// Create a static trigger
static void CreateTrigger(const NxVec3& pos, NxF32 size = 2, const NxVec3* initial_velocity=NULL, bool kinematic = false)
{
// Our trigger is a cube
NxBodyDesc triggerBody;
NxBoxShapeDesc dummyShape;
NxBoxShapeDesc BoxDesc;
BoxDesc.dimensions = NxVec3(size, size, size);
BoxDesc.shapeFlags |= NX_TRIGGER_ENABLE;
NxActorDesc ActorDesc;
if(initial_velocity || kinematic) {
if (initial_velocity) {
triggerBody.linearVelocity = *initial_velocity;
}
if (kinematic) {
triggerBody.flags |= NX_BF_KINEMATIC;
}
triggerBody.mass = 1;
ActorDesc.body = &triggerBody;
NxF32 sizeinc = 1.01f;
dummyShape.dimensions.set(size*sizeinc, size*sizeinc, size*sizeinc);
dummyShape.group = 1;
ActorDesc.shapes.pushBack(&dummyShape);
}
ActorDesc.shapes.pushBack(&BoxDesc);
ActorDesc.globalPose.t = pos;
int thisNb = ++gNbTriggers;
gNbTouchedBodies.pushBack(0);
NX_ASSERT(gNbTouchedBodies.size() == gNbTriggers);
gMyPhysX.getScene()->setGroupCollisionFlag(1,0, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,1, false);
gMyPhysX.getScene()->setGroupCollisionFlag(1,2, true);
ActorDesc.userData = (void*)(-thisNb);
if (!ActorDesc.isValid()) {
printf("Invalid ActorDesc\n");
return;
}
NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc); // This is just a quick-and-dirty way to identify the trigger for rendering
NX_ASSERT(actor != NULL);
if (kinematic) {
KinematicActor k;
k.actor = actor;
if (initial_velocity) {
k.vel = *initial_velocity;
} else {
k.vel.set(0,0,0);
}
gKinematicActors.pushBack(k);
}
gMyPhysX.getScene()->setUserTriggerReport(&myTriggerCallback);
}
virtual void onContactNotify(NxContactPair& pair, NxU32 events)
{
// Iterate through contact points
NxContactStreamIterator i(pair.stream);
//user can call getNumPairs() here
while(i.goNextPair())
{
//user can also call getShape() and getNumPatches() here
while(i.goNextPatch())
{
//user can also call getPatchNormal() and getNumPoints() here
const NxVec3& contactNormal = i.getPatchNormal();
while(i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
if(i.getSeparation()<0.0f)
{
const NxVec3& contactPoint = i.getPoint();
NxU32 faceIndex = i.getFeatureIndex0();
if(faceIndex==0xffffffff) faceIndex = i.getFeatureIndex1();
if(faceIndex!=0xffffffff)
{
gTouchedTris.pushBack(faceIndex);
//printf("Contack!\n");
}
}
}
}
}
}
bool CPhysicsManager::ReleasePhysicActor (CPhysicActor* actor)
{
assert(actor != NULL);
assert(m_pScene != NULL);
assert(m_pPhysicsSDK != NULL);
bool isOk = false;
NxActor* nxActor = actor->GetPhXActor();
if( nxActor != 0)
{
NxArray<NxCCDSkeleton*> skeletons;
for (NxU32 i = 0; i < nxActor->getNbShapes(); i++)
{
NxShape* shape = nxActor->getShapes()[i];
if (shape->getCCDSkeleton() != NULL) {
skeletons.pushBack(shape->getCCDSkeleton());
}
}
for (NxU32 i = 0; i < skeletons.size(); i++)
{
m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]);
}
m_pScene->releaseActor(*nxActor);
nxActor = 0;
}
return true;
}
//----------------------------------------------------------------------------
// ReleaseAllActors : Alliberem tots els actors de l'escena de PhysX
//----------------------------------------------------------------------------
