void createChain(const PxTransform& t, PxU32 length, const PxGeometry& g, PxReal separation, JointCreateFunction createJoint)
{
PxVec3 offset(separation / 2, 0, 0);
PxTransform localTm(offset);
PxRigidDynamic* prev = NULL;
for (PxU32 i = 0; i<length; i++)
{
PxRigidDynamic* current = PxCreateDynamic(*gPhysics, t*localTm, g, *gMaterial, 1.0f);
(*createJoint)(prev, prev ? PxTransform(offset) : t, current, PxTransform(-offset));
gScene->addActor(*current);
prev = current;
localTm.p.x += separation;
}
}
// add some physics objects into the scene
void AddPhyObjects()
{
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
gScene->addActor(*groundPlane);
PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
body = gPhysics->createRigidDynamic(localTmS);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
shape->release();
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(PxVec3(0, -5, -10));
gScene->addActor(*dynamic);
// add capsule into the scene
shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
body = gPhysics->createRigidDynamic(localTmC);
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
// add a static box as the trigger
shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
body = gPhysics->createRigidDynamic(localTmTrigger);
shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
body->attachShape(*shape);
body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
gScene->addActor(*body);
shape->release();
}
void JF::Component::ColisionBox::Reset()
{
// 1)
auto* pTransform = GetOwner()->GetComponent<JF::Component::Transform>();
XMFLOAT4X4& rMatrix = pTransform->GetTransformMatrix();
assert(pTransform != nullptr);
// 2)
m_pShape = m_pPXDevice->GetPhysics()->createShape(
PxBoxGeometry(m_Size.x, m_Size.y, m_Size.z),
*m_pPXDevice->GetMaterial());
// 3)
PxTransform localTm( PxMat44(
PxVec4(rMatrix._11, rMatrix._12, rMatrix._13, rMatrix._14),
PxVec4(rMatrix._21, rMatrix._22, rMatrix._23, rMatrix._24),
PxVec4(rMatrix._31, rMatrix._32, rMatrix._33, rMatrix._34),
PxVec4(rMatrix._41, rMatrix._42, rMatrix._43, rMatrix._44)
));
// 4)
m_pRigidBody = m_pPXDevice->GetPhysics()->createRigidDynamic(localTm);
m_pRigidBody->attachShape(*m_pShape);
PxRigidBodyExt::updateMassAndInertia(*m_pRigidBody, 10.0f);
m_pRigidBody->setLinearVelocity(PxVec3(0, 10, 2.0f));
m_pPXDevice->GetScene()->addActor(*m_pRigidBody);
// 5)
float cX = 0.0f;
float cY = 0.0f;
float cZ = 0.0f;
float eX = 1.0f;
float eY = 1.0f;
float eZ = 1.0f;
// 정점
JF::Vertex::PosColor vertices[] =
{
// 1, 1, 1 (0)
{ XMFLOAT3(cX + eX, cY + eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, 1, -1 (1)
{ XMFLOAT3(cX + eX, cY + eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, 1, 1 (2)
{ XMFLOAT3(cX + -eX, cY + eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, 1, -1 (3)
{ XMFLOAT3(cX + -eX, cY + eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, -1, 1 (4)
{ XMFLOAT3(cX + eX, cY + -eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// 1, -1, -1 (5)
{ XMFLOAT3(cX + eX, cY + -eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, -1, 1 (6)
{ XMFLOAT3(cX + -eX, cY + -eY, cZ + eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) },
// -1, -1, -1 (7)
{ XMFLOAT3(cX + -eX, cY + -eY, cZ + -eZ), XMFLOAT4(1.0f, 0.0f, 0.0f, 1.0f) }
};
m_VertexSize = ARRAYSIZE(vertices);
// 인덱스
UINT indices[] =
{
// Top
0,1, 1,3, 3,2, 0,2,
// Bottom
4,5, 5,7, 7,6, 6,4,
// Top - Bottom
0,4, 1,5, 2,6, 3,7
};
m_indexCnt = ARRAYSIZE(indices);
// Create
gRENDERER->CreateVertexBuffer(&vertices[0], sizeof(JF::Vertex::PosColor) * m_VertexSize, &m_VertBuff);
gRENDERER->CreateIndexBuffer(&indices[0], sizeof(UINT) * m_indexCnt, &m_IndexBuff);
}