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;
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::query(const NxBounds3 &bounds, NxArray<int> &itemIndices, int maxIndices)
{
int x1,y1,z1;
int x2,y2,z2;
int x,y,z;
cellCoordOf(bounds.min, x1,y1,z1);
cellCoordOf(bounds.max, x2,y2,z2);
itemIndices.clear();
for (x = x1; x <= x2; x++)
{
for (y = y1; y <= y2; y++)
{
for (z = z1; z <= z2; z++)
{
int h = hashFunction(x,y,z);
MeshHashRoot &r = mHashIndex[h];
if (r.timeStamp != mTime) continue;
int i = r.first;
while (i >= 0)
{
MeshHashEntry &entry = mEntries[i];
itemIndices.push_back(entry.itemIndex);
if (maxIndices >= 0 && (int)itemIndices.size() >= maxIndices) return;
i = entry.next;
}
}
}
}
}
static void RenderTerrain()
{
if(gTerrainData)
{
renderTerrainTriangles(*gTerrainData, gTouchedTris.size(), &gTouchedTris[0]);
renderTerrain(*gTerrainData);
}
}
// 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);
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::compressIndices(NxArray<int> &itemIndices)
{
if (itemIndices.size() == 0) return;
// sort results
quickSort(itemIndices, 0, itemIndices.size()-1);
// mark duplicates
int i = 0;
while (i < (int)itemIndices.size())
{
int j = i+1;
while (j < (int)itemIndices.size() && itemIndices[i] == itemIndices[j])
{
itemIndices[j] = -1; j++;
}
i = j;
}
// remove duplicates
i = 0;
while (i < (int)itemIndices.size())
{
if (itemIndices[i] < 0)
{
itemIndices[i] = itemIndices[itemIndices.size()-1];
itemIndices.pop_back();
}
else i++;
}
}
// ----------------------------------------------------------------------------------------------------------
void MeshHash::query(const NxVec3 &pos, NxArray<int> &itemIndices, int maxIndices)
{
int x,y,z;
cellCoordOf(pos, x,y,z);
itemIndices.clear();
int h = hashFunction(x,y,z);
MeshHashRoot &r = mHashIndex[h];
if (r.timeStamp != mTime) return;
int i = r.first;
while (i >= 0)
{
MeshHashEntry &entry = mEntries[i];
itemIndices.push_back(entry.itemIndex);
if (maxIndices >= 0 && (int)itemIndices.size() >= maxIndices) return;
i = entry.next;
}
}
void SetHelpString(const char *demoKeyString)
{
char tempString[512];
sprintf(gHelpString, "\nGeneral:\n");
#ifdef __PPCGEKKO__
sprintf(gHelpString, " +,-: choose scene\n");
strcat(gHelpString, " arrows: move/strafe\n");
strcat(gHelpString, " b: shoot sphere\n");
strcat(gHelpString, " HOME: toggle help\n");
strcat(gHelpString, " 1: Reset scene\n");
if(gSampleIndex == 6) strcat(gHelpString, " 2: toggle debug rendering\n");
#else
sprintf(tempString, " 1-%d: choose scene\n", gSamples.size());
strcat(gHelpString, tempString);
strcat(gHelpString, " p: pause\n");
strcat(gHelpString, " o: single step\n");
#ifndef NX_DISABLE_HARDWARE
strcat(gHelpString, " h: hardware on/off\n");
#endif
strcat(gHelpString, " w,a,s,d: move/strafe\n");
strcat(gHelpString, " q,e: move up/down\n");
strcat(gHelpString, " mouse right: pick\n");
strcat(gHelpString, " space: shoot sphere\n");
strcat(gHelpString, " x: toggle shadows\n");
strcat(gHelpString, " n: toggle wireframe\n");
strcat(gHelpString, " F1: toggle help\n");
strcat(gHelpString, " F3,F4: pick push/pull\n");
strcat(gHelpString, " F5: toggle debug rendering\n");
strcat(gHelpString, " F9: toggle vsync\n");