bool CPhysicsManager::ReleaseAllActors ( void ) //EUserDataFlag _eFlags )
{
assert ( m_pScene != NULL );
assert ( m_pPhysicsSDK != NULL );
bool isOk = true;
NxActor** l_ppActorList = m_pScene->getActors();
NxU32 l_TotalActors = m_pScene->getNbActors();
while ( l_TotalActors -- )
{
NxActor* nxActor = *l_ppActorList;
if ( nxActor != 0)
{
NxArray<NxCCDSkeleton*> skeletons;
for (NxU32 i = 0; i < nxActor->getNbShapes(); i++)
{
NxShape* shape = nxActor->getShapes()[i];
if (shape->getCCDSkeleton() != NULL) {
skeletons.pushBack(shape->getCCDSkeleton());
}
}
for (NxU32 i = 0; i < skeletons.size(); i++)
{
m_pPhysicsSDK->releaseCCDSkeleton(*skeletons[i]);
}
m_pScene->releaseActor(*nxActor);
nxActor = 0;
}
}
return isOk;
}
static void CreateCube(const NxVec3& pos, int size=2, const NxVec3* initial_velocity=NULL, bool kinematic = false, bool Static = false)
{
// Create body
NxBodyDesc BodyDesc;
BodyDesc.angularDamping = 0.5f;
// BodyDesc.maxAngularVelocity = 10.0f;
if(initial_velocity) BodyDesc.linearVelocity = *initial_velocity;
NxBoxShapeDesc BoxDesc;
BoxDesc.dimensions = NxVec3(float(size), float(size), float(size));
NxActorDesc ActorDesc;
// ActorDesc.userData = (void*)size;
ActorDesc.shapes.pushBack(&BoxDesc);
if (!Static)
ActorDesc.body = &BodyDesc;
ActorDesc.density = 10.0f;
ActorDesc.globalPose.t = pos;
ActorDesc.userData = (void*)size;
NxActor* actor = gMyPhysX.getScene()->createActor(ActorDesc);
if (kinematic) {
KinematicActor k;
k.actor = actor;
actor->raiseBodyFlag(NX_BF_KINEMATIC);
if (initial_velocity) {
k.vel = *initial_velocity;
} else {
k.vel.set(0,0,0);
}
gKinematicActors.pushBack(k);
}
}
virtual void onContactNotify(NxContactPair& pair, NxU32 events)
{
NxU32 carIndex = 0;
if (isCar(pair.actors[0]))
carIndex = 0;
else if (isCar(pair.actors[1]))
carIndex = 1;
else
return;
//ignore the 'both are cars' case for now.
// Iterate through contact points
NxContactStreamIterator i(pair.stream);
//user can call getNumPairs() here
while (i.goNextPair())
{
//user can also call getShape() and getNumPatches() here
NxShape * s = i.getShape(carIndex);
while (i.goNextPatch())
{
//user can also call getPatchNormal() and getNumPoints() here
const NxVec3& contactNormal = i.getPatchNormal();
while (i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
const NxVec3& contactPoint = i.getPoint();
NxVec3 contactNormalForce = pair.sumNormalForce;
NxVec3 contactFrictionForce = pair.sumFrictionForce;
//add forces:
//assuming front wheel drive we need to apply a force at the wheels.
if (s->is(NX_SHAPE_CAPSULE)) //assuming only the wheels of the car are capsules, otherwise we need more checks.
//this branch can't be pulled out of loops because we have to do a full iteration through the stream
{
CarWheelContact cwc;
cwc.car = pair.actors[carIndex];
cwc.wheel = s;
cwc.contactPoint = contactPoint;
cwc.contactNormalForce = contactNormalForce;
cwc.contactFrictionForce = contactFrictionForce;
wheelContactPoints.pushBack(cwc);
//#error too bad this is illegal (reentry) and also technically busted because the accumulators get zeroed after this returns.
