bool BoxController::updateKinematicProxy()
{
// Set extents for kinematic proxy
if(mKineActor)
{
PxShape* shape = getKineShape();
PX_ASSERT(shape->getGeometryType() == PxGeometryType::eBOX);
PxBoxGeometry bg;
shape->getBoxGeometry(bg);
bg.halfExtents = CCTtoProxyExtents(mHalfHeight, mHalfSideExtent, mHalfForwardExtent, mProxyScaleCoeff);
shape->setGeometry(bg);
}
return true;
}
osg::Node* createNodeForActor( PxRigidActor* actor )
{
if ( !actor ) return NULL;
std::vector<PxShape*> shapes( actor->getNbShapes() );
osg::ref_ptr<osg::MatrixTransform> transform = new osg::MatrixTransform;
transform->setMatrix( toMatrix(PxMat44(actor->getGlobalPose())) );
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
transform->addChild( geode.get() );
PxU32 num = actor->getShapes( &(shapes[0]), actor->getNbShapes() );
for ( PxU32 i=0; i<num; ++i )
{
PxShape* shape = shapes[i];
osg::Matrix localMatrix = toMatrix( PxMat44(actor->getGlobalPose()) );
osg::Vec3 localPos = toVec3( shape->getLocalPose().p );
osg::Quat localQuat(shape->getLocalPose().q.x, shape->getLocalPose().q.y,
shape->getLocalPose().q.z, shape->getLocalPose().q.w);
switch ( shape->getGeometryType() )
{
case PxGeometryType::eSPHERE:
{
PxSphereGeometry sphere;
shape->getSphereGeometry( sphere );
osg::Sphere* sphereShape = new osg::Sphere(localPos, sphere.radius);
geode->addDrawable( new osg::ShapeDrawable(sphereShape) );
}
break;
case PxGeometryType::ePLANE:
// TODO
break;
case PxGeometryType::eCAPSULE:
{
PxCapsuleGeometry capsule;
shape->getCapsuleGeometry( capsule );
osg::Capsule* capsuleShape = new osg::Capsule(
localPos, capsule.radius, capsule.halfHeight * 2.0f);
capsuleShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(capsuleShape) );
}
break;
case PxGeometryType::eBOX:
{
PxBoxGeometry box;
shape->getBoxGeometry( box );
osg::Box* boxShape = new osg::Box(localPos,
box.halfExtents[0] * 2.0f, box.halfExtents[1] * 2.0f, box.halfExtents[2] * 2.0f);
boxShape->setRotation( localQuat );
geode->addDrawable( new osg::ShapeDrawable(boxShape) );
}
break;
case PxGeometryType::eCONVEXMESH:
{
PxConvexMeshGeometry convexMeshGeom;
shape->getConvexMeshGeometry( convexMeshGeom );
// TODO: consider convexMeshGeom.scale
PxConvexMesh* convexMesh = convexMeshGeom.convexMesh;
if ( convexMesh )
{
/*for ( unsigned int i=0; i<convexMesh->getNbPolygons(); ++i )
{
}*/
// TODO
}
}
break;
case PxGeometryType::eTRIANGLEMESH:
{
PxTriangleMeshGeometry triangleMeshGeom;
shape->getTriangleMeshGeometry( triangleMeshGeom );
// TODO: consider triangleMeshGeom.scale
PxTriangleMesh* triangleMesh = triangleMeshGeom.triangleMesh;
if ( triangleMesh )
{
osg::ref_ptr<osg::Vec3Array> va = new osg::Vec3Array( triangleMesh->getNbVertices() );
for ( unsigned int i=0; i<va->size(); ++i )
(*va)[i] = toVec3( *(triangleMesh->getVertices() + i) ) * localMatrix;
osg::ref_ptr<osg::DrawElements> de;
if ( triangleMesh->getTriangleMeshFlags()&PxTriangleMeshFlag::eHAS_16BIT_TRIANGLE_INDICES )
{
osg::DrawElementsUShort* de16 = new osg::DrawElementsUShort(GL_TRIANGLES);
de = de16;
const PxU16* indices = (const PxU16*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de16->push_back( indices[3 * i + 0] );
de16->push_back( indices[3 * i + 1] );
de16->push_back( indices[3 * i + 2] );
}
}
else
{
osg::DrawElementsUInt* de32 = new osg::DrawElementsUInt(GL_TRIANGLES);
de = de32;
const PxU32* indices = (const PxU32*)triangleMesh->getTriangles();
for ( unsigned int i=0; i<triangleMesh->getNbTriangles(); ++i )
{
de32->push_back( indices[3 * i + 0] );
de32->push_back( indices[3 * i + 1] );