strcat(gHelpString, " F10: Reset scene\n");
#endif
if (demoKeyString)
{
strcat(gHelpString, "\nDemo specific:\n");
strcat(gHelpString, demoKeyString);
}
}
// 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;
}
// -----------------------------------------------------------------------
void VertexWelder::initialize(const NxClothMeshDesc& unweldedMesh)
{
NxArray<NxU32> mapping;
NxReal squaredEpsilon = mEpsilon * mEpsilon;
for (NxU32 i = 0; i < unweldedMesh.numVertices; i++)
{
const NxVec3& curVec = *(const NxVec3*)(((const char*)unweldedMesh.points) + (i * unweldedMesh.pointStrideBytes));
// Find Vertex in newVertices
NxU32 newIndex = 0;
for (newIndex = 0; newIndex < mNewVertices.size(); newIndex++)
{
NxVec3& newVec = mNewVertices[newIndex];
if ((mEpsilon == 0 && newVec == curVec) || (newVec.distanceSquared(curVec) < squaredEpsilon))
//if (newVec == curVec)
{
break;
}
}
if (newIndex == mNewVertices.size())
{
// Not found in previous list
mNewVertices.push_back(curVec);
}
mapping.push_back(newIndex);
}
// Store mapping
mMappingSize = mapping.size();
mMappingSpace = unweldedMesh.numTriangles * 3;
mMappingDomain = mNewVertices.size();
mMapping = (NxU32*)malloc(sizeof(NxU32) * mMappingSpace);
memcpy(mMapping, &mapping[0], sizeof(NxU32) * mMappingSize);
memset(((NxU32*)mMapping) + mMappingSize, 0, sizeof(NxU32) * (mMappingSpace - mMappingSize));
mapping.clear();
if (mNewVertices.size() < unweldedMesh.numVertices)
{
mUsed = true;
}
else
{
return;
}
if (unweldedMesh.flags & NX_MF_16_BIT_INDICES)
{
mNewFaces16 = (NxU16*)malloc(sizeof(NxU16) * unweldedMesh.numTriangles * 3);
}
else
{
mNewFaces32 = (NxU32*)malloc(sizeof(NxU32) * unweldedMesh.numTriangles * 3);
}
for (NxU32 i = 0; i < unweldedMesh.numTriangles; i++)
{
NxU32 triangles[3];
const char* triangleChar = ((const char*)unweldedMesh.triangles) + (unweldedMesh.triangleStrideBytes * i);
if (mNewFaces16)
{
const NxU16* tris = (const NxU16*)triangleChar;
triangles[0] = tris[0];
triangles[1] = tris[1];
triangles[2] = tris[2];
}
else
{
assert(mNewFaces32 != NULL);
const NxU32* tris = (const NxU32*)triangleChar;
triangles[0] = tris[0];
triangles[1] = tris[1];
triangles[2] = tris[2];
}
for (NxU32 j = 0; j < 3; j++)
{
triangles[j] = getMapping(triangles[j]);
}
if (mNewFaces16)
{
for (NxU32 j = 0; j < 3; j++)
{
mNewFaces16[3*i+j] = (NxU16)(triangles[j] & 0xffff);
}
}
else
{
for (NxU32 j = 0; j < 3; j++)
{
mNewFaces32[3*i+j] = triangles[j];
}
}
}
}
void VertexWelder::update(NxMeshData meshData)
{
assert(mWriteVerticesPtr != NULL);
bool updateVertices = (*(meshData.dirtyBufferFlagsPtr) & (NX_MDF_VERTICES_POS_DIRTY | NX_MDF_VERTICES_NORMAL_DIRTY)) > 0;
bool updateIndices = (*(meshData.dirtyBufferFlagsPtr) & (NX_MDF_INDICES_DIRTY | NX_MDF_PARENT_INDICES_DIRTY)) > 0;
NxU32 numNewVertices = *meshData.numVerticesPtr;
NxU32 numTriangles = *meshData.numIndicesPtr / 3;
NxU32 oldMappingDomain = mMappingDomain;
NxArray<NewVertex> newVertices;
NxArray<DifficultVertex> difficultVertices;
mMappingDomainAddition = 0;
if (updateVertices)
{
if (mMappingDomain < numNewVertices)
{
#ifdef DEBUG_WELDER
printf("------------------------------------\n");
#endif
for (NxU32 i = mMappingDomain; i < numNewVertices; i++)
{
NewVertex v;
v.index = i;
