void
PhsXWorld::_addParticles(nau::render::Pass* pass, std::shared_ptr<nau::scene::IScene> &aScene, std::string name, nau::material::IBuffer* positions) {
PxPhysics *gPhysics = &(m_pDynamicsWorld->getPhysics());
float particleDistance = 0.01f;
// create particle system in PhysX SDK
particleSystem = gPhysics->createParticleFluid(MAXPARTICLE);
//particleSystem->setGridSize(5.0f);
particleSystem->setMaxMotionDistance(0.3f);
//particleSystem->setRestOffset(particleDistance*0.3f);
particleSystem->setRestOffset(0.04f);
//particleSystem->setContactOffset(particleDistance*0.3f * 2);
particleSystem->setContactOffset(0.036f);
particleSystem->setDamping(0.0f);
particleSystem->setRestitution(0.3f);
particleSystem->setDynamicFriction(0.001f);
particleSystem->setRestParticleDistance(particleDistance);
particleSystem->setViscosity(60.0f);
particleSystem->setStiffness(45.0f);
//particleSystem->setParticleReadDataFlag(PxParticleReadDataFlag::eVELOCITY_BUFFER, true);
particleSystem->userData = aScene.get();
// add particle system to scene, in case creation was successful
if (particleSystem)
m_pDynamicsWorld->addActor(*particleSystem);
particleIndexPool = PxParticleExt::createIndexPool(MAXPARTICLE);
particlePass = pass;
particlePositionBuffer = positions;
createParticles();
}
bool PxInitVehicleSDK(PxPhysics& physics)
{
PX_ASSERT(static_cast<Ps::Foundation*>(&physics.getFoundation()) == &Ps::Foundation::getInstance());
Ps::Foundation::incRefCount();
setVehicleToleranceScale(physics.getTolerancesScale());
return true;
}
void PVDHelper::createPvdConnection(const EditableParams& params)
{
PvdConnectionManager* pvd = mPhysics->getPvdConnectionManager();
if(!pvd)
return;
/* if(0)
{
PxDebuggerConnectionFlags PDebuggerFlags;
PDebuggerFlags |= PxExtensionConnectionType::Debug;
PDebuggerFlags |= PxExtensionConnectionType::Profile;
PDebuggerFlags |= PxExtensionConnectionType::Memory;
PxExtensionVisualDebugger::connect(
pvd,
PVD_HOST,
5425,
3000,
PDebuggerFlags
);
return;
}*/
//The connection flags state overall what data is to be sent to PVD. Currently
//the Debug connection flag requires support from the implementation (don't send
//the data when debug isn't set) but the other two flags, profile and memory
//are taken care of by the PVD SDK.
//Use these flags for a clean profile trace with minimal overhead
//TConnectionFlagsType theConnectionFlags( PvdConnectionType::Profile )
#ifdef BETA2
TConnectionFlagsType theConnectionFlags( PvdConnectionType::Debug | PvdConnectionType::Profile | PvdConnectionType::Memory );
if(!params.mUseFullPvdConnection)
theConnectionFlags = TConnectionFlagsType(PvdConnectionType::Profile);
#else
PxVisualDebuggerConnectionFlags theConnectionFlags( PxVisualDebuggerExt::getAllConnectionFlags() );
if(!params.mUseFullPvdConnection)
theConnectionFlags = PxVisualDebuggerConnectionFlag::Profile;
#endif
//Create a pvd connection that writes data straight to the filesystem. This is
//the fastest connection on windows for various reasons. First, the transport is quite fast as
//pvd writes data in blocks and filesystems work well with that abstraction.
//Second, you don't have the PVD application parsing data and using CPU and memory bandwidth
//while your application is running.
//PxExtensionVisualDebugger::connect(pvd,"c:\\temp.pxd2", PxDebuggerConnectionFlags( (PxU32)theConnectionFlags));
//The normal way to connect to pvd. PVD needs to be running at the time this function is called.
//We don't worry about the return value because we are already registered as a listener for connections
//and thus our onPvdConnected call will take care of setting up our basic connection state.
