PxScene* createScene( const osg::Vec3& gravity, const PxSimulationFilterShader& filter,
physx::PxSceneFlags flags, unsigned int numThreads, bool useGPU )
{
PxSceneDesc sceneDesc( SDK_OBJ->getTolerancesScale() );
sceneDesc.gravity = PxVec3(gravity[0], gravity[1], gravity[2]);
sceneDesc.filterShader = filter;
sceneDesc.flags |= flags;
#if USE_PHYSX_33
if ( useGPU )
{
PxCudaContextManager* cudaManager = Engine::instance()->getOrCreateCudaContextManager();
if ( cudaManager ) sceneDesc.gpuDispatcher = cudaManager->getGpuDispatcher();
}
#endif
if ( !sceneDesc.gpuDispatcher && !sceneDesc.cpuDispatcher )
{
PxDefaultCpuDispatcher* defCpuDispatcher = PxDefaultCpuDispatcherCreate(numThreads);
if ( !defCpuDispatcher )
OSG_WARN << "Failed to create default Cpu dispatcher." << std::endl;
sceneDesc.cpuDispatcher = defCpuDispatcher;
}
PxScene* scene = SDK_OBJ->createScene( sceneDesc );
if ( !scene )
{
OSG_WARN << "Failed to create the physics world." << std::endl;
return NULL;
}
scene->setVisualizationParameter( PxVisualizationParameter::eSCALE, 1.0f );
scene->setVisualizationParameter( PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f );
return scene;
}
PxScene* getScene( PxPhysics* physics )
{
PxSceneDesc scene_desc( physics->getTolerancesScale() );
scene_desc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);
scene_desc.filterShader = PxDefaultSimulationFilterShader;
return physics->createScene( scene_desc );
}
bool PhysXPhysics::VInitialize()
{
VLoadPhysicsConfigXml();
int version = PX_PHYSICS_VERSION;
m_pFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, m_allocatorCallback, m_errorCallback);
m_pPhysicsSdk = PxCreatePhysics(PX_PHYSICS_VERSION, *m_pFoundation, PxTolerancesScale(), true);
if (!m_pPhysicsSdk)
{
BE_ERROR("Error Creating PhysX device.");
return false;
}
PxSceneDesc sceneDesc(m_pPhysicsSdk->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f); //Set Gravity
m_pDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = m_pDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
m_pScene = m_pPhysicsSdk->createScene(sceneDesc);
#ifdef ENABLE_PHYSX_PVD
ConnectPVD();
#endif
return true;
}
bool Apex::CreateScene()
{
PxSceneDesc sceneDesc(mPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
if(!sceneDesc.cpuDispatcher)
{
mCpuDispatcher = PxDefaultCpuDispatcherCreate(mNbThreads);
if(!mCpuDispatcher)
return false;
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
if(!sceneDesc.filterShader)
{
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
}
/*#ifdef PX_WINDOWS
if(!sceneDesc.gpuDispatcher && mCudaContextManager)
{
sceneDesc.gpuDispatcher = mCudaContextManager->getGpuDispatcher();
}
#*/
mProfileZoneManager = &PxProfileZoneManager::createProfileZoneManager(mFoundation);
pxtask::CudaContextManagerDesc cudaContextManagerDesc;
mCudaContextManager = pxtask::createCudaContextManager(*mFoundation,cudaContextManagerDesc, mProfileZoneManager);
sceneDesc.gpuDispatcher = mCudaContextManager->getGpuDispatcher();
mScene.push_back(mPhysics->createScene(sceneDesc));
if (!mScene[mCurrentScene])
return false;
NxApexSceneDesc apexSceneDesc;
// Create the APEX scene...