v.parent = *(NxU32*)(((char*)meshData.parentIndicesBegin) + meshData.parentIndicesByteStride * i);
while (v.parent >= (NxI32)mMappingDomain) {
v.parent = *(NxU32*)(((char*)meshData.parentIndicesBegin) + meshData.parentIndicesByteStride * v.parent);
}
#ifdef DEBUG_WELDER
printf("New Vertex: %d %d\n", v.index, v.parent);
#endif
newVertices.push_back(v);
}
std::sort(newVertices.begin(), newVertices.end(), sortParent);
}
for (NxU32 i = 0; i < mMappingSize; i++)
{
NxU32 mappedIndex = getMapping(i);
NewVertex newV;
newV.parent = mappedIndex;
// Find all vertices that are a parent for a newly created vertex
NxArray<NewVertex>::iterator found = std::lower_bound(newVertices.begin(), newVertices.end(), newV, sortParent);
while (found != NULL && found->parent == mappedIndex)
{
found->mappedVertices ++;
if (found->mappedVertices == 1)
{
found->unMapParent = i;
#ifdef DEBUG_WELDER
printf("New Vertex Update, %d %d %d\n", found->index, found->parent, found->unMapParent);
#endif
}
else
{
// several unmapped parents
DifficultVertex v;
v.mappedIndex = found->index;
v.unMappedIndex = i;
difficultVertices.push_back(v);
#ifdef DEBUG_WELDER
printf("Difficult Vertex %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
if (found->mappedVertices == 2)
{
v.unMappedIndex = found->unMapParent;
difficultVertices.push_back(v);
#ifdef DEBUG_WELDER
printf("Difficult Vertex %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
}
found->unMapParent = -2;
}
found++;
}
NxVec3& vertex = *(NxVec3*)(((char*)mWriteVerticesPtr) + mWriteVerticesStride * i);
NxVec3& normal = *(NxVec3*)(((char*)mWriteNormalsPtr) + mWriteNormalsStride* i);
//float* texCoord = (float*)(((char*)texCoords) + texStride * i);
const NxVec3& oldVertex = *(NxVec3*)(((char*)meshData.verticesPosBegin) + meshData.verticesPosByteStride * mappedIndex);
const NxVec3& oldNormal = *(NxVec3*)(((char*)meshData.verticesNormalBegin) + meshData.verticesNormalByteStride * mappedIndex);
vertex = oldVertex;
normal = oldNormal;
}
// Adapt the mapping table
std::sort(newVertices.begin(), newVertices.end(), sortIndex);
std::sort(difficultVertices.begin(), difficultVertices.end(), sortDifficultExt);
}
if (updateIndices)
{
std::vector<bool> bitVector(mMappingSpace, false);
#ifdef DEBUG_WELDER
printf("updateIndices: Vertices: %d, Indices %d, gfx Vertices: %d\n", *meshData.numVerticesPtr, *meshData.numIndicesPtr, mMappingSize);
#endif
if (difficultVertices.size() > 0)
{
#ifdef DEBUG_WELDER
printf(" Difficult Vertices:\n");
#endif
for (NxU32 i = 0; i < difficultVertices.size(); i++)
{
DifficultVertex& v = difficultVertices[i];
#ifdef DEBUG_WELDER
printf(" V %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
}
}
assert((meshData.flags & NX_MF_16_BIT_INDICES) == 0);
assert(meshData.indicesByteStride == 4);
for (NxU32 i = 0; i < numTriangles; i++)
{
const NxU32* simTriangle = (NxU32*)(((char*)meshData.indicesBegin) + meshData.indicesByteStride * (i*3));
NxU32* gfxTriangle = (NxU32*)(((char*)mWriteIndicesPtr) + mWriteIndicesStride* i);
if (simTriangle[0] == simTriangle[1] && simTriangle[1] == simTriangle[2])
{
// Face was deleted (outside valid bounds probably)
gfxTriangle[0] = gfxTriangle[1] = gfxTriangle[2] = 0;
continue;
}
