void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
// gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
// capsule2->setLinearDamping(0.1);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = NxVec3(0,5,0);
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
gSelectedActor = capsule2;
gForceStrength = 50000;
gCameraSpeed = 10;
// Initialize HUD
InitializeHUD();
InitializeSpecialHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void SetupTearingScene()
{
sprintf(gTitleString, "Tearing Demo");
// Create the objects in the scene
groundPlane = CreateGroundPlane();
NxActor* bar = CreateBox(NxVec3(0,12,0), NxVec3(3,0.5,0.5), 0);
NxActor* box = CreateBox(NxVec3(-2.3,4.0,0), NxVec3(0.5,0.5,0.5), 10);
// Cloth
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(2.5,12,0);
clothDesc.globalPose.M.rotX(-NxHalfPiF32);
clothDesc.thickness = 0.1;
clothDesc.tearFactor = 2;
clothDesc.flags |= NX_CLF_BENDING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags |= NX_CLF_TEARABLE | NX_CLF_VISUALIZATION; // Tearable cloth
if (gHardwareCloth)
clothDesc.flags |= NX_CLF_HARDWARE;
MyCloth* regularCloth = new MyCloth(gScene, clothDesc, 5, 8, 0.1, "rug512.bmp", gTearLines);
gCloths.push_back(regularCloth);
regularCloth->getNxCloth()->attachToShape(*bar->getShapes(), 0);
regularCloth->getNxCloth()->attachToShape(*box->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
void SetupAttachmentScene()
{
sprintf(gTitleString, "Attachment Demo");
// Create objects in scene
groundPlane = CreateGroundPlane();
NxActor* box1 = CreateBox(NxVec3(-7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box2 = CreateBox(NxVec3(0,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box3 = CreateBox(NxVec3(7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* attachedBox = CreateBox(NxVec3(-7.2,4.5,1.6), NxVec3(1.25,1,1), 1);
NxActor* attachedSphere = CreateSphere(NxVec3(-0.25,4.0,2.0), 1.3, 1);
NxActor* attachedCapsule = CreateCapsule(NxVec3(9.0,5.5,2.0),2.0, 1, 1);
NxReal damping = 0.3;
attachedBox->setAngularDamping(damping);
attachedBox->setLinearDamping(damping);
attachedSphere->setAngularDamping(damping);
attachedSphere->setLinearDamping(damping);
attachedCapsule->setAngularDamping(damping);
attachedCapsule->setLinearDamping(damping);
NxQuat q;
q.fromAngleAxis(90,NxVec3(0,0,1));
attachedCapsule->setGlobalOrientationQuat(q);
// Cloth
NxClothDesc clothDesc;
clothDesc.globalPose.M.rotX(1.3);
clothDesc.thickness = 0.3;
clothDesc.attachmentResponseCoefficient = 1;
clothDesc.flags |= NX_CLF_BENDING;
clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING | NX_CLF_VISUALIZATION;
if (gHardwareCloth)
clothDesc.flags |= NX_CLF_HARDWARE;
// Cloth attaching to sphere
clothDesc.globalPose.t = NxVec3(0.75,5,2);
MyCloth* regularCloth1 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth1->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth1);
// Cloth attaching to box
clothDesc.globalPose.t = NxVec3(-6.2,5,2);
MyCloth* regularCloth2 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth2->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth2);
// Cloth attaching to capsule
clothDesc.globalPose.t = NxVec3(8.0,5,2);
clothDesc.attachmentTearFactor = 2.0;
MyCloth* regularCloth3 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth3->getNxCloth()->attachToShape(box3->getShapes()[0], NX_CLOTH_ATTACHMENT_TEARABLE);
regularCloth3->getNxCloth()->attachToShape(attachedCapsule->getShapes()[0], NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth3);
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = CreatePhysics();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Set Core Dump directory
char buff[512];
FindMediaFile(fnameCD, buff);
#ifdef WIN32
SetCurrentDirectory(buff);
#elif LINUX
chdir(buff);
#endif
// Create the objects in the scene
NxActor* groundPlane = CreateGroundPlane();
NxActor* box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
NxActor* sphere = CreateSphere(NxVec3(0,0,0), 1, 10);
NxActor* capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
// pyramid = CreatePyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