apexSceneDesc.scene = mScene[mCurrentScene];
if(apexSceneDesc.isValid())
gApexScene.push_back(gApexSDK->createScene(apexSceneDesc));
else
return false;
if(!gApexScene[mCurrentScene])
return false;
gApexScene[mCurrentScene]->setLODResourceBudget(10000.f);
static const physx::PxU32 viewIDlookAtRightHand = gApexScene[mCurrentScene]->allocViewMatrix(physx::apex::ViewMatrixType::LOOK_AT_LH);
static const physx::PxU32 projIDperspectiveCubicRightHand = gApexScene[mCurrentScene]->allocProjMatrix(physx::apex::ProjMatrixType::USER_CUSTOMIZED);
gApexScene[mCurrentScene]->setUseViewProjMatrix(viewIDlookAtRightHand, projIDperspectiveCubicRightHand);
}
void Physics::SetUpPhysX()
{
PxAllocatorCallback *myCallback = new myAllocator();
g_PhysicsFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, *myCallback, gDefaultErrorCallback);
g_Physics = PxCreatePhysics(PX_PHYSICS_VERSION, *g_PhysicsFoundation, PxTolerancesScale());
PxInitExtensions(*g_Physics);
//create physics material
g_PhysicsMaterial = g_Physics->createMaterial(0.5f, 0.5f, 0.5f);
PxSceneDesc sceneDesc(g_Physics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0, -10.0f, 0);
sceneDesc.filterShader = &physx::PxDefaultSimulationFilterShader;
sceneDesc.cpuDispatcher = PxDefaultCpuDispatcherCreate(1);
g_PhysicsScene = g_Physics->createScene(sceneDesc);
}
// Set up PhysX
void InitializePhysX() {
gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
gPvd = PxCreatePvd(*gFoundation);
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate("127.0.0.1", 5425, 10);
gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = contactReportFilterShader/*PxDefaultSimulationFilterShader*/;
sceneDesc.simulationEventCallback = &gContactReportCallback; // contact callback
sceneDesc.contactModifyCallback = &gModContactReportCallback; // modification contact callback
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
if (pvdClient)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
// add some physics objects
AddPhyObjects();
createChain(PxTransform(PxVec3(10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createLimitedSpherical);
createChain(PxTransform(PxVec3(0.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createBreakableFixed);
createChain(PxTransform(PxVec3(-10.0f, 30.0f, -30.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createDampedD6);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 2.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL, 2.0f);
}
// **initPx_CreateScene**
void kzsPhysXFramework::initPx_CreateScene( PxVec3 _gravity )
{
printf( "creating the scene\n" );
// create the scene
PxSceneDesc sceneDesc( gPhysicsSDK->getTolerancesScale() );
sceneDesc.gravity = _gravity;
if ( !sceneDesc.cpuDispatcher )
{
PxDefaultCpuDispatcher* mCpuDispatcher = PxDefaultCpuDispatcherCreate(1);
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
if ( !sceneDesc.filterShader )
{
sceneDesc.filterShader = gDefaultFilterShader;
}
gScene = gPhysicsSDK->createScene( sceneDesc );
if ( !gScene ) cerr << "createScene failed!" << endl;
}
void JF::JFCPhysXDevice::DeviceInit()
{
// 1)
m_Foundation = PxCreateFoundation(PX_PHYSICS_VERSION, m_Allocator, m_ErrorCallback);
// 2) 프로파일러 생성
PxProfileZoneManager* profileZoneManager = &PxProfileZoneManager::createProfileZoneManager(m_Foundation);
m_Physics = PxCreatePhysics(PX_PHYSICS_VERSION, *m_Foundation, PxTolerancesScale(), true, profileZoneManager);
// 3) 그래픽 디버거 연결.
if (m_Physics->getPvdConnectionManager())
{
m_Physics->getVisualDebugger()->setVisualizeConstraints(true);
m_Physics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONTACTS, true);
m_Physics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_SCENEQUERIES, true);
m_Connection = PxVisualDebuggerExt::createConnection(m_Physics->getPvdConnectionManager(), "127.0.0.1", 5425, 10);
}
// 4)
m_Dispatcher = PxDefaultCpuDispatcherCreate(2);
}
/**
* Private method which is used to initialize engine physics scene. Create scene based on scene descriptor,
* set gravity, inner obejcts like cpu dispatcher, filter shader and simulation event callback object.