for (NxU32 j = 0; j < 3; j++)
{
DifficultVertex v;
v.mappedIndex = simTriangle[j];
v.unMappedIndex = gfxTriangle[j];
if (std::binary_search(difficultVertices.begin(), difficultVertices.end(), v, sortDifficult))
{
NxArray<DifficultVertex>::iterator it = std::lower_bound(difficultVertices.begin(), difficultVertices.end(), v, sortDifficultExt);
#ifdef DEBUG_WELDER
printf("-- Triangle %d (%d) (%d %d %d) (%d %d %d)", i, j, simTriangle[0], simTriangle[1], simTriangle[2], gfxTriangle[0], gfxTriangle[1], gfxTriangle[2]);
printf(" %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
if (it == NULL || it->mappedIndex != simTriangle[j])
{
// element hasn't been found
//insert element
#ifdef DEBUG_WELDER
printf("Adding Diff %d %d\n", v.unMappedIndex, v.mappedIndex);
#endif
difficultVertices.push_back(v);
// sort now, don't know whether this could be done less often, so far the list is extremely small
std::sort(difficultVertices.begin(), difficultVertices.end(), sortDifficultExt);
// get the freshly created item
it = std::lower_bound(difficultVertices.begin(), difficultVertices.end(), v, sortDifficultExt);
// element has to exist
assert(it != NULL);
}
if (it->newUnMappedIndex >= 0)
{
gfxTriangle[j] = it->newUnMappedIndex;
}
else if (bitVector[it->unMappedIndex])
{
#ifdef DEBUG_WELDER
printf("Bit %d is true\n", it->unMappedIndex);
#endif
// create a new gfx vertex
it->newUnMappedIndex = mMappingSize;
addNewVertex(gfxTriangle[j]);
setMapping(it->newUnMappedIndex, simTriangle[j]);
gfxTriangle[j] = it->newUnMappedIndex;
bitVector[it->newUnMappedIndex] = true;
}
else
{
#ifdef DEBUG_WELDER
printf("Set Bit %d to true\n", it->unMappedIndex);
#endif
bitVector[it->unMappedIndex] = true;
it->newUnMappedIndex = it->unMappedIndex;
setMapping(it->newUnMappedIndex, simTriangle[j]);
}
}
else if (simTriangle[j] >= oldMappingDomain) // only used when not a difficult vertex
{
// unamp index and update
for (NxU32 k = 0; k < newVertices.size(); k++)
{
NewVertex& v = newVertices[k];
if (v.index == simTriangle[j] && v.mappedVertices == 1)
{
#ifdef DEBUG_WELDER
printf("- Triangle %d (%d %d %d) (%d %d %d)", i, simTriangle[0], simTriangle[1], simTriangle[2], gfxTriangle[0], gfxTriangle[1], gfxTriangle[2]);
printf(" %d %d\n", v.unMapIndex, v.index);
#endif
if (v.unMapIndex == -1)
{
#ifdef DEBUG_WELDER
printf("Add Simple\n");
#endif
v.unMapIndex = mMappingSize;
//addNewVertex(vertices, vertexStride, normals, normalStride, texCoords, texStride, v.unMapParent);
addNewVertex(gfxTriangle[j]);
gfxTriangle[j] = v.unMapIndex;
setMapping(v.unMapIndex, v.index);
}
else
{
#ifdef DEBUG_WELDER
printf("Use Simple\n");
#endif
gfxTriangle[j] = v.unMapIndex;
}
break; // for (k)
}
}
}
}
}
}
if (updateVertices)
{
mMappingDomain = *meshData.numVerticesPtr;
#ifdef DEBUG_WELDER
static bool sanityCheck = true;
if (sanityCheck)
{
// sanity check
NxU32 temp = 0;
for (NxU32 i = 0; i < mMappingSize; i++)
{
temp = NxMath::max(getMapping(i), temp);
}
if (temp != mMappingDomain - 1)
{
printf("Mapping Domain not right, is %d, should be %d\n", temp, mMappingDomain-1);
assert(0);
}
for (NxU32 i = 0; i < numTriangles; i++)
{
const NxU32* simTriangle = (NxU32*)(((char*)meshData.indicesBegin) + meshData.indicesByteStride * (i*3));
