int plSimulationMgr::GetMaterialIdx(NxScene* scene, float friction, float restitution)
{
if (friction == 0.5f && restitution == 0.5f)
return 0;
// Use the nutty PhysX method to search for a matching material
#define kNumMatsPerCall 32
NxMaterial* materials[kNumMatsPerCall];
NxU32 iterator = 0;
bool getMore = true;
while (getMore)
{
int numMats = scene->getMaterialArray(materials, kNumMatsPerCall, iterator);
for (int i = 0; i < numMats; i++)
{
if (materials[i]->getDynamicFriction() == friction &&
materials[i]->getRestitution() == restitution)
{
return materials[i]->getMaterialIndex();
}
}
getMore = (numMats == kNumMatsPerCall);
}
// Couldn't find the material, so create it
NxMaterialDesc desc;
desc.restitution = restitution;
desc.dynamicFriction = friction;
desc.staticFriction = friction;
NxMaterial* mat = scene->createMaterial(desc);
return mat->getMaterialIndex();
}
NxActor* CreateGroundPlane()
{
// Create a plane with default descriptor
NxPlaneShapeDesc planeDesc;
NxActorDesc actorDesc;
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
planeDesc.materialIndex = defaultMaterial->getMaterialIndex();
actorDesc.shapes.pushBack(&planeDesc);
return gScene->createActor(actorDesc);
}
Cutter::Cutter(NxVec3 pos, string fname)
{
m_cutterHeight = 0.0f;
m_cutterRotateAngle = 0.0f;
m_cutterON = false;
m_cutterParams = new CutterParams;
m_attachedTriPod = NULL;
CfgLoader cfg(fname, m_cutterParams->getVariableList());
//D3DXMatrixRotationYawPitchRoll(&dimm->matChassisRotation, rotateChassis.y, rotateChassis.x, rotateChassis.z);
ObjectParams temp;
temp.loadFromFile("Objects\\" + m_cutterParams->chassisModel);
m_objChassis = new Surface(temp.meshName, temp.generateMaterial(), Vec3(0, 0, 0));
temp.loadFromFile("Objects\\" + m_cutterParams->cutterModel);
m_objCutter = new Surface(temp.meshName, temp.generateMaterial(), Vec3(0, 0, 0));
Vec3 min = m_objChassis->boundingBox.Min;
//min.y -= 1.0f;
Vec3 max = m_objChassis->boundingBox.Max;
//max.y += 0.5f;
m_actionBox = new ActionBox(min, max);
core.game->getWorld()->addToWorld(m_objChassis, NO_COLLISION, 0, GROUP_NON_COLLIDABLE, NULL, 1);
core.game->getWorld()->addToWorld(m_objCutter, NO_COLLISION, 0, GROUP_NON_COLLIDABLE, NULL, 1);
m_cutterParams->dimm = Vec3(m_objChassis->boundingBox.getWidth()/2, m_objChassis->boundingBox.getHeight()/6, m_objChassis->boundingBox.getDepth()/2);
m_actor = core.dynamics->createBox(pos, NxVec3(m_cutterParams->dimm), m_cutterParams->density);
SetActorCollisionGroup(m_actor, GROUP_COLLIDABLE_NON_PUSHABLE);
NxMaterial *anisoMaterial = NULL;
//if(!anisoMaterial)
{
//Create an anisotropic material
NxMaterialDesc material;
//Anisotropic friction material
material.restitution = 0.01f;
material.staticFriction = 0.01f;
material.dynamicFriction = 0.01f;
material.dynamicFrictionV = 0.1f;
material.staticFrictionV = 0.1f;
material.dirOfAnisotropy.set(1,0,0);
material.flags = NX_MF_ANISOTROPIC;
anisoMaterial = core.dynamics->getScene()->createMaterial(material);
}
m_actor->getShapes()[0]->setMaterial(anisoMaterial->getMaterialIndex());
}
int DXApp::run(HINSTANCE hInst, HWND hWnd)
{
MSG msg;
HACCEL hAccelTable;
hAccelTable = LoadAccelerators(hInst, (LPCTSTR)IDC_TESTDXPROJ);
QueryPerformanceFrequency((LARGE_INTEGER*)&Frequency);
if(!_p_physdk) return -1;
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, -9800.f, 0);
sceneDesc.collisionDetection = true;
sceneDesc.groundPlane = true;
_p_scene = _p_physdk->createScene(sceneDesc);
if(!_p_scene) return -2;
_time_step = 1.0f/400.0f;
_p_scene->setTiming(_time_step);
NxMaterialDesc ParticleMaterialDesc;
ParticleMaterialDesc.restitution = 0.80f;
//ParticleMaterialDesc.spinFriction = 0.2f;
ParticleMaterialDesc.staticFriction = 0.8f;
ParticleMaterialDesc.dynamicFriction = 0.5f;
NxMaterial* ParticleMaterial = _p_scene->createMaterial(ParticleMaterialDesc);
_particle_material = ParticleMaterial->getMaterialIndex();
D3DPRESENT_PARAMETERS D3DParams;
D3DParams.Windowed = true;
D3DParams.BackBufferWidth = width;