//pair.actors[carIndex]->addForceAtPos(NxVec3(100,0,0),contactPoint);
}
}
}
}
}
// 增加一辆车
NxVehicle* NxAllVehicle::addVehicle(const NxVec3& pos, VehicleInfo vinfo, std::string name, NxScene* nxScene, NxPhysicsSDK* nxPhysics)
{
NxVehicleDesc vehicleDesc;
NxBoxShapeDesc boxShapes[2];
NxConvexShapeDesc carShape[2];
NxArray<NxVec3> points;
NxArray<NxVec3> points2;
NxReal halfWidth = vinfo.width / 2;//1.1529f;
NxReal halfLength = vinfo.length / 2;//2.5278f;
NxReal halfHeight = vinfo.height / 2; //0.6027;
points.pushBack().set(halfLength,-halfHeight * 0.1f, 0);
points.pushBack().set(halfLength * 0.7f, 0, 0);
points.pushBack().set(0.2f * halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(-halfLength, halfHeight * 0.2f, 0);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(0.1*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-0.8*halfLength, halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f, halfWidth * 0.8f);
points.pushBack().set(halfLength * 0.9f,-halfHeight * 0.25f,-halfWidth * 0.8f);
points.pushBack().set(0,-halfHeight * 0.2f, halfWidth);
points.pushBack().set(0,-halfHeight * 0.2f,-halfWidth);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f, halfWidth * 0.9f);
points.pushBack().set(-halfLength * 0.9f,-halfHeight * 0.2f,-halfWidth * 0.9f);
points.pushBack().set(halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight, halfWidth * 0.79f);
points.pushBack().set(-halfLength * 0.8f, -halfHeight,-halfWidth * 0.79f);
for(NxU32 i = 2; i < 8; i++)
{
points2.pushBack(points[i]);
}
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f, halfWidth*0.7f);
points2.pushBack().set(-0.5*halfLength, halfHeight*0.8f,-halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f, halfWidth*0.7f);
points2.pushBack().set(-0.7*halfLength, halfHeight*0.7f,-halfWidth*0.7f);
static NxConvexMeshDesc convexMesh;
convexMesh.numVertices = points.size();
convexMesh.points = &(points[0].x);
convexMesh.pointStrideBytes = sizeof(NxVec3);
convexMesh.flags |= NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf;
bool status = NxCookConvexMesh(convexMesh, buf);
if(status)
{
carShape[0].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf.data));
vehicleDesc.carShapes.pushBack(&carShape[0]);
}
static NxConvexMeshDesc convexMesh2;
convexMesh2.numVertices = points2.size();
convexMesh2.points = (&points2[0].x);
convexMesh2.pointStrideBytes = sizeof(NxVec3);
convexMesh2.flags = NX_CF_COMPUTE_CONVEX|NX_CF_USE_LEGACY_COOKER;
MemoryWriteBuffer buf2;
status = NxCookConvexMesh(convexMesh2, buf2);
if(status)
{
carShape[1].meshData = nxPhysics->createConvexMesh(MemoryReadBuffer(buf2.data));
vehicleDesc.carShapes.pushBack(&carShape[1]);
}
vehicleDesc.position = pos;
vehicleDesc.mass = vinfo.mass;//1200;//monsterTruck ? 12000 :
vehicleDesc.digitalSteeringDelta = vinfo.steerablity;//0.04f;
vehicleDesc.steeringMaxAngle = vinfo.maxSteeringAngle; //30.f;
vehicleDesc.motorForce = vinfo.maxAcceleraion * vinfo.mass;//3500.f;//monsterTruck?180.f:
NxVehicleMotorDesc motorDesc;
NxVehicleGearDesc gearDesc;
NxReal wheelRadius = 0.4f;
vehicleDesc.maxVelocity = vinfo.maxVelocity; //80.f;//(monsterTruck)?40.f:80.f;
motorDesc.setToCorvette();
vehicleDesc.motorDesc = &motorDesc;
gearDesc.setToCorvette();
vehicleDesc.gearDesc = &gearDesc;
vehicleDesc.differentialRatio = 3.42f;
wheelRadius = 0.3622f;
vehicleDesc.centerOfMass.set(0,-0.7f,0);
NxWheelDesc wheelDesc[4];
for(NxU32 i=0;i<4;i++)
{
wheelDesc[i].wheelApproximation = 10;
//wheelDesc[i].wheelFlags |= NX_WF_BUILD_LOWER_HALF;
wheelDesc[i].wheelRadius = wheelRadius;//(monsterTruck)?wheelRadius*3.f:wheelRadius;
wheelDesc[i].wheelWidth = 0.1923f;//(monsterTruck)?0.3f:0.1923f;
wheelDesc[i].wheelSuspension = 0.2f;//(monsterTruck)?0.6f:0.2f;
wheelDesc[i].springRestitution = 7000;//monsterTruck?(crovette?5000:4000):7000;
wheelDesc[i].springDamping = 800;
wheelDesc[i].springBias = 0.0f; // 设为1.0后居然会出错!!!!!!!!