#ifdef BETA2
PxExtensionVisualDebugger::connect(pvd, PVD_HOST, 5425, 10, PxDebuggerConnectionFlags( (PxU32)theConnectionFlags) );
#else
PVD::PvdConnection* theConnection = PxVisualDebuggerExt::createConnection(mPhysics->getPvdConnectionManager(), PVD_HOST, 5425, 10, theConnectionFlags );
if(theConnection)
theConnection->release();
#endif
}
//=============================================================================
// PRIVATE FUNCTIONS
//=============================================================================
static physx::unique_ptr<PxConvexMesh> GenerateConvexFromDXMesh(PxPhysics &iPhysics, ID3DXMesh *iMesh)
{
//Used to retrieve information from X file
struct Mesh_FVF {
D3DXVECTOR3 VertexPos;
D3DXVECTOR3 Normal;
D3DXVECTOR2 TexCoord;
};
int aNumVerticies = iMesh->GetNumVertices();
DWORD FVFSize = D3DXGetFVFVertexSize(iMesh->GetFVF());
//Create pointer for vertices
PxVec3* verts = new PxVec3[aNumVerticies];
char *DXMeshPtr;
iMesh->LockVertexBuffer(D3DLOCK_READONLY, (void**)&DXMeshPtr);
for(int i = 0; i < aNumVerticies; i++)
{
Mesh_FVF *DXMeshFVF = (Mesh_FVF*)DXMeshPtr;
verts[i] = PxVec3(DXMeshFVF->VertexPos.x, DXMeshFVF->VertexPos.y, DXMeshFVF->VertexPos.z);
DXMeshPtr += FVFSize;
}
iMesh->UnlockVertexBuffer();
// Create descriptor for convex mesh
PxConvexMeshDesc convexDesc;
convexDesc.points.count = aNumVerticies;
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = verts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
PxTolerancesScale toleranceScale;
toleranceScale.length = 1.0f;
toleranceScale.mass = 1000.0f;
toleranceScale.speed = 9.8f;
assert(toleranceScale.isValid());
physx::unique_ptr<PxCooking> cooker = physx::unique_ptr<PxCooking>(
PxCreateCooking(PX_PHYSICS_VERSION, iPhysics.getFoundation(), PxCookingParams(toleranceScale))
);
// Cooking from memory
MemoryStream buf;
physx::unique_ptr<PxConvexMesh> convexMesh;
if(cooker->cookConvexMesh(convexDesc, buf))
{
convexMesh = physx::unique_ptr<PxConvexMesh>(iPhysics.createConvexMesh(buf));
}
delete[] verts;
return convexMesh;
}
void FPhysXMesh::initialize()
{
if (mCookedData != nullptr && mCookedDataSize > 0)
{
PxPhysics* physx = gPhysX().getPhysX();
PxDefaultMemoryInputData input(mCookedData, mCookedDataSize);
if (mType == PhysicsMeshType::Convex)
mConvexMesh = physx->createConvexMesh(input);
else
mTriangleMesh = physx->createTriangleMesh(input);
}
}
void
PhsXWorld::build(void) {
PxTolerancesScale scale = PxTolerancesScale();
PxFoundation* gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
PxProfileZoneManager* profileZoneManager = &PxProfileZoneManager::createProfileZoneManager(gFoundation);
PxPhysics* gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, scale, true, profileZoneManager);
if (gPhysics->getPvdConnectionManager()) {
gPhysics->getVisualDebugger()->setVisualizeConstraints(true);
gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONTACTS, true);
gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_SCENEQUERIES, true);
//gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONSTRAINTS, true);
gConnection = PxVisualDebuggerExt::createConnection(gPhysics->getPvdConnectionManager(), "127.0.0.1", 5425, 100);
}
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
PxDefaultCpuDispatcher* gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
sceneDesc.flags |= PxSceneFlag::eENABLE_ACTIVETRANSFORMS;
m_pDynamicsWorld = gPhysics->createScene(sceneDesc);
//m_pDynamicsWorld->setFlag(PxSceneFlag::eENABLE_ACTIVETRANSFORMS, true);
mCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(scale));
manager = PxCreateControllerManager(*m_pDynamicsWorld);
std::srand(time(NULL));
}
void CEntity::deserializeFromRepXFile(const std::string &file, int group, const std::vector<int>& groupList, const Logic::IPhysics* component) {