D3DParams.BackBufferHeight = height;
D3DParams.MultiSampleType = D3DMULTISAMPLE_NONE;
D3DParams.MultiSampleQuality = 0;
D3DParams.SwapEffect = D3DSWAPEFFECT_DISCARD;
D3DParams.Flags = 0;
D3DParams.FullScreen_RefreshRateInHz = D3DPRESENT_RATE_DEFAULT;
D3DParams.PresentationInterval = D3DPRESENT_INTERVAL_DEFAULT;
D3DParams.BackBufferFormat = D3DFMT_UNKNOWN;
D3DParams.BackBufferCount = 3;
D3DParams.hDeviceWindow = hWnd;
D3DParams.EnableAutoDepthStencil = true;
D3DParams.AutoDepthStencilFormat = D3DFMT_D16;
if(FAILED(_p_D3D->CreateDevice( D3DADAPTER_DEFAULT,
D3DDEVTYPE_HAL,
hWnd,
D3DCREATE_SOFTWARE_VERTEXPROCESSING,
&D3DParams,
&_p_device)))
{
return -3;
}
D3DXCreateFont(_p_device, 12, 0, FW_NORMAL, 1, 0, ANSI_CHARSET, OUT_DEFAULT_PRECIS, ANTIALIASED_QUALITY, DEFAULT_PITCH|FF_DONTCARE, "Arial", &FPSFont);
_p_device->SetFVF(particle_fvf);
if(FAILED(D3DXCompileShaderFromFile(
strPixelShader,
NULL,
NULL,
"ps_main",
"ps_2_0",
0,
&_p_code,
NULL,
&_p_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Pixel Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreatePixelShader((DWORD*)_p_code->GetBufferPointer(), &_p_shader);
_p_code->Release();
_p_code = NULL;
//SHADOW Buffer Pixel Shaders
if(FAILED(D3DXCompileShaderFromFile(
strShadowPS,
NULL,
NULL,
"ps_main",
"ps_2_0",
0,
&_p_code,
NULL,
&_p_SB_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Pixel Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreatePixelShader((DWORD*)_p_code->GetBufferPointer(), &_p_SB_shader);
_p_code->Release();
_p_code = NULL;
//SHADOW Buffer Vertex Shaders
if(FAILED(D3DXCompileShaderFromFile(
strShadowVS,
NULL,
NULL,
"vs_main",
"vs_2_0",
0,
&_p_code,
NULL,
&_p_SB_vertex_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Vertex Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreateVertexShader((DWORD*)_p_code->GetBufferPointer(), &_p_SB_vshader);
_p_code->Release();
_p_code = NULL;
if(FAILED(D3DXCompileShaderFromFile(
strCombinerShader,
NULL,
NULL,
"ps_main",
"ps_2_b",
0,
&_p_code,
NULL,
&_p_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Pixel Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreatePixelShader((DWORD*)_p_code->GetBufferPointer(), &_p_combinershader);
_p_code->Release();
_p_code = NULL;
if(FAILED(D3DXCompileShaderFromFile(
strScreenAlignShader,
NULL,
NULL,
"vs_main",
"vs_2_0",
0,
&_p_code,
NULL,
&_p_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Vertex Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreateVertexShader((DWORD*)_p_code->GetBufferPointer(), &_p_alignshader);
_p_code->Release();
_p_code = NULL;
_p_device->SetFVF(light_fvf);
if(FAILED(D3DXCompileShaderFromFile(
strLightShader,
NULL,
NULL,
"ps_main",
"ps_2_0",
0,
&_p_code,
NULL,
&_p_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Pixel Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreatePixelShader((DWORD*)_p_code->GetBufferPointer(), &_p_lightshader);
_p_code->Release();
_p_code = NULL;
_p_device->SetFVF(particle_fvf);
if(FAILED(D3DXCompileShaderFromFile(
strVertexShader,
NULL,
NULL,
"vs_main",
"vs_2_0",
0,
&_p_code,
NULL,
&_p_vertex_constant_able )))
{
MessageBox(hWnd, "Error compiling Script", "Vertex Shader Compile Error", MB_ICONERROR);
return 1;
}
_p_device->CreateVertexShader((DWORD*)_p_code->GetBufferPointer(), &_p_vshader);
_p_code->Release();
_p_code = NULL;
hMatProjection = _p_vertex_constant_able->GetConstantByName(NULL, strMatProjection);
hMatView = _p_vertex_constant_able->GetConstantByName(NULL, strMatView);
hMatTexture = _p_vertex_constant_able->GetConstantByName(NULL, strMatTexture);
hMatWorld = _p_vertex_constant_able->GetConstantByName(NULL, strMatWorld);
hLightPosition = _p_vertex_constant_able->GetConstantByName(NULL, strLightPosition);
hDeltaPos = _p_vertex_constant_able->GetConstantByName(NULL, strDeltaPos);
hSBMatProjection = _p_SB_vertex_constant_able->GetConstantByName(NULL, strMatProjection);
hSBMatWorld = _p_SB_vertex_constant_able->GetConstantByName(NULL, strMatWorld);
//Setup our particle mesh.