*/
void PhysicsManager::initializeScene()
{
PxSceneDesc sceneDesc(physicsSDK->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);
if(!sceneDesc.cpuDispatcher)
{
PxDefaultCpuDispatcher* cpuDispatcher = PxDefaultCpuDispatcherCreate(1);
if(!cpuDispatcher)
Logger::getInstance()->saveLog(Log<string>("PxDefaultCpuDispatcherCreate creation error occurred!"));
sceneDesc.cpuDispatcher = cpuDispatcher;
}
if(!sceneDesc.filterShader)
sceneDesc.filterShader = defaultFilterShader;
scene = physicsSDK->createScene(sceneDesc);
if(!scene)
Logger::getInstance()->saveLog(Log<string>("Scene creation error occurred!"));
scene->setVisualizationParameter(PxVisualizationParameter::eSCALE,1.0);
scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES,1.0f);
scene->setSimulationEventCallback(collisionHandler);
}
void InitializePhysX(vector<PhysXObject*>* &cubeList)
{
allActors = new vector<PhysXObject*>;
PxFoundation* foundation = PxCreateFoundation(PX_PHYSICS_VERSION,
gDefaultAllocatorCallback, gDefaultErrorCallback);
gPhysicsSDK = PxCreatePhysics(PX_PHYSICS_VERSION, *foundation, PxTolerancesScale());
if(gPhysicsSDK == NULL)
{
exit(1);
}
PxInitExtensions(*gPhysicsSDK);
PxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());
sceneDesc.gravity=PxVec3(0.0f, -9.8f, 0.0f);
if(!sceneDesc.cpuDispatcher)
{
PxDefaultCpuDispatcher* mCpuDispatcher = PxDefaultCpuDispatcherCreate(3);
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
if(!sceneDesc.filterShader)
sceneDesc.filterShader = gDefaultFilterShader;
gScene = gPhysicsSDK->createScene(sceneDesc);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
//1) Create Planes
PxMaterial* mMaterial = gPhysicsSDK->createMaterial(0.5, 0.5, 0.5);
for(int i = 0; i < 1; i++)
{
PhysXObject* plane = new PhysXObject;
plane->actor = gPhysicsSDK->createRigidStatic(planePoses[i]);
PxShape* shape = plane->actor->createShape(PxPlaneGeometry(), *mMaterial);
gScene->addActor(*(plane->actor));
allActors->push_back(plane);
planes.push_back(plane);
}
//2) Create Planets
PxReal planetDensity = 1.0f;
PxVec3 planetDimensions(2,2,2);
PxBoxGeometry planetGeom(planetDimensions);
PxTransform planetTransform;
for(int i = 0; i < PLANET_NUM; i++)
{
planetTransform = planetTransforms[i];
PhysXObject* planet = new PhysXObject;
planet->actor = PxCreateStatic(*gPhysicsSDK, planetTransform, planetGeom, *mMaterial);
EnableGravity(planet->actor);
gScene->addActor(*(planet->actor));
allActors->push_back(planet);
planets.push_back(planet);
//HACK:
/* Create the joint handlers for distance limiting
/* We need to do this because a distance joint attached to an actor
/* seems to void collisions between those two actors (i.e. "phases through")
/* So we make another actor in the same position to hold the position
PhysXObject* newHandle = new PhysXObject;
newHandle->actor = PxCreateStatic(*gPhysicsSDK, tran, boxgeom, *mMaterial);
gScene->addActor(*(newHandle->actor));
planetJointHandles.push_back(newHandle);
//We also don't need to worry about drawing the joints, for obvious reasons
*/
}
//3) Create Cubes
PxReal density = 1.0f;