//wheelDesc[i].maxHandBraking = 1.f; //monsterTruck?0.5f:1.f;
wheelDesc[i].inverseWheelMass = 4.0f / vinfo.maxAcceleraion; // 换算成动力
wheelDesc[i].frictionToFront = 1.f;
wheelDesc[i].frictionToSide = 2.f;
vehicleDesc.carWheels.pushBack(&wheelDesc[i]);
}
NxReal heightPos = -0.3622f; //(monsterTruck)?1.f:
wheelDesc[0].position.set( 1.02f, heightPos, 1.26);
wheelDesc[1].position.set( 1.12f, heightPos,-1.54);
wheelDesc[2].position.set(-1.02f, heightPos, 1.26);
wheelDesc[3].position.set(-1.12f, heightPos,-1.54);
NxU32 flags = NX_WF_BUILD_LOWER_HALF;
wheelDesc[0].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[1].wheelFlags |= ((vinfo.driven==FrontDriven)?NX_WF_ACCELERATED:0) | NX_WF_STEERABLE_INPUT | flags;
wheelDesc[2].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
wheelDesc[3].wheelFlags |= ((vinfo.driven==BackDriven)?NX_WF_ACCELERATED:0) | NX_WF_AFFECTED_BY_HANDBRAKE | flags;
vehicleDesc.steeringSteerPoint.set(1.8, 0, 0);
vehicleDesc.steeringTurnPoint.set(-1.5, 0, 0);
NxVehicle* vehicle = NxVehicle::createVehicle(nxScene, &vehicleDesc, name);
NxQuat q;
// 少转过90度,可能会有问题
q.fromAngleAxis(90.0f, NxVec3(0.0f, 1.0f, 0.0f));
vehicle->getActor()->setGlobalOrientationQuat(q);
vehicle->mVInfo = vinfo;
vehicle->setOilAmount(vinfo.oilAmount);
// 加到队列中
mAllVehicle.pushBack(vehicle);
mIsLive.pushBack(0);
// miUserVehicle = mAllVehicle.size() - 1;
return vehicle;
}
int main(int argc, char **argv)
{
//init and PVD
bool initialized = false;
NxPhysicsSDK *physicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!physicsSDK)
return 0;
else
physicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
physicsSDK->setParameter(NX_CONTINUOUS_CD, true);
initialized = true;
//create a scene
bool sceneInit = false;
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, -9.81f, 0);
gScene = physicsSDK->createScene(sceneDesc);
if (gScene != NULL)
sceneInit = true;
//create a plane
{
NxActorDesc actorDesc;
NxPlaneShapeDesc planeDesc;
//planeDesc.normal = NxVec3(0, 0, 1);
//planeDesc.d = -10.0f;
actorDesc.shapes.pushBack(&planeDesc);
gScene->createActor(actorDesc);
}
//create material
NxMaterial *defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.3f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
//create a box
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.angularDamping = 0.5;
bodyDesc.linearVelocity = NxVec3(1, 0, 0);
actorDesc.body = &bodyDesc;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(2.0f, 3.0f, 4.0f);
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.density = 10.0f;
actorDesc.globalPose.t = NxVec3(10.0f, 10.0f, 10.0f);
gScene->createActor(actorDesc)->userData = NULL;
}
//create a cloth
{
// Create the objects in the scene
NxActor* sphere1 = CreateSphere(NxVec3(-1, 0, -0.5), 1, 10);
NxActor* box1 = CreateBox(NxVec3(1, 0, -1), NxVec3(1, 1, 1), 10);
NxActor* box2 = CreateBox(NxVec3(0, 6.5, 0), NxVec3(5, 0.5, 0.5), 10);
NxActor* box3 = CreateBox(NxVec3(0, 6.5, -7), NxVec3(5, 0.5, 0.5), 10);
box2->setLinearDamping(5);
box3->setLinearDamping(5);
NxD6JointDesc d6Desc;
d6Desc.actor[0] = NULL;
d6Desc.actor[1] = box2;
NxVec3 globalAnchor(0, 7, 0);