// Obtenemos el puntero al servidor de fisicas
Physics::CServer* physicsServer = Physics::CServer::getSingletonPtr();
PxScene* scene = physicsServer->getActiveScene();
PxPhysics* physics = physicsServer->getPhysxSDK();
PxCooking* cooking = physicsServer->getCooking();
assert(scene);
// Preparar parámetros para deserializar
PxDefaultFileInputData data(file.c_str());
PxCollection* bufferCollection = physics->createCollection();
PxCollection* sceneCollection = physics->createCollection();
PxStringTable* stringTable = &PxStringTableExt::createStringTable( CServer::getSingletonPtr()->getFoundation()->getAllocatorCallback() );
PxUserReferences* externalRefs = NULL;
PxUserReferences* userRefs = NULL;
// Deserializar a partir del fichero RepX
repx::deserializeFromRepX(data, *physics, *cooking, stringTable, externalRefs,
*bufferCollection, *sceneCollection, userRefs);
// Añadir entidades físicas a la escena
physics->addCollection(*sceneCollection, *scene);
// Buscar una entidad de tipo PxRigidActor. Asumimos que hay exactamente 1 en el fichero.
_actor = NULL;
for (unsigned int i = 0; i < sceneCollection->getNbObjects() && !_actor; ++i) {
PxSerializable* p = sceneCollection->getObject(i);
_actor = p->is<PxRigidActor>();
}
assert(_actor);
// Anotar el componente lógico asociado a la entidad física
_actor->userData = (void*)component;
// Establecer el grupo de colisión
PxSetGroup(*_actor, group);
// Establecer los filtros de colisión
Physics::CServer::getSingletonPtr()->setupFiltering(_actor, group, groupList);
// Liberar recursos
bufferCollection->release();
sceneCollection->release();
}
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 PVDHelper::togglePvdConnection(const EditableParams& params)
{
PvdConnectionManager* pvd = mPhysics->getPvdConnectionManager();
if(!pvd)
return;
if(pvd->isConnected())
pvd->disconnect();
else
createPvdConnection(params);
}
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);
}
bool PxInitExtensions(PxPhysics& physics)
{
PX_ASSERT(static_cast<Ps::Foundation*>(&physics.getFoundation()) == &Ps::Foundation::getInstance());
Ps::Foundation::incRefCount();
physics.registerClass(PxConcreteType::eUSER_SPHERICAL_JOINT, Ext::SphericalJoint::createInstance);
physics.registerClass(PxConcreteType::eUSER_REVOLUTE_JOINT, Ext::RevoluteJoint::createInstance);
physics.registerClass(PxConcreteType::eUSER_DISTANCE_JOINT, Ext::DistanceJoint::createInstance);
physics.registerClass(PxConcreteType::eUSER_D6_JOINT, Ext::D6Joint::createInstance);
physics.registerClass(PxConcreteType::eUSER_PRISMATIC_JOINT, Ext::PrismaticJoint::createInstance);
physics.registerClass(PxConcreteType::eUSER_FIXED_JOINT, Ext::FixedJoint::createInstance);
#if PX_SUPPORT_VISUAL_DEBUGGER
if ( physics.getPvdConnectionManager() != NULL )
physics.getPvdConnectionManager()->addHandler( gPvdHandler );
#endif
return true;
}
bool PxInitExtensions(PxPhysics& physics, PxPvd* pvd)
{
PX_ASSERT(static_cast<Ps::Foundation*>(&physics.getFoundation()) == &Ps::Foundation::getInstance());
PX_UNUSED(physics);
PX_UNUSED(pvd);
Ps::Foundation::incRefCount();
#if PX_SUPPORT_PVD
if(pvd)
{
gPvdHandler.mPvd = static_cast<PsPvd*>(pvd);
gPvdHandler.mPvd->addClient(&gPvdHandler);
}
#endif
return true;
}
bool Controller::createProxyActor(PxPhysics& sdk, const PxGeometry& geometry, const PxMaterial& material)
{
// PT: we don't disable raycasting or CD because:
// - raycasting is needed for visibility queries (the SDK otherwise doesn't know about the CCTS)
// - collision is needed because the only reason we create actors there is to handle collisions with dynamic shapes
// So it's actually wrong to disable any of those.