PxTransform transform(PxVec3(0.0f, 0.0f, 0.0f), PxQuat::createIdentity());
PxVec3 dimensions(0.5, 0.5, 0.5);
PxBoxGeometry geometry(dimensions);
for(int i = 0; i < BLOCK_NUM; i++)
{
srand((time(NULL) * i) + time(NULL));
transform.p = PxVec3((float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT),
(float)((rand() % (2 * PLANET_HEIGHT)) - PLANET_HEIGHT));
PhysXObject* cube = new PhysXObject;
cube->actor = PxCreateDynamic(*gPhysicsSDK, transform, geometry, *mMaterial, density);
//Create Distance Joints between planets here
//Not included for run time optimizations
//End creating distance joints
//Create D6 Joints between planets here
//Not included for run time optimizations
//End creating distance joints
cube->actor->isRigidDynamic()->setAngularDamping(0.75);
cube->actor->isRigidDynamic()->setLinearVelocity(PxVec3(0,0,0));
gScene->addActor(*(cube->actor));
allActors->push_back(cube);
boxes.push_back(cube);
}
cubeList = allActors;
}
void GameWorld::init()
{
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
if (!gFoundation) {
printf("PxCreateFoundation failed!");
}
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true);
if (!PxInitExtensions(*gPhysics)) {
printf("init error pxinit\n");
}
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(gPhysics->getTolerancesScale()));
if (!gCooking) {
printf("PxCreateCooking failed!\n");
}
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -98.0f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
gScene = gPhysics->createScene(sceneDesc);
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 0, 1, 400), *gMaterial);
gScene->addActor(*groundPlane);
groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 0, -1, 400), *gMaterial);
gScene->addActor(*groundPlane);
groundPlane = PxCreatePlane(*gPhysics, PxPlane(1, 0, 0, 280), *gMaterial);
gScene->addActor(*groundPlane);
groundPlane = PxCreatePlane(*gPhysics, PxPlane(-1, 0, 0, 280), *gMaterial);
gScene->addActor(*groundPlane);
groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, -1, 0, 600), *gMaterial);
gScene->addActor(*groundPlane);
groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, -1), *gMaterial);
gScene->addActor(*groundPlane);
gGround.loadFromObj(GROUND_FILE);
gGround.cookingMesh(*gPhysics, *gCooking);
gGround.createActor(*gMaterial, *gPhysics);
gScene->addActor(*(gGround.actor));
//包围盒
box.loadFromObj(BOX_FILE);
//初始化飞球
pxFlyBall = new PxFlyBall(Color4f(1.0, 200 / 255.0, 0), 5.0);
Material mtl;
PerlinImage perlinYellow = createPerlinLightYelloImage(40, 40, 6, 1.8);
PerlinTexture(perlinYellow, mtl.kd_texid);
mtl.ka = Color4f(1, 1, 1, 1);
mtl.kd = Color4f(1, 1, 1, 1);
mtl.ks = Color4f(1, 1, 1, 1);
pxFlyBall->mtl = mtl;
pxFlyBall->createPxBall(*gPhysics, PxTransform(PxVec3(rand() % 500 - 250, 100, rand() % 700 - 350)), *gMaterial);
pxFlyBall->pxActor->setAngularDamping(0.5);
perlinYellow.clear();
gScene->addActor(*(pxFlyBall->pxActor));
//初始化白球
pxControlBall = new PxControlBall(Color4f(1.0, 1.0, 1.0), 5.0);
PerlinImage perlinGray = createPerlinGrayImage(40, 40, 6, 1.8);
PerlinTexture(perlinGray, mtl.kd_texid);
mtl.ka = Color4f(1, 1, 1, 1);
mtl.kd = Color4f(1, 1, 1, 1);