d6Desc.localAnchor[0] = globalAnchor;
box2->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
box3->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box3->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
d6Desc.localAxis[0] = NxVec3(1, 0, 0);
d6Desc.localNormal[0] = NxVec3(0, 1, 0);
d6Desc.localAxis[1] = NxVec3(1, 0, 0);
d6Desc.localNormal[1] = NxVec3(0, 1, 0);
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.yMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.zMotion = NX_D6JOINT_MOTION_FREE;
NxJoint* d6Joint = gScene->createJoint(d6Desc);
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(4, 7, 0);
clothDesc.thickness = 0.2;
//clothDesc.density = 1;
clothDesc.bendingStiffness = 0.5;
clothDesc.stretchingStiffness = 1;
//clothDesc.dampingCoefficient = 0.5;
clothDesc.friction = 0.5;
//clothDesc.collisionResponseCoefficient = 1;
//clothDesc.attachmentResponseCoefficient = 1;
//clothDesc.solverIterations = 5;
//clothDesc.flags |= NX_CLF_STATIC;
//clothDesc.flags |= NX_CLF_DISABLE_COLLISION;
//clothDesc.flags |= NX_CLF_VISUALIZATION;
//clothDesc.flags |= NX_CLF_GRAVITY;
clothDesc.flags |= NX_CLF_BENDING;
//clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING;
//clothDesc.flags |= NX_CLF_COMDAMPING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags &= ~NX_CLF_HARDWARE;
clothDesc.flags |= NX_CLF_FLUID_COLLISION;
clothDesc.selfCollisionThickness = 10.0f;
NxReal w = 8;
NxReal h = 7;
NxReal d = 0.05;
NxClothMeshDesc meshDesc;
bool mInitDone = false;
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
meshDesc.numVertices = (numX + 1) * (numY + 1);
meshDesc.numTriangles = numX*numY * 2;
meshDesc.pointStrideBytes = sizeof(NxVec3);
meshDesc.triangleStrideBytes = 3 * sizeof(NxU32);
meshDesc.vertexMassStrideBytes = sizeof(NxReal);
meshDesc.vertexFlagStrideBytes = sizeof(NxU32);
meshDesc.points = (NxVec3*)malloc(sizeof(NxVec3)*meshDesc.numVertices);
meshDesc.triangles = (NxU32*)malloc(sizeof(NxU32)*meshDesc.numTriangles * 3);
meshDesc.vertexMasses = 0;
meshDesc.vertexFlags = 0;
meshDesc.flags = 0;
int i, j;
NxVec3 *p = (NxVec3*)meshDesc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(-d*j, 0.0f, -d*i);
p++;
}
}
NxU32 *id = (NxU32*)meshDesc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX + 1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX + 1);
NxU32 i3 = i2 + 1;
if ((j + i) % 2) {
*id++ = i0;
*id++ = i2;
*id++ = i1;
*id++ = i1;
*id++ = i2;
*id++ = i3;
}
else {
*id++ = i0;
*id++ = i2;
*id++ = i3;
*id++ = i0;
*id++ = i3;
*id++ = i1;
}
}
}
// if we want tearing we must tell the cooker
// this way it will generate some space for particles that will be generated during tearing
if (meshDesc.flags & NX_CLF_TEARABLE)
meshDesc.flags |= NX_CLOTH_MESH_TEARABLE;
//cooking
static NxCookingInterface *gCooking = 0;
gCooking = NxGetCookingLib(NX_PHYSICS_SDK_VERSION);
gCooking->NxInitCooking();
gCooking->NxCookClothMesh(meshDesc, UserStream("e:\\cooked.bin", false));
//Meshdata Buffers
NxMeshData mReceiveBuffers;
// here we setup the buffers through which the SDK returns the dynamic cloth data
// we reserve more memory for vertices than the initial mesh takes
