PxActor* World::createRigidBody(const PxGeometry& geometry, float mass, const ofVec3f& pos, const ofQuaternion& rot, float density)
{
assert(inited);
PxTransform transform;
toPx(pos, transform.p);
toPx(rot, transform.q);
PxActor *actor;
if (mass > 0)
{
PxRigidDynamic* rigid = PxCreateDynamic(*physics, transform, geometry, *defaultMaterial, density);
rigid->setMass(mass);
rigid->setLinearDamping(0.25);
rigid->setAngularDamping(0.25);
actor = rigid;
}
else
{
PxRigidStatic *rigid = PxCreateStatic(*physics, transform, geometry, *defaultMaterial);
actor = rigid;
}
scene->addActor(*actor);
return actor;
}
PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity = PxVec3(0))
{
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(velocity);
gScene->addActor(*dynamic);
return dynamic;
}
void Physics::Shoot()
{
float densityS = 100;
PxSphereGeometry sphere(1);
PxTransform transformS(PxVec3(m_camera.world[3].x, m_camera.world[3].y, m_camera.world[3].z));
PxRigidDynamic* dynamicActorS = PxCreateDynamic(*g_Physics, transformS, sphere, *g_PhysicsMaterial, densityS);
//add it to the physx scene
g_PhysicsScene->addActor(*dynamicActorS);
dynamicActorS->addForce(PxVec3(-m_camera.world[2].x, -m_camera.world[2].y, -m_camera.world[2].z)*muzzleSpeed, PxForceMode::eIMPULSE, true);
}
void PhysXPhysics::AddShape(Actor* pActor, PxGeometry* geometry, float density, const std::string& physicsMaterial, bool gravityEnabled, float linearDamping, float angularDamping, const std::string& bodyType)
{
BE_ASSERT(pActor);
ActorId actorId = pActor->GetId();
BE_ASSERTf(m_actorRigidBodyMap.find(actorId) == m_actorRigidBodyMap.end(), "Actor with more than one rigidbody");
Mat4x4 transform = Mat4x4::g_Identity;
TransformComponent* pTransformComponent = pActor->GetComponent<TransformComponent>(TransformComponent::g_Name);
if (pTransformComponent)
{
transform = pTransformComponent->GetTransform();
}
else
{
//Doesnt work without transform
BE_ERROR("Actor %s PhysicsComponent requires Shape to have Transform Component: %d", actorId);
return;
}
PhysicsMaterialData material(LookupMaterialData(physicsMaterial));
PxMaterial* mat = m_pPhysicsSdk->createMaterial(material.m_friction, material.m_friction, material.m_restitution);
Vec3 translation, scale;
Quaternion rotation;
bool ok = transform.Decompose(translation, rotation, scale);
PxQuat pxRot;
PxVec3 pxLoc;
Vec3ToPxVec(translation, &pxLoc);
QuaternionToPxQuat(rotation, &pxRot);
PxTransform t(pxLoc, pxRot);
if (bodyType == "Dynamic")
{
PxRigidDynamic* body = PxCreateDynamic(*m_pPhysicsSdk, t, *geometry, *mat, density);
body->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, !gravityEnabled);
PxRigidBodyExt::updateMassAndInertia(*body, density);
body->setLinearDamping(linearDamping);
body->setAngularDamping(angularDamping);
m_pScene->addActor(*body);
m_actorRigidBodyMap[actorId] = body;
m_rigidBodyActorMap[body] = actorId;
}
else
{
BE_ERROR("[Physics] BodyType not supported: %s", bodyType.c_str());
return;
}
}
PxRigidActor* createActor( const PxGeometry& geom, double density, PxMaterial* mtl )
{
if ( density>0.0 )
{
PxRigidDynamic* actor = PxCreateDynamic( *SDK_OBJ, PxTransform::createIdentity(), geom,
mtl ? *mtl : *DEF_MTL, density );
return actor;
}
else
{
PxRigidStatic* actor = PxCreateStatic( *SDK_OBJ, PxTransform::createIdentity(), geom,
mtl ? *mtl : *DEF_MTL );
return actor;
}
}
void createChain(const PxTransform& t, PxU32 length, const PxGeometry& g, PxReal separation, JointCreateFunction createJoint)
{
PxVec3 offset(separation / 2, 0, 0);
PxTransform localTm(offset);
PxRigidDynamic* prev = NULL;
for (PxU32 i = 0; i<length; i++)
{
PxRigidDynamic* current = PxCreateDynamic(*gPhysics, t*localTm, g, *gMaterial, 1.0f);