{
LPD3DXMESH _tmp_mesh;
if(FAILED(D3DXLoadMeshFromX(strCubeMesh, D3DXMESH_VB_MANAGED, _p_device, NULL, NULL, NULL, NULL, &_tmp_mesh)))
{
MessageBox(hWnd, "Error Loading Cube Model", "Mesh Load Error", MB_ICONERROR);
return 1;
}
_tmp_mesh->CloneMeshFVF(D3DXMESH_VB_MANAGED, particle_fvf, _p_device, &_particle_Mesh);
_tmp_mesh->Release();
}
// We now have _p_physdk, _p_scene, _p_D3D, _p_device initialized
// Setup the Camera
CameraAngleX = (D3DX_PI/4)*3;
CameraAngleY = 0;
// Light Setup
DrawLight.location = NxVec3(500, 500, 50);
DrawLight.point_size = _particle_size;
DrawLight.diffuse = (((_particle_color & 0xFF000000)>>24))<<24
| (((_particle_color & 0x00FF0000)>>16))<<16
| (((_particle_color & 0x0000FF00)>>8))<<8
| ((_particle_color & 0x000000FF));
D3DCAPS9 DevCaps;
_p_device->GetDeviceCaps(&DevCaps);
if(FAILED(_p_device->CreateTexture(width, height, 1, D3DUSAGE_RENDERTARGET, D3DFMT_A8R8G8B8, D3DPOOL_DEFAULT, &_screen_buffer, NULL)))
{
MessageBox(hWnd, "Error Creating Texture", "Texture Error", MB_ICONERROR);
return 1;
}
if(DevCaps.NumSimultaneousRTs > 1)
{
bMotionBlur = true;
if(FAILED(_p_device->CreateTexture(width, height, 1, D3DUSAGE_RENDERTARGET, D3DFMT_A8R8G8B8, D3DPOOL_DEFAULT, &_blur_buffer, NULL)))
{
MessageBox(hWnd, "Error Creating BLUR Texture", "Texture Error", MB_ICONERROR);
return 1;
}
if(FAILED(_p_device->CreateTexture(width, height, 1, D3DUSAGE_RENDERTARGET, D3DFMT_A8R8G8B8, D3DPOOL_DEFAULT, &_old_blur_buffer, NULL)))
{
MessageBox(hWnd, "Error Creating BLUR Texture", "Texture Error", MB_ICONERROR);
return 1;
}
//_p_device->CreateRenderTarget(width, height, D3DFMT_D32, D3DMULTISAMPLE_NONE , 0, false, &_blur_buffer, NULL);
}
else
bMotionBlur = false;
if(FAILED(_p_device->CreateTexture(ShadowMapSize, ShadowMapSize, 1, D3DUSAGE_RENDERTARGET, D3DFMT_R32F, D3DPOOL_DEFAULT, &ShadowBuffer, NULL)))
{
MessageBox(hWnd, "Error Creating Shadow Buffer", "Texture Error", MB_ICONERROR);
return 1;
}
while(loop_continue)
{
Frame();
if(PeekMessage(&msg, NULL, 0, 0, 1))
{
if (!TranslateAccelerator(msg.hwnd, hAccelTable, &msg))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
}
return (int) msg.wParam;
}
pRigidBody*pFactory::createRigidBody(CK3dEntity *referenceObject,pObjectDescr& oDescr)
{
CK3dEntity *worldReferenceObject = (CK3dEntity*)GetPMan()->GetContext()->GetObject(oDescr.worlReference);
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
if (!world)
{
xLogger::xLog(XL_START,ELOGWARNING,E_LI_MANAGER,"world object invalid, setting to default world");
world = GetPMan()->getDefaultWorld();
}
pRigidBody*result = world->getBody(referenceObject);
// create minimum object
result = createBody(referenceObject,worldReferenceObject);
if (!result)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"failed");
return NULL;
}
result->setWorld(world);
result->setFlags(oDescr.flags);
result->setHullType(oDescr.hullType);
if (oDescr.density <= 0.001f)
oDescr.density = 1.0f;
if (oDescr.skinWidth <= 0.001f)
oDescr.skinWidth = 0.025f;
result->setDensity(oDescr.density);
bool hierarchy = (oDescr.flags & BF_Hierarchy);
bool isDeformable = oDescr.flags & BF_Deformable;
bool trigger = oDescr.flags & BF_TriggerShape;
//################################################################
//
// Deformable ?
//
pCloth *cloth = NULL;
pClothDesc cDescr;
if (isDeformable)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"deformable feature disabled in this release");
return NULL;
cDescr.setToDefault();
cDescr.worldReference = worldReferenceObject->GetID();
if ( result->getFlags() & BF_Gravity )
{
cDescr.flags |= PCF_Gravity;
}
if ( result->getFlags() & BF_Collision )
{
}
if (!cloth)
{
cloth = pFactory::Instance()->createCloth(referenceObject,cDescr);
if (!cloth)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Cannot create cloth : factory object failed !");
}
}
}
float density = oDescr.density;
VxVector box_s= BoxGetZero(referenceObject);
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
//----------------------------------------------------------------
//
// Fill NxActorDescr
//
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
//
// Fix parameters to default values
actorDesc.density = oDescr.density;
//skin width
if (oDescr.skinWidth<=0.0001f)
oDescr.skinWidth=0.025f;
float radius = result->GetVT3DObject()->GetRadius();
//----------------------------------------------------------------
//
// Create the physic mesh. Externalizing this procedure will corrupt the
// actor description object.