de32->push_back( indices[3 * i + 2] );
}
}
geode->addDrawable( createGeometry(va.get(), NULL, NULL, de.get()) );
}
}
break;
case PxGeometryType::eHEIGHTFIELD:
{
PxHeightFieldGeometry hfGeom;
shape->getHeightFieldGeometry( hfGeom );
// TODO: consider hfGeom.*scale
PxHeightField* heightField = hfGeom.heightField;
if ( heightField )
{
// TODO
}
}
break;
}
}
return transform.release();
}
void SimulationEventCallback::destroyWallBlock(const PxRigidBody& _krRigidBody, const PxShape& _krShape)
{
Entity* wallBlock = static_cast<Entity*>(_krRigidBody.userData);
if (find(m_destroyedWallBlocks.begin(), m_destroyedWallBlocks.end(), wallBlock) != m_destroyedWallBlocks.end())
{
return;
}
PxBoxGeometry geometry;
_krShape.getBoxGeometry(geometry);
PxTransform transform = _krRigidBody.getGlobalPose();
Matrix44 transformation = PhysXMatrix::toMatrix44(transform);
PxVec3 angularVelocity = _krRigidBody.getAngularVelocity();
PxVec3 linearVelocity = _krRigidBody.getLinearVelocity();
m_destroyedWallBlocks.push_back(wallBlock);
GazEngine::removeEntity(*wallBlock);
float halfSize = geometry.halfExtents.x / 2.0f;
Matrix44 fragment0Transformation = transformation;
getTranslation3(fragment0Transformation) += Vector3(-halfSize, halfSize, 0.0f);
Entity* pFragment0 = CreateWallBlock(fragment0Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment0RigidBody = pFragment0->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment0RigidBody->setAngularVelocity(angularVelocity);
pFragment0RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment0Transform = transform;
fragment0Transform.p += PxVec3(-halfSize, halfSize, 0.0f);
pFragment0RigidBody->setGlobalPose(fragment0Transform);
Matrix44 fragment1Transformation = transformation;
getTranslation3(fragment1Transformation) += Vector3(halfSize, halfSize, 0.0f);
Entity* pFragment1 = CreateWallBlock(fragment1Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment1RigidBody = pFragment1->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment1RigidBody->setAngularVelocity(angularVelocity);
pFragment1RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment1Transform = transform;
fragment1Transform.p += PxVec3(halfSize, halfSize, 0.0f);
pFragment1RigidBody->setGlobalPose(fragment1Transform);
Matrix44 fragment2Transformation = transformation;
getTranslation3(fragment2Transformation) += Vector3(halfSize, -halfSize, 0.0f);
Entity* pFragment2 = CreateWallBlock(fragment2Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment2RigidBody = pFragment2->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment2RigidBody->setAngularVelocity(angularVelocity);
pFragment2RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment2Transform = transform;
fragment2Transform.p += PxVec3(halfSize, -halfSize, 0.0f);
pFragment2RigidBody->setGlobalPose(fragment2Transform);
Matrix44 fragment3Transformation = transformation;
getTranslation3(fragment3Transformation) += Vector3(-halfSize, -halfSize, 0.0f);
Entity* pFragment3 = CreateWallBlock(fragment3Transformation, halfSize, *m_pParentNode);
PxRigidBody* pFragment3RigidBody = pFragment3->getSingleComponent<PhysXBody>()->getActor()->isRigidBody();
pFragment3RigidBody->setAngularVelocity(angularVelocity);
pFragment3RigidBody->setLinearVelocity(linearVelocity);
// The body only got a position in the constructor... lets give it a rotation too.
PxTransform fragment3Transform = transform;
fragment3Transform.p += PxVec3(-halfSize, -halfSize, 0.0f);
pFragment3RigidBody->setGlobalPose(fragment3Transform);
}