(*createJoint)(prev, prev ? PxTransform(offset) : t, current, PxTransform(-offset));
gScene->addActor(*current);
prev = current;
localTm.p.x += separation;
}
}
// add some physics objects into the scene
void AddPhyObjects()
{
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
gScene->addActor(*groundPlane);
PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(PxVec3(0, -5, -10));
gScene->addActor(*dynamic);
// add capsule into the scene
shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
body = gPhysics->createRigidDynamic(localTmC);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
// add a static box as the trigger
shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
body = gPhysics->createRigidDynamic(localTmTrigger);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
body->attachShape(*shape);
body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
gScene->addActor(*body);
shape->release();
}
void KinematicController::CreatePhyiscsAgent()
{
PxTransform transform(PxVec3(m_position.x, m_position.y, m_position.z));
//transform = PxVec3(0, 0, 0);
float density = 50;
float halfHeight = m_height / 2;
PxCapsuleGeometry capsule(m_radius, m_height);
m_actor = PxCreateDynamic(*m_physicsObject->m_Physics, transform, capsule, *m_physicsObject->m_PhysicsMaterial, density);
m_physicsObject->m_PhysicsScene->addActor(*m_actor);
m_physicsObject->m_boxActors.push_back(m_actor);
}
void Physx1::MakeBlocks()
{
PxTransform m_transform(PxVec3(0, 20, 0));
PxBoxGeometry box(2, 2, 2);
float density = 50;
m_dynamicActor = PxCreateDynamic(*m_Physics, m_transform, box, *m_PhysicsMaterial, density);
m_boxActors.push_back(m_dynamicActor);
int size = m_boxActors.size();
m_PhysicsScene->addActor(*m_boxActors[size - 1]);
m_boxCount++;
std::cout << "Boxes in Scene: " << m_boxCount << "\n";
}
xmodel::xmodel(PxPhysics * mPhysics,PxScene* mScene,double mass):
pos(0,0,0)
{
PxMaterial* aMaterial;
aMaterial = mPhysics->createMaterial(0.01f, 0.01f, 0.1); //static friction, dynamic friction, restitution
if(!aMaterial)
printf("createMaterial failed!");
PxTransform pt(PxVec3(0,0,0.3),PxQuat(0,0,0,1));
actor = PxCreateDynamic(*mPhysics, pt, PxBoxGeometry(0.5,0.5,0.128),*aMaterial, mass*4);
actor->setLinearVelocity(PxVec3(0,0,0));
mScene->addActor(*actor);
physx::PxVec3 p=actor->getGlobalPose().p;
pos.x=p.x;
pos.y=p.y;
pos.z=p.z;
}
PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
const PxTransform& transform,
const PxGeometry& geometry,
PxMaterial& material,
PxReal density,
const PxTransform& shapeOffset)
{
PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateDynamic: transform is not valid.");
PX_CHECK_AND_RETURN_NULL(shapeOffset.isValid(), "PxCreateDynamic: shapeOffset is not valid.");
if(!isDynamicGeometry(geometry.getType()) || density <= 0.0f)
return NULL;
PxShape* shape = sdk.createShape(geometry, material, true);
if(!shape)
return NULL;
shape->setLocalPose(shapeOffset);
PxRigidDynamic* body = shape ? PxCreateDynamic(sdk, transform, *shape, density) : NULL;
shape->release();
return body;
}
void FBXActor::createCollisionShapes(PhysicsDemoScene *a_app)
{
float density = 300;
//pole
PxBoxGeometry box = PxBoxGeometry(0.1f,4,0.1f);
PxTransform transform(*((PxMat44*)(&m_world))); //cast from glm to PhysX matrices
PxRigidDynamic* dynamicActor = PxCreateDynamic(*a_app->g_Physics, transform, box, *a_app->g_PhysicsMaterial, density);
dynamicActor->userData = this; //set the user data to point at this FBXActor class
//offset
int nShapes = dynamicActor->getNbShapes();
PxShape* shapes;
dynamicActor->getShapes(&shapes, nShapes);
PxTransform relativePose = PxTransform(PxVec3(0.0f,4.0f,0.0f));
shapes->setLocalPose(relativePose);
//head
box = PxBoxGeometry(0.8f,0.5f,0.3f);
relativePose = PxTransform(PxVec3(0.0f,2.0f,0.0f));