//
switch(oDescr.hullType)
{
//////////////////////////////////////////////////////////////////////////
case HT_Box:
{
NxBoxShapeDesc shape;
if (! (oDescr.flags & BF_Deformable) )
{
shape.dimensions = pMath::getFrom(box_s)*0.5f;
}
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Sphere:
{
NxSphereShapeDesc shape;
if (! (oDescr.flags & BF_Deformable) )
{
shape.radius = radius;
}
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Mesh:
{
NxTriangleMeshDesc myMesh;
myMesh.setToDefault();
pFactory::Instance()->createMesh(result->getWorld()->getScene(),result->GetVT3DObject()->GetCurrentMesh(),myMesh);
NxTriangleMeshShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return false;
}
MemoryWriteBuffer buf;
status = CookTriangleMesh(myMesh, buf);
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't cook mesh!");
return false;
}
shape.meshData = GetPMan()->getPhysicsSDK()->createTriangleMesh(MemoryReadBuffer(buf.data));
shape.density = density;
shape.group = oDescr.collisionGroup;
actorDesc.shapes.pushBack(&shape);
shape.skinWidth = oDescr.skinWidth;
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexMesh:
{
if (result->GetVT3DObject()->GetCurrentMesh())
{
if (result->GetVT3DObject()->GetCurrentMesh()->GetVertexCount()>=256 )
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Only 256 vertices for convex meshes allowed, by Ageia!");
return false;
}
}else
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Object has no mesh!");
return false;
}
NxConvexMeshDesc myMesh;
myMesh.setToDefault();
pFactory::Instance()->createConvexMesh(result->getWorld()->getScene(),result->GetVT3DObject()->GetCurrentMesh(),myMesh);
NxConvexShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return false;
}
MemoryWriteBuffer buf;
status = CookConvexMesh(myMesh, buf);
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't cook convex mesh!");
return false;
}
shape.meshData = GetPMan()->getPhysicsSDK()->createConvexMesh(MemoryReadBuffer(buf.data));
shape.density = density;
actorDesc.shapes.pushBack(&shape);
if (oDescr.skinWidth!=-1.0f)
shape.skinWidth = oDescr.skinWidth;
int h = shape.isValid();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexCylinder:
{
NxConvexShapeDesc shape;
pConvexCylinderSettings &cSettings = oDescr.convexCylinder;
iAssertW( (oDescr.mask & OD_ConvexCylinder),pFactory::Instance()->findSettings(cSettings,result->GetVT3DObject()),
"Hull type has been set to convex cylinder but there is no descriptions passed or activated in the pObjectDescr::mask.Trying object attributes....");
if (cSettings.radius.reference)
cSettings.radius.evaluate(cSettings.radius.reference);
if (cSettings.height.reference)
cSettings.height.evaluate(cSettings.height.reference);
iAssertW( cSettings.isValid() , cSettings.setToDefault(),"");
cSettings.radius.value = cSettings.radius.value > 0.0f ? (cSettings.radius.value*0.5) : (box_s.v[cSettings.radius.referenceAxis] * 0.5f);
cSettings.height.value = cSettings.height.value > 0.0f ? cSettings.height.value : (box_s.v[cSettings.height.referenceAxis] * 0.5f);
bool resultAssert = true;
iAssertWR( pFactory::Instance()->_createConvexCylinderMesh(&shape,cSettings,result->GetVT3DObject()),"",resultAssert);
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Capsule:
{
NxCapsuleShapeDesc shape;
pCapsuleSettingsEx &cSettings = oDescr.capsule;
if (!( oDescr.mask & OD_Capsule) )
{
// try over attribute :
pFactory::Instance()->findSettings(cSettings,result->GetVT3DObject());
}
bool resultAssert = true;
if (cSettings.radius.reference)
cSettings.radius.evaluate(cSettings.radius.reference);
if (cSettings.height.reference)
cSettings.height.evaluate(cSettings.height.reference);
iAssertWR(cSettings.isValid(),cSettings.setToDefault(),resultAssert);
shape.radius = cSettings.radius.value > 0.0f ? (cSettings.radius.value*0.5) : (box_s.v[cSettings.radius.referenceAxis] * 0.5f);
shape.height = cSettings.height.value > 0.0f ? (cSettings.height.value-( 2*shape.radius)) : (box_s.v[cSettings.height.referenceAxis] - ( 2*shape.radius)) ;
shape.density = density;
shape.skinWidth = oDescr.skinWidth;
actorDesc.shapes.pushBack(&shape);
break;
}
case HT_Wheel:
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Wheel shape can be sub shape only!");
return false;
}
}
if ( !isDeformable)
{
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = rot;
}