PxTransform globalPose;
globalPose.p = toVec3(mPosition); // LOSS OF ACCURACY
globalPose.q = mUserParams.mQuatFromUp;
mKineActor = sdk.createRigidDynamic(globalPose);
if(!mKineActor)
return false;
mKineActor->createShape(geometry, material);
mKineActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
PxRigidBodyExt::updateMassAndInertia(*mKineActor, mProxyDensity);
mScene->addActor(*mKineActor);
return true;
}
void ShutdownPhysX() {
gPhysicsSDK->release();
gFoundation->release();
}
void PxCollectForExportSDK(const PxPhysics& physics, PxCollection& collection)
{
// Collect convexes
{
Ps::Array<PxConvexMesh*> objects(physics.getNbConvexMeshes());
const PxU32 nb = physics.getConvexMeshes(objects.begin(), objects.size());
PX_ASSERT(nb == objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
// Collect triangle meshes
{
Ps::Array<PxTriangleMesh*> objects(physics.getNbTriangleMeshes());
const PxU32 nb = physics.getTriangleMeshes(objects.begin(), objects.size());
PX_ASSERT(nb == objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
// Collect heightfields
{
Ps::Array<PxHeightField*> objects(physics.getNbHeightFields());
const PxU32 nb = physics.getHeightFields(objects.begin(), objects.size());
PX_ASSERT(nb == objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
// Collect materials
{
Ps::Array<PxMaterial*> objects(physics.getNbMaterials());
const PxU32 nb = physics.getMaterials(objects.begin(), objects.size());
PX_ASSERT(nb == objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
#if PX_USE_CLOTH_API
// Collect cloth fabrics
{
Ps::Array<PxClothFabric*> objects(physics.getNbClothFabrics());
const PxU32 nb = physics.getClothFabrics(objects.begin(), objects.size());
PX_ASSERT(nb == objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
#endif
}
void
PhysXRigidManager::addStaticBody(const std::string & scene, physx::PxScene * world, physx::PxCooking * mCooking, nau::physics::IPhysics::BoundingVolume shape, physx::PxMaterial * material) {
PxPhysics *gPhysics = &(world->getPhysics());
PxRigidStatic * staticActor;
PxTransform trans = PxTransform(PxMat44(rigidBodies[scene].info.extInfo.transform));
switch (shape.sceneShape)
{
case nau::physics::IPhysics::BOX:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxBoxGeometry(shape.max[0], shape.max[1], shape.max[2]),
*material
);
}
break;
case nau::physics::IPhysics::SPHERE:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxSphereGeometry(shape.max[0]),
*material
);
}
break;
case nau::physics::IPhysics::CAPSULE:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxCapsuleGeometry(
shape.max[0],
shape.max[1]
),
*material
);
}
break;
default:
{
if (scene.compare("plane") == 0) {
staticActor = PxCreatePlane(
world->getPhysics(),
PxPlane(0.0f, 1.0f, 0.0f, 0.0f),
*material
);
}
else {
staticActor = gPhysics->createRigidStatic(trans);
PxTriangleMeshGeometry triGeom(gPhysics->createTriangleMesh(*getTriangleMeshGeo(world, mCooking, rigidBodies[scene].info.extInfo, true)));
//triGeom.triangleMesh = gPhysics->createTriangleMesh(*getTriangleMeshGeo(world, mCooking, rigidBodies[scene].extInfo, true));
staticActor->createShape(triGeom, *material);
}
}
break;
}
staticActor->userData = static_cast<void*> (new std::string(scene));
world->addActor(*staticActor);
rigidBodies[scene].info.actor = staticActor;
}
void PVDHelper::onPvdConnected(PvdConnection& )
{
//setup joint visualization. This gets piped to pvd.
