDSkeleton() != NULL) { skeletons.pushBack(shape->getCCDSkeleton()); } } for (NxU32 i = 0; i < skeletons.size(); i++) { m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]); } m_pScene->releaseActor(*nxActor); nxActor = 0; } } return isOk; }
static void CreateCube(const NxVec3& pos, int size=2, const NxVec3* initial_velocity=NULL, bool kinematic = false, bool Static = false) { // Create body NxBodyDesc BodyDesc; BodyDesc.angularDamping = 0.5f; // BodyDesc.maxAngularVelocity = 10.0f; if(initial_velocity) BodyDesc.linearVelocity = *initial_velocity; NxBoxShapeDesc BoxDesc; BoxDesc.dimensions = NxVec3(float(size), float(size), float(size)); NxActorDesc ActorDesc; // ActorDesc.userData = (void*)size; ActorDesc.shapes.pushBack(&BoxDesc); if (!Static) ActorDesc.body = &BodyDesc; ActorDesc.density = 10.0f; ActorDesc.globalPose.t = pos; ActorDesc.userData = (void*)size; NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc); if (kinematic) { KinematicActor k; k.actor = actor; actor->raiseBodyFlag(NX_BF_KINEMATIC); if (initial_velocity) { k.vel = *initial_velocity; } else { k.vel.set(0,0,0); } gKinematicActors.pushBack(k); } }
virtual void onContactNotify(NxContactPair& pair, NxU32 events) { NxU32 carIndex = 0; if (isCar(pair.actors[0])) carIndex = 0; else if (isCar(pair.actors[1])) carIndex = 1; else return; //ignore the 'both are cars' case for now. // Iterate through contact points NxContactStreamIterator i(pair.stream); //user can call getNumPairs() here while (i.goNextPair()) { //user can also call getShape() and getNumPatches() here NxShape * s = i.getShape(carIndex); while (i.goNextPatch()) { //user can also call getPatchNormal() and getNumPoints() here const NxVec3& contactNormal = i.getPatchNormal(); while (i.goNextPoint()) { //user can also call getPoint() and getSeparation() here const NxVec3& contactPoint = i.getPoint(); NxVec3 contactNormalForce = pair.sumNormalForce; NxVec3 contactFrictionForce = pair.sumFrictionForce; //add forces: //assuming front wheel drive we need to apply a force at the wheels. if (s->is(NX_SHAPE_CAPSULE)) //assuming only the wheels of the car are capsules, otherwise we need more checks. //this branch can't be pulled out of loops because we have to do a full iteration through the stream { CarWheelContact cwc; cwc.car = pair.actors[carIndex]; cwc.wheel = s; cwc.contactPoint = contactPoint; cwc.contactNormalForce = contactNormalForce; cwc.contactFrictionForce = contactFrictionForce; wheelContactPoints.pushBack(cwc); //#error too bad this is illegal (reentry) and also technically busted because the accumulators get zeroed after this returns. //pair.actors[carIndex]->addForceAtPos(NxVec3(100,0,0),contactPoint); } } } } }
// 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; }