//----------------------------------------------------------------
//
// Create the final NxActor
//
if (oDescr.flags & BF_Moving)
actorDesc.body = &bodyDesc;
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//----------------------------------------------------------------
//
//
//
result->setActor(actor);
actor->setName(referenceObject->GetName());
result->SetVT3DObject(referenceObject);
actor->userData= result;
//////////////////////////////////////////////////////////////////////////
//Deformable :
if (isDeformable && cloth)
{
pDeformableSettings dSettings;
dSettings.ImpulsThresold = 50.0f;
dSettings.PenetrationDepth= 0.1f ;
dSettings.MaxDeform = 2.0f;
CKParameterOut *poutDS = referenceObject->GetAttributeParameter(GetPMan()->att_deformable);
if (poutDS)
{
pFactory::Instance()->copyTo(dSettings,poutDS);
}
cloth->attachToCore(referenceObject,dSettings.ImpulsThresold,dSettings.PenetrationDepth,dSettings.MaxDeform);
result->setCloth(cloth);
}
//////////////////////////////////////////////////////////////////////////
//
// Extra settings :
//
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&oDescr.massOffsetLinear);
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
result->setKinematic(true);
}
if (result->getFlags() & BF_Moving )
{
result->enableGravity(result->getFlags() & BF_Gravity);
}
if (result->getFlags() & BF_Sleep )
{
result->setSleeping(true);
}
if (oDescr.worlReference == 0)
{
if (GetPMan()->getDefaultWorld())
{
oDescr.worlReference = GetPMan()->getDefaultWorld()->getReference()->GetID();
}
}
//----------------------------------------------------------------
//
// store mesh meta info in the first main mesh
//
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
}
result->enableCollision( (result->getFlags() & BF_Collision), referenceObject );
//----------------------------------------------------------------
//
// Adjust pivot
//
if ( (oDescr.mask & OD_Pivot) )
{
iAssertW1( oDescr.pivot.isValid(),oDescr.pivot.setToDefault());
result->updatePivotSettings(oDescr.pivot,referenceObject);
}else if(pFactory::Instance()->findSettings(oDescr.collision,referenceObject))
result->updatePivotSettings(oDescr.pivot,referenceObject);
//----------------------------------------------------------------
//
// Optimization
//
if ((oDescr.mask & OD_Optimization ))
{
iAssertW1( oDescr.optimization.isValid(),oDescr.optimization.setToDefault());
result->updateOptimizationSettings(oDescr.optimization);
}
else{
if(pFactory::Instance()->findSettings(oDescr.optimization,referenceObject))
{
iAssertW1( oDescr.optimization.isValid(),oDescr.optimization.setToDefault());
result->updateOptimizationSettings(oDescr.optimization);
}
}
//----------------------------------------------------------------
//
// Collision
//
if ((oDescr.mask & OD_Collision))
result->updateCollisionSettings(oDescr.collision,referenceObject);
else if(pFactory::Instance()->findSettings(oDescr.collision,referenceObject))
result->updateCollisionSettings(oDescr.collision,referenceObject);
//----------------------------------------------------------------
//
// Material
//
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
pMaterial &bMaterial = oDescr.material;
if (oDescr.mask & OD_Material)
{
result->updateMaterialSettings(bMaterial,referenceObject);
}else
{
bool hasMaterial = pFactory::Instance()->findSettings(bMaterial,referenceObject);
if (!hasMaterial)
{
if (world->getDefaultMaterial())
{
int z = (int)world->getDefaultMaterial()->userData;
shape->setMaterial(world->getDefaultMaterial()->getMaterialIndex());
}
}else{
iAssertW( bMaterial.isValid(),bMaterial.setToDefault(),
"Material settings were still invalid : ");
NxMaterialDesc nxMatDescr;
pFactory::Instance()->copyTo(nxMatDescr,bMaterial);
NxMaterial *nxMaterial = world->getScene()->createMaterial(nxMatDescr);
if (nxMaterial)
{
shape->setMaterial(nxMaterial->getMaterialIndex());
}
}
}
xLogger::xLog(ELOGINFO,E_LI_MANAGER,"Rigid body creation successful : %s",referenceObject->GetName());
result->setInitialDescription(&oDescr);
//----------------------------------------------------------------
//
// Hierarchy mode fix :
//
if ( (oDescr.flags & BF_Hierarchy) )
oDescr.hirarchy = true;
if ( oDescr.hirarchy )
oDescr.flags << BF_Hierarchy;
if ( (!oDescr.hirarchy) || !(oDescr.flags & BF_Hierarchy) )
return result;
//----------------------------------------------------------------
//
// Parse hirarchy