// because tearing creates new vertices
// the SDK only tears cloth as long as there is room in these buffers
NxU32 numVertices = meshDesc.numVertices;
NxU32 numTriangles = meshDesc.numTriangles;
NxU32 maxVertices = 2 * numVertices;
mReceiveBuffers.verticesPosBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesNormalBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesPosByteStride = sizeof(NxVec3);
mReceiveBuffers.verticesNormalByteStride = sizeof(NxVec3);
mReceiveBuffers.maxVertices = maxVertices;
mReceiveBuffers.numVerticesPtr = (NxU32*)malloc(sizeof(NxU32));
// the number of triangles is constant, even if the cloth is torn
NxU32 maxIndices = 3 * numTriangles;
mReceiveBuffers.indicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxIndices);
mReceiveBuffers.indicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxIndices = maxIndices;
mReceiveBuffers.numIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// the parent index information would be needed if we used textured cloth
NxU32 maxParentIndices = maxVertices;
mReceiveBuffers.parentIndicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxParentIndices);
mReceiveBuffers.parentIndicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxParentIndices = maxParentIndices;
mReceiveBuffers.numParentIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// init the buffers in case we want to draw the mesh
// before the SDK as filled in the correct values
*mReceiveBuffers.numVerticesPtr = 0;
*mReceiveBuffers.numIndicesPtr = 0;
clothDesc.clothMesh = physicsSDK->createClothMesh(UserStream("e:\\cooked.bin", true));
clothDesc.meshData = mReceiveBuffers;
NxCloth *mCloth;
mCloth = gScene->createCloth(clothDesc);
mCloth->attachToShape(*box2->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
mCloth->attachToShape(*box3->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
//create fluid 1
{
//fluid = CreateFluid(NxVec3(0, 12, -3.5), 15, 0.1, gScene);
}
//create fluid 2
{
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[max_particles];
unsigned initParticlesNum = 0;
//Create particle filled sphere in buffer.
NxVec3 fluidPos(0, 2, 0);
NxVec3 offsetPos(0, 12, -3.5);
float distance = 0.1f;
//#ifdef __PPCGEKKO__
// unsigned sideNum = 12;
//#else
unsigned sideNum = 16;
//#endif
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticlesNum = 0;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
CreateParticleSphere(initParticleData, max_particles, false, offsetPos, NxVec3(0, 0, 0), 0.0f, distance, sideNum);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = max_particles;
fluidDesc.kernelRadiusMultiplier = 2.0f;
fluidDesc.restParticlesPerMeter = 10.0f;
fluidDesc.motionLimitMultiplier = 3.0f;
fluidDesc.packetSizeMultiplier = 8;
fluidDesc.collisionDistanceMultiplier = 0.1;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 40.0f;
fluidDesc.restDensity = 1000.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.0f;
fluidDesc.dynamicFrictionForStaticShapes = 0.05f;
fluidDesc.simulationMethod = NX_F_SPH;
fluidDesc.flags &= ~NX_FF_HARDWARE;
//Add initial particles to fluid creation.