int main(int argc, char **argv) { //init and PVD bool initialized = false; NxPhysicsSDK *physicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION); if (!physicsSDK) return 0; else physicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425); physicsSDK->setParameter(NX_CONTINUOUS_CD, true); initialized = true; //create a scene bool sceneInit = false; NxSceneDesc sceneDesc; sceneDesc.gravity.set(0, -9.81f, 0); gScene = physicsSDK->createScene(sceneDesc); if (gScene != NULL) sceneInit = true; //create a plane { NxActorDesc actorDesc; NxPlaneShapeDesc planeDesc; //planeDesc.normal = NxVec3(0, 0, 1); //planeDesc.d = -10.0f; actorDesc.shapes.pushBack(&planeDesc); gScene->createActor(actorDesc); } //create material NxMaterial *defaultMaterial = gScene->getMaterialFromIndex(0); defaultMaterial->setRestitution(0.3f); defaultMaterial->setStaticFriction(0.5f); defaultMaterial->setDynamicFriction(0.5f); //create a box { NxActorDesc actorDesc; NxBodyDesc bodyDesc; bodyDesc.angularDamping = 0.5; bodyDesc.linearVelocity = NxVec3(1, 0, 0); actorDesc.body = &bodyDesc; NxBoxShapeDesc boxDesc; boxDesc.dimensions = NxVec3(2.0f, 3.0f, 4.0f); actorDesc.shapes.pushBack(&boxDesc); actorDesc.density = 10.0f; actorDesc.globalPose.t = NxVec3(10.0f, 10.0f, 10.0f); gScene->createActor(actorDesc)->userData = NULL; } //create a cloth { // Create the objects in the scene NxActor* sphere1 = CreateSphere(NxVec3(-1, 0, -0.5), 1, 10); NxActor* box1 = CreateBox(NxVec3(1, 0, -1), NxVec3(1, 1, 1), 10); NxActor* box2 = CreateBox(NxVec3(0, 6.5, 0), NxVec3(5, 0.5, 0.5), 10); NxActor* box3 = CreateBox(NxVec3(0, 6.5, -7), NxVec3(5, 0.5, 0.5), 10); box2->setLinearDamping(5); box3->setLinearDamping(5); NxD6JointDesc d6Desc; d6Desc.actor[0] = NULL; d6Desc.actor[1] = box2; NxVec3 globalAnchor(0, 7, 0); d6Desc.localAnchor[0] = globalAnchor; box2->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]); box2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY); box3->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]); box3->raiseBodyFlag(NX_BF_DISABLE_GRAVITY); d6Desc.localAxis[0] = NxVec3(1, 0, 0); d6Desc.localNormal[0] = NxVec3(0, 1, 0); d6Desc.localAxis[1] = NxVec3(1, 0, 0); d6Desc.localNormal[1] = NxVec3(0, 1, 0); d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED; d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED; d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED; d6Desc.xMotion = NX_D6JOINT_MOTION_FREE; d6Desc.yMotion = NX_D6JOINT_MOTION_FREE; d6Desc.zMotion = NX_D6JOINT_MOTION_FREE; NxJoint* d6Joint = gScene->createJoint(d6Desc); NxClothDesc clothDesc; clothDesc.globalPose.t = NxVec3(4, 7, 0); clothDesc.thickness = 0.2; //clothDesc.density = 1; clothDesc.bendingStiffness = 0.5; clothDesc.stretchingStiffness = 1; //clothDesc.dampingCoefficient = 0.5; clothDesc.friction = 0.5; //clothDesc.collisionResponseCoefficient = 1; //clothDesc.attachmentResponseCoefficient = 1; //clothDesc.solverIterations = 5; //clothDesc.flags |= NX_CLF_STATIC; //clothDesc.flags |= NX_CLF_DISABLE_COLLISION; //clothDesc.flags |= NX_CLF_VISUALIZATION; //clothDesc.flags |= NX_CLF_GRAVITY; clothDesc.flags |= NX_CLF_BENDING; //clothDesc.flags |= NX_CLF_BENDING_ORTHO; clothDesc.flags |= NX_CLF_DAMPING; //clothDesc.flags |= NX_CLF_COMDAMPING; clothDesc.flags |= NX_CLF_COLLISION_TWOWAY; clothDesc.flags &= ~NX_CLF_HARDWARE; clothDesc.flags |= NX_CLF_FLUID_COLLISION; clothDesc.selfCollisionThickness = 10.0f; NxReal w = 8; NxReal h = 7; NxReal d = 0.05; NxClothMeshDesc meshDesc; bool mInitDone = false; int numX = (int)(w / d) + 1; int numY = (int)(h / d) + 1; meshDesc.numVertices = (numX + 1) * (numY + 1); meshDesc.numTriangles = numX*numY * 2; meshDesc.pointStrideBytes = sizeof(NxVec3); meshDesc.triangleStrideBytes = 3 * sizeof(NxU32); meshDesc.vertexMassStrideBytes = sizeof(NxReal); meshDesc.vertexFlagStrideBytes = sizeof(NxU32); meshDesc.points = (NxVec3*)malloc(sizeof(NxVec3)*meshDesc.numVertices); meshDesc.triangles = (NxU32*)malloc(sizeof(NxU32)*meshDesc.numTriangles * 3); meshDesc.vertexMasses = 0; meshDesc.vertexFlags = 0; meshDesc.flags = 0; int i, j; NxVec3 *p = (NxVec3*)meshDesc.points; for (i = 0; i <= numY; i++) { for (j = 0; j <= numX; j++) { p->set(-d*j, 0.0f, -d*i); p++; } } NxU32 *id = (NxU32*)meshDesc.triangles; for (i = 0; i < numY; i++) { for (j = 0; j < numX; j++) { NxU32 i0 = i * (numX + 1) + j; NxU32 i1 = i0 + 1; NxU32 i2 = i0 + (numX + 1); NxU32 i3 = i2 + 1; if ((j + i) % 2) { *id++ = i0; *id++ = i2; *id++ = i1; *id++ = i1; *id++ = i2; *id++ = i3; } else { *id++ = i0; *id++ = i2; *id++ = i3; *id++ = i0; *id++ = i3; *id++ = i1; } } } // if we want tearing we must tell the cooker // this way it will generate some space for particles that will be generated during tearing if (meshDesc.flags & NX_CLF_TEARABLE) meshDesc.flags |= NX_CLOTH_MESH_TEARABLE; //cooking static NxCookingInterface *gCooking = 0; gCooking = NxGetCookingLib(NX_PHYSICS_SDK_VERSION); gCooking->NxInitCooking(); gCooking->NxCookClothMesh(meshDesc, UserStream("e:\\cooked.bin", false)); //Meshdata Buffers NxMeshData mReceiveBuffers; // here we setup the buffers through which the SDK returns the dynamic cloth data // we reserve more memory for vertices than the initial mesh takes // because tearing creates new vertices // the SDK only tears cloth as long as there is room in these buffers NxU32 numVertices = meshDesc.numVertices; NxU32 numTriangles = meshDesc.numTriangles; NxU32 maxVertices = 2 * numVertices; mReceiveBuffers.verticesPosBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices); mReceiveBuffers.verticesNormalBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices); mReceiveBuffers.verticesPosByteStride = sizeof(NxVec3); mReceiveBuffers.verticesNormalByteStride = sizeof(NxVec3); mReceiveBuffers.maxVertices = maxVertices; mReceiveBuffers.numVerticesPtr = (NxU32*)malloc(sizeof(NxU32)); // the number of triangles is constant, even if the cloth is torn NxU32 maxIndices = 3 * numTriangles; mReceiveBuffers.indicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxIndices); mReceiveBuffers.indicesByteStride = sizeof(NxU32); mReceiveBuffers.maxIndices = maxIndices; mReceiveBuffers.numIndicesPtr = (NxU32*)malloc(sizeof(NxU32)); // the parent index information would be needed if we used textured cloth NxU32 maxParentIndices = maxVertices; mReceiveBuffers.parentIndicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxParentIndices); mReceiveBuffers.parentIndicesByteStride = sizeof(NxU32); mReceiveBuffers.maxParentIndices = maxParentIndices; mReceiveBuffers.numParentIndicesPtr = (NxU32*)malloc(sizeof(NxU32)); // init the buffers in case we want to draw the mesh // before the SDK as filled in the correct values *mReceiveBuffers.numVerticesPtr = 0; *mReceiveBuffers.numIndicesPtr = 0; clothDesc.clothMesh = physicsSDK->createClothMesh(UserStream("e:\\cooked.bin", true)); clothDesc.meshData = mReceiveBuffers; NxCloth *mCloth; mCloth = gScene->createCloth(clothDesc); mCloth->attachToShape(*box2->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY); mCloth->attachToShape(*box3->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY); } //create fluid 1 { //fluid = CreateFluid(NxVec3(0, 12, -3.5), 15, 0.1, gScene); } //create fluid 2 { //Create a set of initial particles ParticleSDK* initParticles = new ParticleSDK[max_particles]; unsigned initParticlesNum = 0; //Create particle filled sphere in buffer. NxVec3 fluidPos(0, 2, 0); NxVec3 offsetPos(0, 12, -3.5); float distance = 0.1f; //#ifdef __PPCGEKKO__ // unsigned sideNum = 12; //#else unsigned sideNum = 16; //#endif //Setup structure to pass initial particles. NxParticleData initParticleData; initParticlesNum = 0; initParticleData.numParticlesPtr = &initParticlesNum; initParticleData.bufferPos = &initParticles[0].position.x; initParticleData.bufferPosByteStride = sizeof(ParticleSDK); initParticleData.bufferVel = &initParticles[0].velocity.x; initParticleData.bufferVelByteStride = sizeof(ParticleSDK); CreateParticleSphere(initParticleData, max_particles, false, offsetPos, NxVec3(0, 0, 0), 0.0f, distance, sideNum); //Setup fluid descriptor NxFluidDesc fluidDesc; fluidDesc.maxParticles = max_particles; fluidDesc.kernelRadiusMultiplier = 2.0f; fluidDesc.restParticlesPerMeter = 10.0f; fluidDesc.motionLimitMultiplier = 3.0f; fluidDesc.packetSizeMultiplier = 8; fluidDesc.collisionDistanceMultiplier = 0.1; fluidDesc.stiffness = 50.0f; fluidDesc.viscosity = 40.0f; fluidDesc.restDensity = 1000.0f; fluidDesc.damping = 0.0f; fluidDesc.restitutionForStaticShapes = 0.0f; fluidDesc.dynamicFrictionForStaticShapes = 0.05f; fluidDesc.simulationMethod = NX_F_SPH; fluidDesc.flags &= ~NX_FF_HARDWARE; //Add initial particles to fluid creation. fluidDesc.initialParticleData = initParticleData; //Create user fluid. //- create NxFluid in NxScene //- setup the buffers to read from data from the SDK //- set NxFluid::userData field to MyFluid instance bool trackUserData = false; bool provideCollisionNormals = false; MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.4f, 0.5f, 0.9f), 0.03f); assert(fluid); gMyFluids.pushBack(fluid); } //simulate for (int i = 0; i < 3000; i++) { gScene->simulate(1.0f / 60.f); gScene->flushStream(); //GetPhysicsResults gScene->fetchResults(NX_RIGID_BODY_FINISHED, true); // update fluid status if (i == 400) { MyFluid* fluid = gMyFluids[0]; const ParticleSDK* particles = fluid->getParticles(); unsigned particlesNum = fluid->getParticlesNum(); if (!gUpdates) { gUpdates = new ParticleUpdateSDK[max_particles]; } for (unsigned i = 0; i < particlesNum; i++) { ParticleUpdateSDK& update = gUpdates[i]; NxVec3& force = update.force; force.set(0, 0, 0); NxU32& flags = update.flags; if (i >= particlesNum/2) { flags = 0; flags |= NX_FP_DELETE; } else { flags = 0; } } //在这里更改粒子的属性 NxParticleUpdateData updateData; updateData.bufferFlag = &gUpdates[0].flags; updateData.bufferFlagByteStride = sizeof(ParticleUpdateSDK); fluid->getNxFluid()->updateParticles(updateData); } } //release if (physicsSDK != NULL) { if (gScene != NULL) physicsSDK->releaseScene(*gScene); gScene = NULL; NxReleasePhysicsSDK(physicsSDK); physicsSDK = NULL; } return 1; }