//
CK3dEntity* subEntity = NULL;
while (subEntity= referenceObject->HierarchyParser(subEntity) )
{
pObjectDescr *subDescr = NULL;
int attTypePBSetup = GetPMan()->getAttributeTypeByGuid(VTS_PHYSIC_ACTOR);
if (subEntity->HasAttribute(attTypePBSetup))
{
subDescr = new pObjectDescr();
CKParameterOut *par = subEntity->GetAttributeParameter(attTypePBSetup);
IParameter::Instance()->copyTo(subDescr,par);
subDescr->version = pObjectDescr::E_OD_VERSION::OD_DECR_V1;
}
if (!subDescr)
continue;
if (subDescr->flags & BF_SubShape)
{
//////////////////////////////////////////////////////////////////////////
//
// Regular Mesh :
//
if (subDescr->hullType != HT_Cloth)
{
//result->addSubShape(NULL,*subDescr,subEntity);
VxQuaternion refQuad;subEntity->GetQuaternion(&refQuad,referenceObject);
VxVector relPos;subEntity->GetPosition(&relPos,referenceObject);
shape = pFactory::Instance()->createShape(referenceObject,*subDescr,subEntity,subEntity->GetCurrentMesh(),relPos,refQuad);
//NxShape *shape = result->getSubShape(subEntity);
if (shape)
{
//----------------------------------------------------------------
//
// check for collision setup
//
//try to get get from child attributes first
/*
if(pFactory::Instance()->findSettings(subDescr->collision,subEntity))
{
result->updateCollisionSettings(subDescr->collision,subEntity);
continue;
}
if ( (subDescr->mask & OD_Optimization) )
{
//if (pFactory::Instance()->findSettings(subDescr->collision,subEntity))
result->updateCollisionSettings(subDescr->collision,subEntity);
}
else if ( (oDescr.mask & OD_Optimization) )
{
result->updateCollisionSettings(oDescr.collision,subEntity);
}else if(pFactory::Instance()->findSettings(subDescr->collision,subEntity))
{
result->updateCollisionSettings(subDescr->collision,subEntity);
}
*/
}
}
//////////////////////////////////////////////////////////////////////////
//
// Cloth Mesh :
//
if (subDescr->hullType == HT_Cloth)
{
//pClothDesc *cloth = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
}
}
//----------------------------------------------------------------
//
// Adjust mass
//
//----------------------------------------------------------------
//
// Collision
//
if ((oDescr.mask & OD_Mass))
result->updateMassSettings(oDescr.mass);
else if(pFactory::Instance()->findSettings(oDescr.mass,referenceObject))
result->updateMassSettings(oDescr.mass);
return result;
nothing:
return result;
}
pRigidBody*pFactory::createRigidBodyFull(CK3dEntity *referenceObject, CK3dEntity *worldReferenceObject)
{
//################################################################
//
// Sanity checks
//
pWorld *world=getManager()->getWorld(worldReferenceObject,referenceObject);
pRigidBody*result = world->getBody(referenceObject);
if(result)
{
result->destroy();
delete result;
result = NULL;
}
//################################################################
//
// Construct the result
//
result = createBody(referenceObject,worldReferenceObject);
if (result)
{
result->setWorld(world);
//----------------------------------------------------------------
//
// Handle different attribute types (Object or pBSetup)
//
int attTypeOld = GetPMan()->GetPAttribute();
int attTypeNew = GetPMan()->getAttributeTypeByGuid(VTS_PHYSIC_ACTOR);
pObjectDescr *oDescr = NULL;
//----------------------------------------------------------------
//
// the old way :
//
if (referenceObject->HasAttribute(attTypeOld))
{
result->retrieveSettingsFromAttribute();
oDescr = pFactory::Instance()->createPObjectDescrFromParameter(referenceObject->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
bool hierarchy = result->getFlags() & BF_Hierarchy;
bool isDeformable = result->getFlags() & BF_Deformable;
bool trigger = (result->getFlags() & BF_TriggerShape);
//----------------------------------------------------------------
//
// the new way
//
if (referenceObject->HasAttribute(attTypeNew))
{
oDescr = new pObjectDescr();
}
result->checkDataFlags();
/*
pObjectDescr *oDescr =
if (!oDescr)
return result;
*/
//################################################################
//
// Older versions have the hierarchy mode settings not the body flags
// We migrate it :
//
if (oDescr->hirarchy)
{
result->setFlags( (result->getFlags() | BF_Hierarchy ));
}
if (hierarchy)
{
oDescr->hirarchy = hierarchy;
}
//################################################################
//
// Deformable ?