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.4f, 0.5f, 0.9f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
}
//simulate
for (int i = 0; i < 3000; i++)
{
gScene->simulate(1.0f / 60.f);
gScene->flushStream();
//GetPhysicsResults
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
// update fluid status
if (i == 400)
{
MyFluid* fluid = gMyFluids[0];
const ParticleSDK* particles = fluid->getParticles();
unsigned particlesNum = fluid->getParticlesNum();
if (!gUpdates)
{
gUpdates = new ParticleUpdateSDK[max_particles];
}
for (unsigned i = 0; i < particlesNum; i++)
{
ParticleUpdateSDK& update = gUpdates[i];
NxVec3& force = update.force;
force.set(0, 0, 0);
NxU32& flags = update.flags;
if (i >= particlesNum/2)
{
flags = 0;
flags |= NX_FP_DELETE;
}
else
{
flags = 0;
}
}
//在这里更改粒子的属性
NxParticleUpdateData updateData;
updateData.bufferFlag = &gUpdates[0].flags;
updateData.bufferFlagByteStride = sizeof(ParticleUpdateSDK);
fluid->getNxFluid()->updateParticles(updateData);
}
}
//release
if (physicsSDK != NULL)
{
if (gScene != NULL)
physicsSDK->releaseScene(*gScene);
gScene = NULL;
NxReleasePhysicsSDK(physicsSDK);
physicsSDK = NULL;
}
return 1;
}
void SampleCollision::setup()
{
SetTitleString(getName());
#ifdef __PPCGEKKO__
SetHelpString(" a: create rigid bodies");
#else
SetHelpString(" b: create rigid bodies");
#endif
gShadows = false;
// Create objects in the scene
if (!InitCooking(gAllocator, &gErrorStream))
{
printf("\nError: Unable to initialize the cooking library, exiting the sample.\n\n");
return;
}
// Load ASE file
CookASE("fluidSample.ase", gScene, NxVec3(1,10,0));
CookASE("coolFlow.ase", gScene, NxVec3(1,6,-0), NxVec3(1,0.2,1));
CloseCooking();
// Add a box shaped drain.
NxActorDesc boxDrainActor;
NxBoxShapeDesc boxDrainShape;
boxDrainActor.shapes.pushBack(&boxDrainShape);
boxDrainShape.dimensions.set(40,1,40);
boxDrainShape.shapeFlags |= NX_SF_FLUID_DRAIN;
boxDrainActor.globalPose.t.set(0, 0, 0);
gScene->createActor(boxDrainActor);
//Pre cook hotspots
NxBounds3 precookAABB;
precookAABB.set(NxVec3(-20,-20,-20), NxVec3(20,20,20));
// gScene->cookFluidMeshHotspot(precookAABB, PACKET_SIZE_MULTIPLIER, REST_PARTICLES_PER_METER, KERNEL_RADIUS_MULTIPLIER, MOTION_LIMIT_MULTIPLIER, COLLISION_DISTANCE_MULTIPLIER );
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[MAX_PARTICLES];
unsigned initParticlesNum = 0;
NxVec3 fluidPos(0, 11.6, 0);
float distance = 0.1f;
unsigned sideNum = 16;
float rad = sideNum*distance*0.5f;
for (unsigned i=0; i<sideNum; i++)
for (unsigned j=0; j<sideNum; j++)
for (unsigned k=0; k<sideNum; k++)
{
NxVec3 p = NxVec3(i*distance,j*distance,k*distance);
if (p.distance(NxVec3(rad,rad,rad)) < rad)
{
p += fluidPos;
ParticleSDK& newParticle = initParticles[initParticlesNum++];
newParticle.position = p;
newParticle.velocity = NxVec3(0,0,0);
}
}
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = initParticlesNum;
fluidDesc.kernelRadiusMultiplier = KERNEL_RADIUS_MULTIPLIER;
fluidDesc.restParticlesPerMeter = REST_PARTICLES_PER_METER;
fluidDesc.collisionDistanceMultiplier = COLLISION_DISTANCE_MULTIPLIER;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 22.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.4f;
fluidDesc.dynamicFrictionForStaticShapes = 0.03f;
fluidDesc.simulationMethod = NX_F_SPH; //NX_F_NO_PARTICLE_INTERACTION;
if (!gHardwareSimulation)
fluidDesc.flags &= ~NX_FF_HARDWARE;
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.2f,0.3f,0.7f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
delete[] initParticles;
gCameraPos.set(23, 14, 23);
gCameraForward = fluidPos - NxVec3(0, 3, 0) - gCameraPos;
gCameraForward.normalize();
}