PxShape* shape = dynamicActor->createShape(box, *a_app->g_PhysicsMaterial);
if (shape)
{
shape->setLocalPose(relativePose);
}
PxRigidBodyExt::updateMassAndInertia(*dynamicActor, (PxReal)density);
//add to scene
a_app->g_PhysicsScene->addActor(*dynamicActor);
a_app->g_PhysXActors.push_back(dynamicActor);
}
void InitializePhysX(vector<PhysXObject*>* &cubeList)
{
allActors = new vector<PhysXObject*>;
PxFoundation* foundation = PxCreateFoundation(PX_PHYSICS_VERSION,
gDefaultAllocatorCallback, gDefaultErrorCallback);
gPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *foundation, PxTolerancesScale());
if(gPhysicsSDK == NULL)
{
exit(1);
}
PxInitExtensions(*gPhysicsSDK);
PxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());
sceneDesc.gravity=PxVec3(0.0f, -9.8f, 0.0f);
if(!sceneDesc.cpuDispatcher)
{
PxDefaultCpuDispatcher* mCpuDispatcher = PxDefaultCpuDispatcherCreate(3);
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
if(!sceneDesc.filterShader)
sceneDesc.filterShader = gDefaultFilterShader;
gScene = gPhysicsSDK->createScene(sceneDesc);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
//1) Create Planes
PxMaterial* mMaterial = gPhysicsSDK->createMaterial(0.5, 0.5, 0.5);
for(int i = 0; i < 1; i++)
{
PhysXObject* plane = new PhysXObject;
plane->actor = gPhysicsSDK->createRigidStatic(planePoses[i]);
PxShape* shape = plane->actor->createShape(PxPlaneGeometry(), *mMaterial);
gScene->addActor(*(plane->actor));
allActors->push_back(plane);
planes.push_back(plane);
}
//2) Create Planets
PxReal planetDensity = 1.0f;
PxVec3 planetDimensions(2,2,2);
PxBoxGeometry planetGeom(planetDimensions);
PxTransform planetTransform;
for(int i = 0; i < PLANET_NUM; i++)
{
planetTransform = planetTransforms[i];
PhysXObject* planet = new PhysXObject;
planet->actor = PxCreateStatic(*gPhysicsSDK, planetTransform, planetGeom, *mMaterial);
EnableGravity(planet->actor);
gScene->addActor(*(planet->actor));
allActors->push_back(planet);
planets.push_back(planet);
//HACK:
/* Create the joint handlers for distance limiting
/* We need to do this because a distance joint attached to an actor
/* seems to void collisions between those two actors (i.e. "phases through")
/* So we make another actor in the same position to hold the position
PhysXObject* newHandle = new PhysXObject;
newHandle->actor = PxCreateStatic(*gPhysicsSDK, tran, boxgeom, *mMaterial);
gScene->addActor(*(newHandle->actor));
planetJointHandles.push_back(newHandle);
//We also don't need to worry about drawing the joints, for obvious reasons
*/
}
//3) Create Cubes
PxReal density = 1.0f;
PxTransform transform(PxVec3(0.0f, 0.0f, 0.0f), PxQuat::createIdentity());
PxVec3 dimensions(0.5, 0.5, 0.5);
PxBoxGeometry geometry(dimensions);
for(int i = 0; i < BLOCK_NUM; i++)
{
srand((time(NULL) * i) + time(NULL));
transform.p = PxVec3((float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT));
PhysXObject* cube = new PhysXObject;
cube->actor = PxCreateDynamic(*gPhysicsSDK, transform, geometry, *mMaterial, density);
//Create Distance Joints between planets here
//Not included for run time optimizations
//End creating distance joints
//Create D6 Joints between planets here
//Not included for run time optimizations
//End creating distance joints
cube->actor->isRigidDynamic()->setAngularDamping(0.75);
cube->actor->isRigidDynamic()->setLinearVelocity(PxVec3(0,0,0));
gScene->addActor(*(cube->actor));
allActors->push_back(cube);
boxes.push_back(cube);
}
cubeList = allActors;
}
void Physics::SetUpTutorial1()
{
//Add a plane
PxTransform pose = PxTransform(PxVec3(0.0f, -50, 0.0f), PxQuat(PxHalfPi*1.0f, PxVec3(0.0f, 0.0f, 1.0f)));
PxRigidStatic* plane = PxCreateStatic(*g_Physics, pose, PxPlaneGeometry(), *g_PhysicsMaterial);
//Add it to the physx scene