void SampleCollision::setup() { SetTitleString(getName()); #ifdef __PPCGEKKO__ SetHelpString(" a: create rigid bodies"); #else SetHelpString(" b: create rigid bodies"); #endif gShadows = false; // Create objects in the scene if (!InitCooking(gAllocator, &gErrorStream)) { printf("\nError: Unable to initialize the cooking library, exiting the sample.\n\n"); return; } // Load ASE file CookASE("fluidSample.ase", gScene, NxVec3(1,10,0)); CookASE("coolFlow.ase", gScene, NxVec3(1,6,-0), NxVec3(1,0.2,1)); CloseCooking(); // Add a box shaped drain. NxActorDesc boxDrainActor; NxBoxShapeDesc boxDrainShape; boxDrainActor.shapes.pushBack(&boxDrainShape); boxDrainShape.dimensions.set(40,1,40); boxDrainShape.shapeFlags |= NX_SF_FLUID_DRAIN; boxDrainActor.globalPose.t.set(0, 0, 0); gScene->createActor(boxDrainActor); //Pre cook hotspots NxBounds3 precookAABB; precookAABB.set(NxVec3(-20,-20,-20), NxVec3(20,20,20)); // gScene->cookFluidMeshHotspot(precookAABB, PACKET_SIZE_MULTIPLIER, REST_PARTICLES_PER_METER, KERNEL_RADIUS_MULTIPLIER, MOTION_LIMIT_MULTIPLIER, COLLISION_DISTANCE_MULTIPLIER ); //Create a set of initial particles ParticleSDK* initParticles = new ParticleSDK[MAX_PARTICLES]; unsigned initParticlesNum = 0; NxVec3 fluidPos(0, 11.6, 0); float distance = 0.1f; unsigned sideNum = 16; float rad = sideNum*distance*0.5f; for (unsigned i=0; i<sideNum; i++) for (unsigned j=0; j<sideNum; j++) for (unsigned k=0; k<sideNum; k++) { NxVec3 p = NxVec3(i*distance,j*distance,k*distance); if (p.distance(NxVec3(rad,rad,rad)) < rad) { p += fluidPos; ParticleSDK& newParticle = initParticles[initParticlesNum++]; newParticle.position = p; newParticle.velocity = NxVec3(0,0,0); } } //Setup structure to pass initial particles. NxParticleData initParticleData; initParticleData.numParticlesPtr = &initParticlesNum; initParticleData.bufferPos = &initParticles[0].position.x; initParticleData.bufferPosByteStride = sizeof(ParticleSDK); initParticleData.bufferVel = &initParticles[0].velocity.x; initParticleData.bufferVelByteStride = sizeof(ParticleSDK); //Setup fluid descriptor NxFluidDesc fluidDesc; fluidDesc.maxParticles = initParticlesNum; fluidDesc.kernelRadiusMultiplier = KERNEL_RADIUS_MULTIPLIER; fluidDesc.restParticlesPerMeter = REST_PARTICLES_PER_METER; fluidDesc.collisionDistanceMultiplier = COLLISION_DISTANCE_MULTIPLIER; fluidDesc.stiffness = 50.0f; fluidDesc.viscosity = 22.0f; fluidDesc.damping = 0.0f; fluidDesc.restitutionForStaticShapes = 0.4f; fluidDesc.dynamicFrictionForStaticShapes = 0.03f; fluidDesc.simulationMethod = NX_F_SPH; //NX_F_NO_PARTICLE_INTERACTION; if (!gHardwareSimulation) fluidDesc.flags &= ~NX_FF_HARDWARE; fluidDesc.initialParticleData = initParticleData; //Create user fluid. //- create NxFluid in NxScene //- setup the buffers to read from data from the SDK //- set NxFluid::userData field to MyFluid instance bool trackUserData = false; bool provideCollisionNormals = false; MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.2f,0.3f,0.7f), 0.03f); assert(fluid); gMyFluids.pushBack(fluid); delete[] initParticles; gCameraPos.set(23, 14, 23); gCameraForward = fluidPos - NxVec3(0, 3, 0) - gCameraPos; gCameraForward.normalize(); }