bool CPhysicsManager::AddPhysicController (CPhysicController* controller)
{
assert(controller != NULL);
assert(m_pScene != NULL);
assert(m_pControllerManager != NULL);
bool isOK = false;
NxController* nxController = controller->GetPhXController();
NxCapsuleControllerDesc* nxControllerDesc = controller->GetPhXControllerDesc();
assert(nxControllerDesc!=NULL);
assert(nxController==NULL); //Nos aseguramos que no hayan registrado ya un actor en la escena
nxController = m_pControllerManager->createController(m_pScene, *nxControllerDesc );
if (m_pControllerManager!= NULL)
{
controller->CreateController(nxController, m_pScene);
nxController->getActor()->userData = controller->GetUserData();
//NxShape*const* shape = nxController->getActor()->getShapes();
//shape[0]->setGroup(controller->);
isOK = true;
}
return isOK;
}
/***********************************************************
move character
returned collision flags, collection of NxControllerFlag
***********************************************************/
unsigned int PhysXEngine::MoveCharacter(unsigned int characterIndex, const NxVec3& moveVector)
{
NxU32 collisionFlags;
NxController* ctrl = gManager->getController(characterIndex);
if(ctrl)
ctrl->move(moveVector, COLLIDABLE_MASK, 0.000001f, collisionFlags);
return collisionFlags;
}
NxU32 MoveCharacter(NxU32 characterIndex, NxScene& scene, const NxVec3& dispVector, NxF32 elapsedTime, NxU32 collisionGroups, NxF32 heightDelta)
{
gNbPts = 0;
#ifndef DEBUG_CCT
{
// NxF32 sharpness = 0.1f;
NxF32 sharpness = 1.0f;
NxU32 collisionFlags;
NxVec3 d = dispVector*elapsedTime;
if(heightDelta!=0.0f)
d.y+=heightDelta;
NxController* c = gManager->getController(characterIndex);
c->move(d, collisionGroups, 0.000001f, collisionFlags, sharpness);
return collisionFlags;
}
#else
{
NxF32 sharpness = 1.0f;
NxU32 collisionFlags;
NxVec3 d = dispVector*elapsedTime;
if(heightDelta!=0.0f)
d.y+=heightDelta;
d.y = 0.0f;
NxController* c = gManager->getController(characterIndex);
c->move(d, collisionGroups, 0.000001f, collisionFlags, sharpness);
NxVec3 pos = c->getDebugPosition();
d.x = d.z = 0.0f;
d.y = -100.0f;
NxU32 collisionFlags2;
c->move(d, collisionGroups, 0.001f, collisionFlags2, sharpness);
gLimitPos = c->getDebugPosition();
c->setPosition(pos);
return collisionFlags;
}
#endif
}
/***********************************************************
Render actors
***********************************************************/
void PhysXEngine::RenderActors()
{
glEnable(GL_BLEND);
glDisable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
glLineWidth(2.0f);
// Render all the actors in the scene
NxU32 nbActors = gScene->getNbActors();
NxActor** actors = gScene->getActors();
while (nbActors--)
{
NxActor* actor = *actors++;
glPushMatrix();
glScalef(1, 0.5f, 1);
NxMat34 pose = actor->getShapes()[0]->getGlobalPose();
//glTranslated(pose.t.x, pose.t.y/2. + 0.5, pose.t.z);
float glmat[16]; //4x4 column major matrix for OpenGL.
pose.M.getColumnMajorStride4(&(glmat[0]));
pose.t.get(&(glmat[12]));
//clear the elements we don't need:
glmat[3] = glmat[7] = glmat[11] = 0.0f;
glmat[15] = 1.0f;
glMultMatrixf(&(glmat[0]));
NxBoxShape* boxshap = actor->getShapes()[0]->isBox();
if(boxshap)
{
glColor4f(0.0f,0.0f,1.0f, 1.f);
NxVec3 boxDim = boxshap->getDimensions();
glScalef(boxDim.x, boxDim.y, boxDim.z);
float _sizeX = 1, _sizeY = 1, _sizeZ = 1;
glBegin(GL_LINES);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glEnd();
}
else
{
for(int i=1; i<100; ++i)
{
glColor4f(1.0f,0.0f,0.0f, 1.f);
float _sizeX = (float)i, _sizeY = 0, _sizeZ = (float)i;
glBegin(GL_LINES);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glEnd();
}
}
glPopMatrix();
}
for(unsigned int i=0; i<gManager->getNbControllers(); ++i)
{
NxController* ctrl = gManager->getController(i);
NxExtendedVec3 vec = ctrl->getPosition();
glPushMatrix();
glTranslated(vec.x, vec.y, vec.z);
glColor4f(1.0f,1.0f,0.0f, 1.f);
float _sizeX = 1, _sizeY = 3, _sizeZ = 1;
glBegin(GL_LINES);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(-_sizeX,-_sizeY,-_sizeZ);
glVertex3f(-_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,-_sizeZ);
glVertex3f(_sizeX,_sizeY,-_sizeZ);
glVertex3f(_sizeX,-_sizeY,_sizeZ);
glVertex3f(_sizeX,_sizeY,_sizeZ);
glVertex3f(-_sizeX,-_sizeY,_sizeZ);
glVertex3f(-_sizeX,_sizeY,_sizeZ);
glEnd();
glPopMatrix();
}
glEnable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
}