g_PhysicsScene->addActor(*plane);
PxArticulation* ragDollArticulation;
ragDollArticulation = makeRagdoll(g_Physics, ragdollData, PxTransform(PxVec3(0, 0, 0)), 0.1f, g_PhysicsMaterial);
g_PhysicsScene->addArticulation(*ragDollArticulation);
PxBoxGeometry box(1, 1, 10);
for (int j = -25; j < 0; j++)
{
PxTransform transform(PxVec3((j*-2) - 4, (j*2)-9, 8));
PxRigidStatic* staticActor = PxCreateStatic(*g_Physics, transform, box, *g_PhysicsMaterial);
//add it to the physx scene
g_PhysicsScene->addActor(*staticActor);
}
for (int j = -25; j < 0; j++)
{
PxTransform transform(PxVec3((j*-2) - 3, (j * 2) - 10, 8));
PxRigidStatic* staticActor = PxCreateStatic(*g_Physics, transform, box, *g_PhysicsMaterial);
//add it to the physx scene
g_PhysicsScene->addActor(*staticActor);
}
PxBoxGeometry boxS(10, 1, 1);
for (int j = -25; j < 0; j++)
{
PxTransform transform(PxVec3(8, (j * 2) - 9, (j*-2) - 4));
PxRigidStatic* staticActor = PxCreateStatic(*g_Physics, transform, boxS, *g_PhysicsMaterial);
//add it to the physx scene
g_PhysicsScene->addActor(*staticActor);
}
for (int j = -25; j < 0; j++)
{
PxTransform transform(PxVec3(8, (j * 2) - 10, (j*-2) - 3));
PxRigidStatic* staticActor = PxCreateStatic(*g_Physics, transform, boxS, *g_PhysicsMaterial);
//add it to the physx scene
g_PhysicsScene->addActor(*staticActor);
}
float density = 50;
PxBoxGeometry boxes(1, 1, 1);
for (int i = 0; i < 2; i++)
{
for (int j = 30; j < 50; j++)
{
for (int k = 0; k < 2; k++)
{
PxTransform transform(PxVec3(2*i, 2*j+1, 2*k));
PxRigidDynamic* dynamicActor = PxCreateDynamic(*g_Physics, transform, boxes, *g_PhysicsMaterial, density);
//add it to the physx scene
g_PhysicsScene->addActor(*dynamicActor);
//dynamicActor->putToSleep();
}
}
}
}
/**
* Method is used to add new dynamic actor to physics scene.
* @param entity is pointer to scene entity which will be added to physics simulation.
* @param type is enumeration of shape type.
* @param filterGroup is actor own id.
* @param filterMask is mask to filter pairs that trigger a contact callback.
*/
void PhysicsManager::addDynamicActor(SceneEntity* entity, ShapeType type, PxU32 filterGroup, PxU32 filterMask)
{
PxRigidDynamic* actor = nullptr;
PxVec3 position = PxVec3(entity->entityState.position[0],entity->entityState.position[1],entity->entityState.position[2]);
PxQuat orientation = PxQuat(entity->entityState.orientation[0],entity->entityState.orientation[1],entity->entityState.orientation[2],entity->entityState.orientation[3]);
PxReal density = 1.0f;
PxTransform transformation = PxTransform(position,orientation);
if(type == BOX)
{
float x = (entity->entityGeometry.geometryBox->max.x() - entity->entityGeometry.geometryBox->min.x())*entity->entityState.scale.x()*0.5f;
float y = (entity->entityGeometry.geometryBox->max.y() - entity->entityGeometry.geometryBox->min.y())*entity->entityState.scale.y()*0.5f;
float z = (entity->entityGeometry.geometryBox->max.z() - entity->entityGeometry.geometryBox->min.z())*entity->entityState.scale.z()*0.5f;
PxVec3 dimensions(x,y,z);
actor = PxCreateDynamic(*physicsSDK,transformation,PxBoxGeometry(dimensions),*materials[0].second,density);
PxRigidBodyExt::updateMassAndInertia(*actor, density);
}
else if(type == SPHERE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxSphereGeometry(radius),*materials[0].second,density);
}
else if(type == CAPSULE)
{
float radius = entity->entityGeometry.geometrySphere->sphereRadius;
actor = PxCreateDynamic(*physicsSDK,transformation,PxCapsuleGeometry(radius/2, radius),*materials[0].second,density);
}
else if(type == CONVEX)
{
/*int vertsCount = entity->entityGeometry.geometryMesh->getVerticesAmount();
AyumiUtils::Vertex<>* verts = entity->entityGeometry.geometryMesh->getVertices();
PxVec3* convexVerts = new PxVec3[vertsCount];