mtl.ks = Color4f(0, 0, 0, 0);
pxControlBall->mtl = mtl;
pxControlBall->createPxBall(*gPhysics, PxTransform(PxVec3(0, 50, 0)), *gMaterial);
pxControlBall->pxActor->setAngularDamping(0.5);
perlinGray.clear();
gScene->addActor(*(pxControlBall->pxActor));
GLfloat light1PosType[] = { -5.0,1.0,5.0,0.0 };
GLfloat whiteColor[] = { 1.0,1.0,1.0,1.0 };
GLfloat darkColor[] = { 0.4,0.4,0.4,1 };
GLfloat specColor[] = { 1,1,1,1 };
GLfloat lightColor[] = { 1,1,1,1 };
GLfloat globalAmbient[] = { 0.2,0.2,0.2,1.0 };
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, globalAmbient);
glLightfv(GL_LIGHT1, GL_AMBIENT, darkColor);
glLightfv(GL_LIGHT1, GL_DIFFUSE, lightColor);
glLightfv(GL_LIGHT1, GL_SPECULAR, specColor);
glLightfv(GL_LIGHT1, GL_POSITION, light1PosType);
}
void Scene::initializePhysics(void)
{
// database record for scene location
database::LocationInfo* locationInfo = database::LocationInfo::getRecord( _location->getDatabaseId() );
// find collision geometry
engine::IClump* collisionClump = NULL;
callback::ClumpL clumpL;
_extrasAsset->forAllClumps( callback::enumerateClumps, &clumpL );
for( callback::ClumpI clumpI=clumpL.begin(); clumpI!=clumpL.end(); clumpI++ )
{
if( strcmp( (*clumpI)->getName(), "CollisionGeometry" ) == 0 )
{
collisionClump = (*clumpI);
break;
}
}
assert( collisionClump != NULL );
collisionClump->getFrame()->translate( Vector3f( 0,0,0 ) );
collisionClump->getFrame()->getLTM();
// determine physics scene bounds by collision geometry
callback::AtomicL atomicL;
collisionClump->forAllAtomics( callback::enumerateAtomics, &atomicL );
assert( atomicL.size() == 1 );
_collisionGeometry = *atomicL.begin();
Vector3f sceneInf = _collisionGeometry->getAABBInf();
Vector3f sceneSup = _collisionGeometry->getAABBSup();
_phSceneBounds = PxBounds3 (PxVec3(sceneInf[0], sceneInf[1], sceneInf[2]),
PxVec3(sceneSup[0], sceneSup[1], sceneSup[2]));
// determine limits of scene
_phSceneLimits.maxNbActors = locationInfo->physicsLimits.numActors;
_phSceneLimits.maxNbBodies = locationInfo->physicsLimits.numBodies;
//_phSceneLimits.maxNbJoints = locationInfo->physicsLimits.numJoints;
_phSceneLimits.maxNbDynamicShapes = locationInfo->physicsLimits.numDynamicShapes;
_phSceneLimits.maxNbStaticShapes = locationInfo->physicsLimits.numStaticShapes;
// initialize physics scene
PxSceneDesc _phSceneDesc(PxGetPhysics().getTolerancesScale());
_phSceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
_phSceneDesc.broadPhaseType = PxBroadPhaseType::eSAP;
//PHYSX3 fix collision filters
//_phSceneDesc.userNotify = NULL;
//_phSceneDesc.userTriggerReport = this;
//_phSceneDesc.userContactReport = this;
//_phSceneDesc.maxTimestep = simulationStepTime;
//_phSceneDesc.maxIter = 1;
//_phSceneDesc.timeStepMethod = NX_TIMESTEP_VARIABLE;
//_phSceneDesc.groundPlane = false;
//_phSceneDesc.boundsPlanes = false;
//_phSceneDesc.collisionDetection = true;
_phSceneDesc.userData = this;
// create scene
//mNbThreads = PxMax(PxI32(shdfnd::Thread::getNbPhysicalCores())-1, 0);
//#ifdef PX_PS3
// mNbThreads = 1; // known issue, 0 worker threads and SPU batched query can deadlock.
