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 PVDHelper::onPvdConnected(PvdConnection& )
{
//setup joint visualization. This gets piped to pvd.
mPhysics->getVisualDebugger()->setVisualizeConstraints(true);
mPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlags::eTRANSMIT_CONTACTS, true);
}