for(int i = 0; i < vertsCount; ++i)
convexVerts[i] = PxVec3(verts[i].x,verts[i].y,verts[i].z);
PxConvexMeshDesc convexDesc;
convexDesc.points.count = entity->entityGeometry.geometryMesh->getVerticesAmount();
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = convexVerts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
MemoryWriteBuffer buf;
if(cooking->cookConvexMesh(convexDesc, buf))
{
PxConvexMesh* convexMesh = physicsSDK->createConvexMesh(MemoryReadBuffer(buf.data));
actor = PxCreateDynamic(*physicsSDK,transformation,PxConvexMeshGeometry(convexMesh,PxMeshScale()),*materials[0].second,density);
}
else
{
Logger::getInstance()->saveLog(Log<string>("Convex Mesh creation error occurred!"));
return;
}*/
//delete[] convexVerts;
}
else
{
Logger::getInstance()->saveLog(Log<string>("Dynamic Actor shape creation error occurred!"));
return;
}
if(!actor)
Logger::getInstance()->saveLog(Log<string>("Static Actor creation error occurred!"));
PxRigidBodyExt::updateMassAndInertia(*actor, density);
actor->setAngularDamping(0.75);
actor->setLinearVelocity(PxVec3(0,0,0));
actor->setName(entity->entityName.c_str());
setupFiltering(actor,filterGroup,filterMask);
scene->addActor(*actor);
DynamicActor* d = new DynamicActor();
d->entityLogic = entity;
d->entityPhysics = actor;
d->shapesAmount = actor->getNbShapes();
d->shapes = new PxShape*[d->shapesAmount];
dynamicActors.push_back(d);
}
void createActors()
{
// Create Material
physx::PxMaterial* cubeMaterial = gPhysicsSDK->createMaterial(0.5f, 0.5f, 0.5f);
physx::PxMaterial* sphereMaterial = gPhysicsSDK->createMaterial(0.6f, 0.1f, 0.6f);
physx::PxMaterial* planeMaterial = gPhysicsSDK->createMaterial(0.5f, 0.5f, 0.5f);
// Create Floor
physx::PxReal d = 0.0f;
physx::PxTransform pose = physx::PxTransform( physx::PxVec3( 0.0f, 0, 0.0f ), physx::PxQuat( physx::PxHalfPi, physx::PxVec3( 0.0f, 0.0f, 1.0f )));
physx::PxRigidStatic* plane = gPhysicsSDK->createRigidStatic(pose);
if (!plane)
std::cerr << "create plane failed!" << std::endl;
physx::PxShape* shape = plane->createShape(physx::PxPlaneGeometry(), *planeMaterial);
if (!shape)
std::cerr << "create shape failed!" << std::endl;
gScene->addActor(*plane);
float gap_x = box_size.x * 2.0f;
float gap_y = box_size.y * 2.0f;
// Create boxes
if(total_boxes > 0)
{
physx::PxReal density = 1.0f;
physx::PxTransform boxTransform(physx::PxVec3(0.0f, 0.0f, 0.0f));
physx::PxBoxGeometry boxGeometry(box_size);
for(float i = -box_grid_width/2.0f; i < box_grid_width/2.0f; ++i)
{
for(unsigned int j = 0; j < box_grid_height; ++j)
{
boxTransform.p = physx::PxVec3((i * gap_x) + 1.0f, (j * gap_y) + 1.0f, 0.0f);
physx::PxRigidDynamic *boxActor = PxCreateDynamic(*gPhysicsSDK, boxTransform, boxGeometry, *cubeMaterial, density);
if (!boxActor)
std::cerr << "create actor failed!" << std::endl;
boxActor->setAngularDamping(0.75f);
boxActor->setLinearDamping(0.01f);
boxActor->setMass(10.0f);
gScene->addActor(*boxActor);
boxes_actors.push_back(boxActor);
}
}
}
// Create spheres
if(total_spheres > 0)
{
physx::PxReal density = 2.0f;
physx::PxTransform sphereTransform(physx::PxVec3(0.0f, 0.0f, 0.0f));
physx::PxSphereGeometry sphereGeometry(sphere_radius);
for(unsigned int i = 0; i < total_spheres; ++i)
{
sphereTransform.p = physx::PxVec3(0.0f, 0.0f, -30.0f);
physx::PxRigidDynamic *sphereActor = PxCreateDynamic(*gPhysicsSDK, sphereTransform, sphereGeometry, *sphereMaterial, density);
if (!sphereActor)
std::cerr << "create actor failed!" << std::endl;
sphereActor->setAngularDamping(0.2f);
sphereActor->setLinearDamping(0.1f);
sphereActor->setMass(5.0f);
sphereActor->setLinearVelocity(physx::PxVec3(1.3f, box_grid_height * 2, 60.0f));
gScene->addActor(*sphereActor);
spheres_actors.push_back(sphereActor);
}
}
}