//
pCloth *cloth = NULL;
pClothDesc cDescr;
if (isDeformable)
{
cDescr.setToDefault();
cDescr.worldReference = worldReferenceObject->GetID();
if ( result->getFlags() & BF_Gravity )
{
cDescr.flags |= PCF_Gravity;
}
if ( result->getFlags() & BF_Collision )
{
}
if (!cloth)
{
cloth = pFactory::Instance()->createCloth(referenceObject,cDescr);
if (!cloth)
{
xLogger::xLog(XL_START,ELOGERROR,E_LI_MANAGER,"Cannot create cloth : factory object failed !");
}
}
}
//################################################################
//
// Some settings
//
if (result->getSkinWidth()==-1.0f)
{
result->setSkinWidth(0.01f);
}
float radius = referenceObject->GetRadius();
if (referenceObject->GetRadius() < 0.001f )
{
radius = 1.0f;
}
float density = result->getDensity();
VxVector box_s= BoxGetZero(referenceObject);
//################################################################
//
// Calculate destination matrix
//
VxMatrix v_matrix ;
VxVector position,scale;
VxQuaternion quat;
v_matrix = referenceObject->GetWorldMatrix();
Vx3DDecomposeMatrix(v_matrix,quat,position,scale);
NxVec3 pos = pMath::getFrom(position);
NxQuat rot = pMath::getFrom(quat);
//////////////////////////////////////////////////////////////////////////
//create actors description
NxActorDesc actorDesc;actorDesc.setToDefault();
NxBodyDesc bodyDesc;bodyDesc.setToDefault();
NxMaterialDesc *materialDescr = NULL;
NxMaterial *material = NULL;
switch(result->getHullType())
{
//////////////////////////////////////////////////////////////////////////
case HT_Box:
{
NxBoxShapeDesc shape;
if (! isDeformable )
{
shape.dimensions = pMath::getFrom(box_s)*0.5f;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Sphere:
{
NxSphereShapeDesc shape;
if (! isDeformable )
{
shape.radius = radius;
}
shape.density = density;
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Mesh:
{
if (! (result->getFlags() & BF_Deformable) )
{
//xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Can not use a mesh as de");
//return NULL;
}
NxTriangleMeshDesc myMesh;
myMesh.setToDefault();
createMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxTriangleMeshShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
return NULL;
}
MemoryWriteBuffer buf;
status = CookTriangleMesh(myMesh, buf);
if (!status) {
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't cook mesh!");
return NULL;
}
shape.meshData = getManager()->getPhysicsSDK()->createTriangleMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexMesh:
{
if (referenceObject->GetCurrentMesh())
{
if (referenceObject->GetCurrentMesh()->GetVertexCount()>=256 )
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Only 256 vertices for convex meshs allowed, by Ageia!");
goto nothing;
}
}else
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Object has no mesh!");
goto nothing;
}
NxConvexMeshDesc myMesh;
myMesh.setToDefault();
createConvexMesh(world->getScene(),referenceObject->GetCurrentMesh(),myMesh);
NxConvexShapeDesc shape;
bool status = InitCooking();
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't initiate cooking lib!");
goto nothing;
}
MemoryWriteBuffer buf;
status = CookConvexMesh(myMesh, buf);
if (!status) {
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't cook convex mesh!");
goto nothing;
}
shape.meshData = getManager()->getPhysicsSDK()->createConvexMesh(MemoryReadBuffer(buf.data));
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
actorDesc.shapes.pushBack(&shape);
//shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
int h = shape.isValid();
CloseCooking();
if (myMesh.points)
{
delete [] myMesh.points;
}
if (myMesh.triangles)
{
delete []myMesh.triangles;
}
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_ConvexCylinder:
{
NxConvexShapeDesc shape;
if (!_createConvexCylinder(&shape,referenceObject))
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
//////////////////////////////////////////////////////////////////////////
case HT_Capsule:
{
NxCapsuleShapeDesc shape;
if ( !isDeformable )
{
pCapsuleSettings cSettings;
pFactory::Instance()->findSettings(cSettings,referenceObject);
shape.radius = cSettings.radius > 0.0f ? cSettings.radius : box_s.v[cSettings.localRadiusAxis] * 0.5f;
shape.height = cSettings.height > 0.0f ? cSettings.height : box_s.v[cSettings.localLengthAxis] - ( 2*shape.radius) ;
}
shape.density = density;
// shape.materialIndex = result->getMaterial()->getMaterialIndex();
// shape.localPose.t = pMath::getFrom(shapeOffset);
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
actorDesc.shapes.pushBack(&shape);
break;
}
case HT_Wheel:
{
// xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,"Couldn't create convex cylinder mesh");
/*
NxWheelShapeDesc shape;
shape.radius = box_s.z*0.5f;
shape.density = density;
if (result->getSkinWidth()!=-1.0f)
shape.skinWidth = result->getSkinWidth();
if (referenceObject && referenceObject->HasAttribute(GetPMan()->att_wheelDescr ))
{
CKParameter *par = referenceObject->GetAttributeParameter(GetPMan()->att_wheelDescr );
if (par)
{
pWheelDescr *wheelDescr = pFactory::Instance()->copyTo(par);
if (wheelDescr)
{
float heightModifier = (wheelDescr->wheelSuspension + radius ) / wheelDescr->wheelSuspension;
shape.suspension.damper = wheelDescr->springDamping * heightModifier;
shape.suspension.targetValue = wheelDescr->springBias * heightModifier;
shape.suspensionTravel = wheelDescr->wheelSuspension;
shape.lateralTireForceFunction.stiffnessFactor *= wheelDescr->frictionToSide;
shape.longitudalTireForceFunction.stiffnessFactor*=wheelDescr->frictionToFront;
shape.inverseWheelMass = 0.1;
int isValid = shape.isValid();
actorDesc.shapes.pushBack(&shape);
}
}else
{
XString name = result->GetVT3DObject()->GetName();
name << " needs to have an additional wheel attribute attached ! ";
xLogger::xLog(XL_START,ELOGERROR,E_LI_AGEIA,name.CStr());
}
}
*/
break;
}
}
//////////////////////////////////////////////////////////////////////////
//dynamic object ?