//#endif
//PHYSX3
mNbThreads = 1;
if(!_phSceneDesc.cpuDispatcher) {
mCpuDispatcher = PxDefaultCpuDispatcherCreate(mNbThreads);
//PHYSX3
//if(!mCpuDispatcher)
// fatalError("PxDefaultCpuDispatcherCreate failed!");
_phSceneDesc.cpuDispatcher = mCpuDispatcher;
}
if(!_phSceneDesc.filterShader)
_phSceneDesc.filterShader = gDefaultFilterShader;
#ifdef PX_WINDOWS
if(!_phSceneDesc.gpuDispatcher && mCudaContextManager) {
_phSceneDesc.gpuDispatcher = mCudaContextManager->getGpuDispatcher();
}
#endif
_phScene = PxGetPhysics().createScene(_phSceneDesc);
assert( _phScene );
// post-creation scene settings
_phScene->setVisualizationCullingBox(_phSceneBounds);
_phScene->setLimits(_phSceneLimits);
// default material
PxMaterial* defaultMaterial = PxGetPhysics().createMaterial(0.25f, 0.25f, 0.5f);
// add ground plane
PxRigidStatic* groundPlane = PxCreatePlane(PxGetPhysics(), PxPlane(0,1,0,0), *defaultMaterial);
_phScene->addActor(*groundPlane);
// fixed flesh material
_phFleshMaterial = PxGetPhysics().createMaterial(0.75f, 0.75f, 0.25f);
_phFleshMaterial->setFrictionCombineMode(PxCombineMode::eMAX);
_phFleshMaterial->setRestitutionCombineMode(PxCombineMode::eMULTIPLY);
assert( _phFleshMaterial );
// moving flesh material
_phMovingFleshMaterial = PxGetPhysics().createMaterial(0.25f, 0.25f, 0.125f);
_phMovingFleshMaterial->setFrictionCombineMode(PxCombineMode::eMAX);
_phMovingFleshMaterial->setRestitutionCombineMode(PxCombineMode::eMULTIPLY);
assert( _phMovingFleshMaterial );
// cloth material
_phClothMaterial = PxGetPhysics().createMaterial(0.995f, 0.995f, 0.05f);
_phClothMaterial->setFrictionCombineMode(PxCombineMode::eMAX);
_phClothMaterial->setRestitutionCombineMode(PxCombineMode::eMULTIPLY);
assert( _phClothMaterial );
// build terrain mesh data
Matrix4f collisionGeometryLTM = _collisionGeometry->getFrame()->getLTM();
Vector3f worldVertex;
engine::Mesh* mesh = _collisionGeometry->getGeometry()->createMesh();
_phTerrainVerts = new PxVec3[mesh->numVertices];
_phTerrainTriangles = new PxU32[3*mesh->numTriangles];
//PHYSX3
//_phTerrainMaterials = new NxMaterialIndex[mesh->numTriangles];
unsigned int i;
for( i=0; i<mesh->numVertices; i++ )
{
worldVertex = Gameplay::iEngine->transformCoord( mesh->vertices[i], collisionGeometryLTM );
_phTerrainVerts[i] = wrap( worldVertex );
}
for( i=0; i<mesh->numTriangles; i++ )
{
_phTerrainTriangles[i*3+0] = mesh->triangles[i].vertexId[0];
_phTerrainTriangles[i*3+1] = mesh->triangles[i].vertexId[1];
_phTerrainTriangles[i*3+2] = mesh->triangles[i].vertexId[2];
//PHYSX3
//_phTerrainMaterials[i] = 0;
}
// initialize terrain descriptor
_phTerrainDesc.points.count = mesh->numVertices;
_phTerrainDesc.points.data = _phTerrainVerts;
_phTerrainDesc.points.stride = sizeof(PxVec3);
_phTerrainDesc.triangles.count = mesh->numTriangles;
_phTerrainDesc.triangles.data = _phTerrainTriangles;
_phTerrainDesc.triangles.stride = 3 * sizeof(PxU32);
//PHYSX3
//_phTerrainDesc.materialIndexStride = sizeof( PxMaterialIndex );
//_phTerrainDesc.materialIndices = _phTerrainMaterials;
//_phTerrainDesc.heightFieldVerticalAxis = NX_NOT_HEIGHTFIELD;
//_phTerrainDesc.heightFieldVerticalExtent = -1000;
// cook terrain
_phTerrainMesh = Gameplay::pxCooking->createTriangleMesh(_phTerrainDesc, PxGetPhysics().getPhysicsInsertionCallback());
assert (_phTerrainMesh);
_phTerrain = PxGetPhysics().createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f), PxQuat(PxHalfPi / 60.0f, PxVec3(0.0f, 1.0f, 0.0f))));
assert (_phTerrain);
PxTriangleMeshGeometry triGeom(_phTerrainMesh);
PxShape* triangleMeshShape = _phTerrain->createShape(triGeom, *defaultMaterial);
assert (triangleMeshShape);
_phScene->addActor(*_phTerrain);
//PHYSX3
// retrieve terrain shape
_phTerrain->getShapes(&_phTerrainShape, 1);
assert( _phTerrainShape );
Gameplay::iEngine->releaseMesh( mesh );
}