NxU32* gfxTriangle = (NxU32*)(((char*)mWriteIndicesPtr) + mWriteIndicesStride * i);
for (NxU32 j = 0; j < 3; j++)
{
if (simTriangle[j] != getMapping(gfxTriangle[j]))
{
printf("Triangle %d (%d) not correct (%d %d %d) -> (%d %d %d) != (%d %d %d)\n",
i, 3*i+j,
gfxTriangle[0], gfxTriangle[1], gfxTriangle[2],
getMapping(gfxTriangle[0]), getMapping(gfxTriangle[1]), getMapping(gfxTriangle[2]),
simTriangle[0], simTriangle[1], simTriangle[2]);
assert(0);
}
}
}
}
#endif
}
return;
}
bool NxuPhysicsExport::Write(NxJoint *j,const char *userProperties,const char *id)
{
bool ret = false;
NxSceneDesc *current = getCurrentScene();
CustomCopy cc(mCollection,current);
NxJointDesc *joint = 0;
switch ( j->getType() )
{
case NX_JOINT_PRISMATIC:
if ( 1 )
{
::NxPrismaticJointDesc d1;
NxPrismaticJoint *sj = j->isPrismaticJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPrismaticJointDesc *desc = new NxPrismaticJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_REVOLUTE:
if ( 1 )
{
::NxRevoluteJointDesc d1;
NxRevoluteJoint *sj = j->isRevoluteJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxRevoluteJointDesc *desc = new NxRevoluteJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_CYLINDRICAL:
if ( 1 )
{
::NxCylindricalJointDesc d1;
NxCylindricalJoint *sj = j->isCylindricalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxCylindricalJointDesc *desc = new NxCylindricalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_SPHERICAL:
if ( 1 )
{
::NxSphericalJointDesc d1;
NxSphericalJoint *sj = j->isSphericalJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxSphericalJointDesc *desc = new NxSphericalJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_ON_LINE:
if ( 1 )
{
::NxPointOnLineJointDesc d1;
NxPointOnLineJoint *sj = j->isPointOnLineJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointOnLineJointDesc *desc = new NxPointOnLineJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_POINT_IN_PLANE:
if ( 1 )
{
::NxPointInPlaneJointDesc d1;
NxPointInPlaneJoint *sj = j->isPointInPlaneJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPointInPlaneJointDesc *desc = new NxPointInPlaneJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_DISTANCE:
if ( 1 )
{
::NxDistanceJointDesc d1;
NxDistanceJoint *sj = j->isDistanceJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxDistanceJointDesc *desc = new NxDistanceJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_PULLEY:
if ( 1 )
{
::NxPulleyJointDesc d1;
NxPulleyJoint *sj = j->isPulleyJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxPulleyJointDesc *desc = new NxPulleyJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_FIXED:
if ( 1 )
{
::NxFixedJointDesc d1;
NxFixedJoint *sj = j->isFixedJoint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxFixedJointDesc *desc = new NxFixedJointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
case NX_JOINT_D6:
if ( 1 )
{
::NxD6JointDesc d1;
NxD6Joint *sj = j->isD6Joint();
sj->saveToDesc(d1);
addActor( d1.actor[0] );
addActor( d1.actor[1] );
NxD6JointDesc *desc = new NxD6JointDesc;
desc->copyFrom(d1,cc);
joint = static_cast<NxJointDesc *>(desc);
}
break;
default:
break;
}
//Add Limits
// in addition, we also have to write out its limit planes!