mPhysics->getVisualDebugger()->setVisualizeConstraints(true);
mPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlags::eTRANSMIT_CONTACTS, true);
}
void
PhsXWorld::_addCloth(float mass, std::shared_ptr<nau::scene::IScene> &aScene, std::string name, nau::math::vec3 aVec) {
PxPhysics *gPhysics = &(m_pDynamicsWorld->getPhysics());
std::shared_ptr<nau::scene::SceneObject> &aObject = aScene->getSceneObject(0);
std::shared_ptr<VertexData> &vd = aObject->getRenderable()->getVertexData();
std::vector<std::shared_ptr<MaterialGroup>> &matGroups = aObject->getRenderable()->getMaterialGroups();
std::vector<std::shared_ptr<MaterialGroup>>::iterator matGroupsIter;
PxDefaultMemoryOutputStream writeBuffer;
int count = static_cast<int> (vd->getDataOf(VertexData::GetAttribIndex(std::string("position")))->size());
PxClothParticle *particles = new PxClothParticle[count];
PxClothMeshDesc meshDesc;
matGroupsIter = matGroups.begin();
for (; matGroupsIter != matGroups.end(); matGroupsIter++) {
if ((*matGroupsIter)->getIndexData()->getIndexSize()) {
std::shared_ptr<std::vector<unsigned int>> &indexes = (*matGroupsIter)->getIndexData()->getIndexData();
PxClothParticle *ptls = particles;
std::shared_ptr<std::vector<VertexData::Attr>> points = vd->getDataOf(VertexData::GetAttribIndex(std::string("position")));
for (int i = 0; i < count; i++) {
VertexData::Attr tempPoint = points->at(i);
//ptls[i] = PxClothParticle(PxVec3(tempPoint.x, tempPoint.y, tempPoint.z), (i==0 || i==1) ? 0.0f : 1.0f);
ptls[i] = PxClothParticle(PxVec3(tempPoint.x, tempPoint.y, tempPoint.z), i == 0 ? 0.0f : 0.1f);
}
meshDesc.points.data = reinterpret_cast<const unsigned char *>(&(vd->getDataOf(VertexData::GetAttribIndex(std::string("position")))->at(0)));
meshDesc.points.count = count;
meshDesc.points.stride = 4 * sizeof(float);
meshDesc.invMasses.data = &particles->invWeight;
meshDesc.invMasses.count = count;
meshDesc.invMasses.stride = sizeof(PxClothParticle);
meshDesc.triangles.data = reinterpret_cast<const unsigned char *>(&((*indexes)[0]));
meshDesc.triangles.count = static_cast<int> (indexes->size() / 3);
meshDesc.triangles.stride = 3 * sizeof(unsigned int);
}
}
//float * points = reinterpret_cast<float *>(&(vd->getDataOf(VertexData::GetAttribIndex(std::string("position")))->at(0)));
//PxU32 numParticles = static_cast<int> (vd->getDataOf(VertexData::GetAttribIndex(std::string("position")))->size());
//PxU32 stride = 4 * sizeof(float);
//// create particles
//PxClothParticle* particles = new PxClothParticle[numParticles];
//PxClothParticle* pIt = particles;
//for (PxU32 i = 0; i<numParticles; ++i) {
// pIt->invWeight = i==0 ? 0.0f : 1.0f;
// int tempStride = i*stride;
// pIt->pos = PxVec3(points[tempStride], points[tempStride + 1], points[tempStride + 2]);
//}
PxClothFabric* fabric = PxClothFabricCreate(*gPhysics, meshDesc, PxVec3(0, -1, 0));
PxTransform pose = PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix())));
PxClothFlags flags = PxClothFlags();
/*if(!flags.isSet(PxClothFlag::eSCENE_COLLISION))
flags.set(PxClothFlag::eSCENE_COLLISION);
if (!flags.isSet(PxClothFlag::eGPU))
flags.set(PxClothFlag::eGPU);
if (!flags.isSet(PxClothFlag::eSWEPT_CONTACT))
