void InitPhysX() {
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);
gPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale() );
if(gPhysicsSDK == NULL) {
cerr<<"Error create PhysX."<<endl;
}
PxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);
sceneDesc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
gScene = gPhysicsSDK->createScene(sceneDesc);
PxMaterial* material = gPhysicsSDK->createMaterial(0.5,0.5,0.5);
PxTransform planePos = PxTransform(PxVec3(0.0f),PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));
PxRigidStatic* plane = gPhysicsSDK->createRigidStatic(planePos);
plane->createShape(PxPlaneGeometry(), *material);
gScene->addActor(*plane);
PxTransform boxPos(PxVec3(0.0f, 10.0f, 0.0f));
PxBoxGeometry boxGeometry(PxVec3(2,2,2));
gBox = PxCreateDynamic(*gPhysicsSDK, boxPos, boxGeometry, *material, 1.0f);
gScene->addActor(*gBox);
}
void
PhysXRigidManager::addStaticBody(const std::string & scene, physx::PxScene * world, physx::PxCooking * mCooking, nau::physics::IPhysics::BoundingVolume shape, physx::PxMaterial * material) {
PxPhysics *gPhysics = &(world->getPhysics());
PxRigidStatic * staticActor;
PxTransform trans = PxTransform(PxMat44(rigidBodies[scene].info.extInfo.transform));
switch (shape.sceneShape)
{
case nau::physics::IPhysics::BOX:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxBoxGeometry(shape.max[0], shape.max[1], shape.max[2]),
*material
);
}
break;
case nau::physics::IPhysics::SPHERE:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxSphereGeometry(shape.max[0]),
*material
);
}
break;
case nau::physics::IPhysics::CAPSULE:
{
staticActor = PxCreateStatic(
world->getPhysics(),
trans,
PxCapsuleGeometry(
shape.max[0],
shape.max[1]
),
*material
);
}
break;
default:
{
if (scene.compare("plane") == 0) {
staticActor = PxCreatePlane(
world->getPhysics(),
PxPlane(0.0f, 1.0f, 0.0f, 0.0f),
*material
);
}
else {
staticActor = gPhysics->createRigidStatic(trans);
PxTriangleMeshGeometry triGeom(gPhysics->createTriangleMesh(*getTriangleMeshGeo(world, mCooking, rigidBodies[scene].info.extInfo, true)));
//triGeom.triangleMesh = gPhysics->createTriangleMesh(*getTriangleMeshGeo(world, mCooking, rigidBodies[scene].extInfo, true));
staticActor->createShape(triGeom, *material);
}
}
break;
}
staticActor->userData = static_cast<void*> (new std::string(scene));
world->addActor(*staticActor);
rigidBodies[scene].info.actor = staticActor;
}
void
PhsXWorld::_addRigid(float mass, float friction, float restitution, std::shared_ptr<nau::scene::IScene> &aScene, std::string name, nau::math::vec3 aVec) {
PxPhysics *gPhysics = &(m_pDynamicsWorld->getPhysics());
if (mass == 0.0f) {
PxRigidStatic* staticActor;
if (name.compare("plane") == 0) {
staticActor = PxCreatePlane(*gPhysics,
PxPlane(0.0f, 1.0f, 0.0f, 0.0f),
*(gPhysics->createMaterial(friction, friction, restitution))
);
}
else {
/*if (name.compare("box") == 0) {
staticActor = PxCreateStatic(*gPhysics,
PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))),
PxBoxGeometry(1.0f,1.0f,1.0f),
*(gPhysics->createMaterial(1.0f, 1.0f, 0.6f))
);
}
else {*/
staticActor = gPhysics->createRigidStatic(PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))));
PxTriangleMeshGeometry triGeom;
triGeom.triangleMesh = gPhysics->createTriangleMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene));
staticActor->createShape(triGeom, *(gPhysics->createMaterial(friction, friction, restitution)));
//}
}
staticActor->userData = aScene.get();
m_pDynamicsWorld->addActor(*staticActor);
}
else {
PxRigidDynamic* dynamic;
//if (name.compare("ball") == 0) {
// dynamic = PxCreateDynamic(*gPhysics,
// PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix()))),
// PxSphereGeometry(1),
// *(gPhysics->createMaterial(0.5f, 0.5f, 0.6f)),
// 10.0f
// );
// //dynamic->setLinearVelocity(PxVec3(0, -50, -100));
//}
//else {
PxTransform trans = PxTransform(PxMat44(const_cast<float*> (aScene->getTransform().getMatrix())));
dynamic = gPhysics->createRigidDynamic(trans);
PxConvexMesh * convexMesh = gPhysics->createConvexMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene, false));
PxConvexMeshGeometry convGeom(convexMesh);
//PxConvexMeshGeometry convGeom(convexMesh, PxMeshScale(0.5f));
//convGeom.convexMesh = gPhysics->createConvexMesh(getTriangleMeshGeo(m_pDynamicsWorld, aScene, false));
//PxShape *shape = dynamic->createShape(convGeom, *(gPhysics->createMaterial(0.5f, 0.5f, 0.6f)), PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE);
PxShape *shape = dynamic->createShape(convGeom, *(gPhysics->createMaterial(friction, friction, restitution)));
//shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
//dynamic->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, false);
//}
dynamic->userData = aScene.get();
//dynamic->setAngularDamping(0.5f);
//dynamic->setLinearVelocity(velocity);
m_pDynamicsWorld->addActor(*dynamic);
}
}