j->resetLimitPlaneIterator();
if (j->hasMoreLimitPlanes())
{
// write limit point
joint->mOnActor2 = j->getLimitPoint(joint->mPlaneLimitPoint);
NxArray< NxPlaneInfoDesc *> plist;
// write the plane normals
while (j->hasMoreLimitPlanes())
{
NxPlaneInfoDesc *pInfo = new NxPlaneInfoDesc();
#if NX_SDK_VERSION_NUMBER >= 272
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD, &pInfo->restitution);
#else
j->getNextLimitPlane(pInfo->mPlaneNormal, pInfo->mPlaneD);
#endif
plist.push_back(pInfo);
}
if ( plist.size() )
{
for (int i=plist.size()-1; i>=0; i--)
{
NxPlaneInfoDesc *p = plist[i];
joint->mPlaneInfo.pushBack(p);
}
}
}
if ( joint )
{
if ( id )
{
joint->mId = id;
}
else
{
char scratch[512];
sprintf(scratch,"Joint_%d", current->mJoints.size());
joint->mId = getGlobalString(scratch);
joint->mUserProperties = getGlobalString(userProperties);
}
current->mJoints.push_back(joint);
ret = true;
}
return ret;
}
void render()
{
static Timer t;
if(!gMyPhysX.isPaused())
{
for (NxU32 i = 0; i < gKinematicActors.size(); i++)
{
NxActor* actor = gKinematicActors[i].actor;
NxVec3 pos = actor->getGlobalPosition();
pos += gKinematicActors[i].vel * 1.f/60.f;
actor->moveGlobalPosition(pos);
}
}
gMyPhysX.simulate(t.elapsed_time());
t.reset();
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glColor4f(0.5,0.9,0.5,1.0);
DrawSkyBox(SKYEXTENTS);
drawPlane(SKYEXTENTS);
// Keep physics & graphics in sync
for (NxU32 pass = 0; pass < 2; pass++) {
int nbActors = gMyPhysX.getScene()->getNbActors();
NxActor** actors = gMyPhysX.getScene()->getActors();
actors += nbActors;
while(nbActors--)
{
NxActor* actor = *--actors;
float size;
bool isTrigger = false;
bool isKinematic = actor->isDynamic() && actor->readBodyFlag(NX_BF_KINEMATIC);
NxVec3 color;
NxF32 alpha = 1;
if (actor->isDynamic()) {
if (actor->readBodyFlag(NX_BF_KINEMATIC)) {
color.set(1,0,0);
} else {
color.set(0,1,0);
}
} else {
color.set(0.2f,0.2f,0.2f);
}
if (*(int *)(&actor->userData) < 0)
{
NxI32 triggerNumber = -(*(NxI32 *)(&actor->userData));
NxI32 triggerIndex = triggerNumber - 1;
// This is our trigger
isTrigger = true;
size = 10.0f;
color.z = gNbTouchedBodies[triggerIndex] > 0.5f ? 1.0f:0.0f;
alpha = 0.5f;
if (pass == 0)
continue;
}
else
{
// This is a normal object
size = float(*(int *)(&actor->userData));
if (pass == 1)
continue;
}
float glmat[16];
glPushMatrix();
actor->getGlobalPose().getColumnMajor44(glmat);
glMultMatrixf(glmat);
glColor4f(color.x, color.y, color.z, 1.0f);
glutSolidCube(size*2.0f);
glPopMatrix();
// Handle shadows
if( !isTrigger)
{
glPushMatrix();
const static float ShadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };
glMultMatrixf(ShadowMat);
glMultMatrixf(glmat);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glutSolidCube(size*2.0f);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}
}