flags.set(PxClothFlag::eSWEPT_CONTACT);*/
cloth = gPhysics->createCloth(pose, *fabric, particles, flags);
cloth->userData = aScene.get();
cloth->setClothFlag(PxClothFlag::eSCENE_COLLISION, true);
cloth->setClothFlag(PxClothFlag::eGPU, true);
cloth->setClothFlag(PxClothFlag::eSWEPT_CONTACT, true);
cloth->setSolverFrequency(300.0f);
cloth->setInertiaScale(0.9f);
cloth->setStretchConfig(PxClothFabricPhaseType::eVERTICAL, PxClothStretchConfig(0.2f));
cloth->setStretchConfig(PxClothFabricPhaseType::eHORIZONTAL, PxClothStretchConfig(0.2f));
cloth->setStretchConfig(PxClothFabricPhaseType::eSHEARING, PxClothStretchConfig(0.75f));
cloth->setStretchConfig(PxClothFabricPhaseType::eBENDING, PxClothStretchConfig(0.2f));
m_pDynamicsWorld->addActor(*cloth);
}
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);
}
}
bool Ext::RevoluteJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
{
mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(RevoluteJointData));
return mPxConstraint!=NULL;
}
void
PhysXRigidManager::addDynamicBody(const std::string & scene, physx::PxScene * world, physx::PxCooking * mCooking, nau::physics::IPhysics::BoundingVolume shape, physx::PxMaterial * material) {
PxPhysics *gPhysics = &(world->getPhysics());
PxRigidDynamic * dynamic;
rigidBodies[scene].scalingFactor = getScalingFactor(rigidBodies[scene].info.extInfo.transform);
PxMeshScale scale = PxMeshScale(rigidBodies[scene].scalingFactor);
PxMat44 aux(rigidBodies[scene].info.extInfo.transform);
PxVec3 pos(aux.getPosition());
aux *= (1.0f / rigidBodies[scene].scalingFactor);
PxMat44 mat(
PxVec3(aux.column0.x, aux.column0.y, aux.column0.z),
PxVec3(aux.column1.x, aux.column1.y, aux.column1.z),
PxVec3(aux.column2.x, aux.column2.y, aux.column2.z),
pos
);
//PxTransform trans = PxTransform(PxMat44(rigidBodies[scene].extInfo.transform));
PxTransform trans = PxTransform(mat);
switch (shape.sceneShape)
{
case nau::physics::IPhysics::BOX:
{
dynamic = gPhysics->createRigidDynamic(trans);
dynamic->createShape(
PxBoxGeometry(
shape.max[0] * rigidBodies[scene].scalingFactor,
shape.max[1] * rigidBodies[scene].scalingFactor,
shape.max[2] * rigidBodies[scene].scalingFactor),
*material);
}
break;
case nau::physics::IPhysics::SPHERE:
{
dynamic = gPhysics->createRigidDynamic(trans);
dynamic->createShape(PxSphereGeometry(shape.max[0] * rigidBodies[scene].scalingFactor), *material);
}
break;
case nau::physics::IPhysics::CAPSULE:
{
dynamic = gPhysics->createRigidDynamic(trans);
dynamic->createShape(
PxCapsuleGeometry(
shape.max[0] * rigidBodies[scene].scalingFactor,
shape.max[1] * rigidBodies[scene].scalingFactor),
*material);
}
break;
default:
{
dynamic = gPhysics->createRigidDynamic(trans);
PxConvexMesh * convexMesh = gPhysics->createConvexMesh(*getTriangleMeshGeo(world, mCooking, rigidBodies[scene].info.extInfo, false));
dynamic->createShape(PxConvexMeshGeometry(convexMesh, scale), *material);
}
break;
}
dynamic->userData = static_cast<void*> (new std::string(scene));
rigidBodies[scene].rollingFriction = -1.0f;
rigidBodies[scene].rollingFrictionTimeStamp = 1;
world->addActor(*dynamic);
rigidBodies[scene].info.actor = dynamic;
}