NxPhysicsCapsuleShape::NxPhysicsCapsuleShape( NxPhysicsActor * Actor, const NxCapsuleDesc & Desc ) : NxPhysicsShape( Actor, Desc )
{
NxCapsuleShapeDesc ShapeDesc;
ShapeDesc.setToDefault();
ShapeDesc.radius = Desc.Radius;
ShapeDesc.height = Desc.Height-(Desc.Radius*2) ;//Desc.Height;
ShapeDesc.name = std::string( "Capsule" + Ogre::StringConverter::toString( instance_count() )).c_str();
ShapeDesc.density = 1000.0f;
mShape = Actor->GetNxActor()->createShape( ShapeDesc );
mShape->setFlag( NX_SF_DYNAMIC_DYNAMIC_CCD, true );
//mShape->setFlag( NX_TRIGGER_ENABLE, IsTrigger );
Actor->SetBodyProperties( Actor->GetBodyProperty() );
}
void PhysXCapsule::createCapsule(const CapsuleInfo& info)
{
NxCapsuleShapeDesc capsuleDesc;
capsuleDesc.setToDefault();
capsuleDesc.height = info.mHeight;
capsuleDesc.radius = info.mRadius;
NxMat33 rot0, rot1,rot2;
rot0.rotX(info.mLocalPose.x);
rot1.rotY(info.mLocalPose.y);
rot2.rotZ(info.mLocalPose.z);
rot0 = rot0 * rot1 * rot2;
capsuleDesc.localPose.M = rot0;
NxActorDesc actorDesc;
actorDesc.setToDefault();
actorDesc.shapes.pushBack(&capsuleDesc);
actorDesc.density = 1.0;
actorDesc.globalPose.t = info.mGlobalPose;
mCapsule = mScene->createActor(actorDesc);
mCapsule->userData = (void*) &mInvisible;
}
//-----------------------------------------------------------------------
PhysicsActor* PhysXActorExtern::createPhysicsActor(PhysicsActorDesc* physicsActorDesc, PhysicsShapeDesc* physicsShapeDesc)
{
if (!PhysXBridge::getSingletonPtr()->getScene() || !physicsActorDesc || !physicsShapeDesc)
return 0;
NxBodyDesc bodyDesc;
bodyDesc.setToDefault();
NxReal angularDamping = bodyDesc.angularDamping;
NxVec3 angularVelocity = bodyDesc.angularVelocity;
NxVec3 linearVelocity = bodyDesc.linearVelocity;
bodyDesc.angularDamping = physicsShapeDesc->mAngularDamping;
bodyDesc.angularVelocity = PhysXMath::convert(physicsShapeDesc->mAngularVelocity);
bodyDesc.linearVelocity = PhysXMath::convert(physicsActorDesc->direction);
NxActorDesc actorDesc;
NxActorDesc defaultActorDesc;
actorDesc.setToDefault();
defaultActorDesc.setToDefault();
switch (physicsShapeDesc->mPhysicsShapeType)
{
case ST_BOX:
{
PhysicsBoxDesc* physicsBoxDesc = static_cast<PhysicsBoxDesc*>(physicsShapeDesc);
NxBoxShapeDesc boxDesc;
boxDesc.setToDefault();
boxDesc.dimensions = PhysXMath::convert(physicsBoxDesc->mDimensions);
boxDesc.group = physicsBoxDesc->mCollisionGroup;
boxDesc.groupsMask = PhysXMath::convert(physicsBoxDesc->mGroupMask);
boxDesc.materialIndex = physicsBoxDesc->mMaterialIndex;
actorDesc.density = NxComputeBoxDensity(2 * boxDesc.dimensions, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&boxDesc);
}
break;
case ST_SPHERE:
{
PhysicsSphereDesc* physicsSphereDesc = static_cast<PhysicsSphereDesc*>(physicsShapeDesc);
NxSphereShapeDesc sphereDec;
sphereDec.setToDefault();
sphereDec.radius = physicsSphereDesc->mRadius;
sphereDec.group = physicsSphereDesc->mCollisionGroup;
sphereDec.groupsMask = PhysXMath::convert(physicsSphereDesc->mGroupMask);
sphereDec.materialIndex = physicsSphereDesc->mMaterialIndex;
actorDesc.density = NxComputeSphereDensity(sphereDec.radius, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&sphereDec);
}
break;
case ST_CAPSULE:
{
PhysicsCapsuleDesc* physicsCapsuleDesc = static_cast<PhysicsCapsuleDesc*>(physicsShapeDesc);
NxCapsuleShapeDesc capsuleDec;
capsuleDec.setToDefault();
capsuleDec.radius = physicsCapsuleDesc->mRadius;
capsuleDec.height = physicsCapsuleDesc->mHeight;
capsuleDec.group = physicsCapsuleDesc->mCollisionGroup;
capsuleDec.groupsMask = PhysXMath::convert(physicsCapsuleDesc->mGroupMask);
capsuleDec.materialIndex = physicsCapsuleDesc->mMaterialIndex;
actorDesc.density = NxComputeCylinderDensity(capsuleDec.radius, capsuleDec.height, physicsActorDesc->mass);
actorDesc.shapes.pushBack(&capsuleDec);
}
break;
}
actorDesc.globalPose.t = PhysXMath::convert(physicsActorDesc->position);
actorDesc.body = &bodyDesc;
actorDesc.group = physicsActorDesc->collisionGroup;
PhysXActor* physXActor = 0;
if (!actorDesc.isValid())
{
actorDesc = defaultActorDesc;
Ogre::LogManager::getSingleton().logMessage("ParticleUniverse PhysXActor: Cannot create actor; use default attributes.");
}
NxActor* nxActor = PhysXBridge::getSingletonPtr()->getScene()->createActor(actorDesc);
if (nxActor)
{
physXActor = OGRE_NEW_T(PhysXActor, Ogre::MEMCATEGORY_SCENE_OBJECTS)();
physXActor->position = PhysXMath::convert(nxActor->getGlobalPosition());
physXActor->direction = PhysXMath::convert(nxActor->getLinearVelocity());
nxActor->setGlobalOrientationQuat(PhysXMath::convert(physicsActorDesc->orientation));
physXActor->orientation = physicsActorDesc->orientation;
physXActor->mass = nxActor->getMass();
physXActor->collisionGroup = nxActor->getGroup();
physXActor->nxActor = nxActor;
}
return physXActor;
}