if (result->getFlags() & BF_Moving){
actorDesc.body = &bodyDesc;
}
else
actorDesc.body = NULL;
//////////////////////////////////////////////////////////////////////////
//set transformations
actorDesc.density = result->getDensity();
if ( !isDeformable)
{
actorDesc.globalPose.t = pos;
actorDesc.globalPose.M = rot;
}
//////////////////////////////////////////////////////////////////////////
//create the actor
int v = actorDesc.isValid();
NxActor *actor = world->getScene()->createActor(actorDesc);
if (!actor)
{
xLogger::xLog(ELOGERROR,E_LI_AGEIA,"Couldn't create actor");
delete result;
return NULL;
}
//////////////////////////////////////////////////////////////////////////
//set additional settings :
result->setActor(actor);
actor->setName(referenceObject->GetName());
actor->userData= result;
//////////////////////////////////////////////////////////////////////////
//Deformable :
if (isDeformable && cloth)
{
pDeformableSettings dSettings;
dSettings.ImpulsThresold = 50.0f;
dSettings.PenetrationDepth= 0.1f ;
dSettings.MaxDeform = 2.0f;
CKParameterOut *poutDS = referenceObject->GetAttributeParameter(GetPMan()->att_deformable);
if (poutDS)
{
pFactory::Instance()->copyTo(dSettings,poutDS);
}
cloth->attachToCore(referenceObject,dSettings.ImpulsThresold,dSettings.PenetrationDepth,dSettings.MaxDeform);
result->setCloth(cloth);
}
//////////////////////////////////////////////////////////////////////////
//
// Extra settings :
//
if (result->getFlags() & BF_Moving)
{
VxVector massOffsetOut;referenceObject->Transform(&massOffsetOut,&result->getMassOffset());
actor->setCMassOffsetGlobalPosition(pMath::getFrom(massOffsetOut));
}
if (result->getFlags() & BF_Kinematic)
{
result->setKinematic(true);
}
if (result->getFlags() & BF_Moving )
{
result->enableGravity(result->getFlags() & BF_Gravity);
}
//----------------------------------------------------------------
//
// Special Parameters
//
//- look for optimization attribute :
result->checkForOptimization();
//----------------------------------------------------------------
//
// store mesh meta info in the first main mesh
//
NxShape *shape = result->getShapeByIndex();
if (shape)
{
pSubMeshInfo *sInfo = new pSubMeshInfo();
sInfo->entID = referenceObject->GetID();
sInfo->refObject = (CKBeObject*)referenceObject;
shape->userData = (void*)sInfo;
result->setMainShape(shape);
shape->setName(referenceObject->GetName());
pMaterial bMaterial;
bool hasMaterial = pFactory::Instance()->findSettings(bMaterial,referenceObject);
if (!hasMaterial)
{
if (world->getDefaultMaterial())
{
int z = (int)world->getDefaultMaterial()->userData;
shape->setMaterial(world->getDefaultMaterial()->getMaterialIndex());
//pFactory::Instance()->copyTo(bMaterial,world->getDefaultMaterial());
}
}else{
NxMaterialDesc nxMatDescr;
pFactory::Instance()->copyTo(nxMatDescr,bMaterial);
NxMaterial *nxMaterial = world->getScene()->createMaterial(nxMatDescr);
if (nxMaterial)
{
shape->setMaterial(nxMaterial->getMaterialIndex());
}
}
}
result->enableCollision( (result->getFlags() & BF_Collision), referenceObject );
//- handle collisions setup
if (oDescr->version == pObjectDescr::E_OD_VERSION::OD_DECR_V1)
result->updateCollisionSettings(*oDescr,referenceObject);
xLogger::xLog(ELOGINFO,E_LI_MANAGER,"Rigid body creation successful : %s",referenceObject->GetName());
//----------------------------------------------------------------
//
// Parse hierarchy
//
if (!oDescr->hirarchy)
return result;
CK3dEntity* subEntity = NULL;
while (subEntity= referenceObject->HierarchyParser(subEntity) )
{
if (subEntity->HasAttribute(GetPMan()->GetPAttribute()))
{
pObjectDescr *subDescr = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
if (subDescr->flags & BF_SubShape)
{
//////////////////////////////////////////////////////////////////////////
//
// Regular Mesh :
//
if (subDescr->hullType != HT_Cloth)
{
result->addSubShape(NULL,*oDescr,subEntity);
}
//////////////////////////////////////////////////////////////////////////
//
// Cloth Mesh :
//
if (subDescr->hullType == HT_Cloth)
{
//pClothDesc *cloth = pFactory::Instance()->createPObjectDescrFromParameter(subEntity->GetAttributeParameter(GetPMan()->GetPAttribute()));
}
}
}
}
if (oDescr->hirarchy)
{
if (oDescr->newDensity!=0.0f || oDescr->totalMass!=0.0f )
{
result->updateMassFromShapes(oDescr->newDensity,oDescr->totalMass);
}
}
return result;
}
nothing:
return result;
}
/// materials ids are set to shape descs
virtual int GetMaterialID() { return (int)m_pNxMaterial->getMaterialIndex(); }