AddUserDataToActors(gScene);
gSelectedActor = capsule;
// gSelectedActor = pyramid;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 2);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
mainBox = CreateMainObject();
gSelectedActor = mainBox;
gCameraPos = NxVec3(0,15,-50);
gCameraSpeed = 20;
gForceStrength = 50000000;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
bool CreateScenario()
{
DestroyScenario();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = bHWScene? NX_SIMULATION_HW : NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene)
{
bHWScene = !bHWScene;
sceneDesc.simType = bHWScene? NX_SIMULATION_HW : NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene) return false;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the plane in primary scene
groundPlane = CreateGroundPlane();
// Create compartment(HSM, managed hardware scene) attached to this scene
NxCompartmentDesc desc;
desc.type = NX_SCT_RIGIDBODY;
desc.deviceCode = NxU32(NX_DC_PPU_0);
gCompartmentHW = gScene->createCompartment(desc);
desc.deviceCode = NxU32(NX_DC_CPU);
gCompartmentSW = gScene->createCompartment(desc);
// Create objects
boxHW = CreateManagedBox(NxVec3(6, 0, 0), NxVec3(0.5, 1, 0.5), 20, gCompartmentHW);
boxSW = CreateManagedBox(NxVec3(3, 0, 0), NxVec3(0.5, 1, 0.5), 20, gCompartmentSW);
sphereHW = CreateManagedSphere(NxVec3(-6,0,0), 1, 10, gCompartmentHW);
sphereHW = CreateManagedSphere(NxVec3(-3,0,0), 1, 10, gCompartmentSW);
capsule = CreateManagedCapsule(NxVec3(0,0,0), 2, 1, 5, 0);
gSelectedActor = boxHW;
// Initialize HUD
InitializeHUD();
// Start the first frame of the simulation
StartPhysics();
return true;
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
groundPlane = CreateGroundPlane();
//groundPlane->getShapes()[0]->setFlag(NX_SF_FLUID_DRAIN,true);
// Create drain actors
CreateDrainActors();
fluidEmitter = CreateFluidEmitter(0.35, 0.35);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the debug visualization parameters for forcefield visualization
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FORCE_FIELDS, 1.0f);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_HW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the objects in the scene
groundPlane = CreateGroundPlane();
box1 = CreateBox(NxVec3(5,3.5,0));
// Create a Custome kernel and a Linear kernel
CreateFFCustomKernel();
CreateFFLinearKernel();
//Create the forcefield in the scene
gForceField = CreateForcefield();
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
// Experiment specific functions called from ARSS.cpp
void CreateExperiment()
{
// This is how you turn on the grid display. (There is also an XY Grid.)
gDebug.bXZGridOn=true;
// This is how you create a ground plane (and save its address in gExp.VIPs).
CreateGroundPlane();
// This is how you create a compound, multi-shape, static actor.
PxRigidStatic* basket = gPhysX.mPhysics->createRigidStatic(PxTransform(PxVec3(0)));
if (!basket)
ncc__error("basket fail!");
PxMaterial* defmat=gPhysX.mDefaultMaterial;
PxBoxGeometry base(0.5,0.1,0.5);
PxBoxGeometry pole(0.05,1,0.05);
PxBoxGeometry board(0.5,0.5,0.01);
PxBoxGeometry hoopel(0.01,0.01,0.15);
basket->createShape(base,*defmat,PxTransform(PxVec3(0,0.1,0)));
basket->createShape(pole,*defmat,PxTransform(PxVec3(0,1,0)));
PxShape* sboard = basket->createShape(board,*defmat,PxTransform(PxVec3(0,2,0.05)));
PxShape* shoopel1 = basket->createShape(hoopel,*defmat,PxTransform(PxVec3(-0.15,2,0.15+0.06)));
PxShape* shoopel2 = basket->createShape(hoopel,*defmat,PxTransform(PxVec3(+0.15,2,0.15+0.06)));
PxShape* shoopel3 = basket->createShape(hoopel,*defmat,PxTransform(PxVec3(+0.00,2,0.30+0.05),PxQuat(PxPi/2,PxVec3(0,1,0))));
gPhysX.mScene->addActor(*basket);
// We saved the pointers to the shapes we wish to color separately, with a call to the convenience function...
ColorShape(sboard, ncc::rgb::yLightYellow);
// ... or manually (in case we wish to be efficient with duplicate colors).
gColors.colorBucket.push_back(vector<GLubyte>(3));
gColors.colorBucket.back()[0]=ncc::rgb::grBlack[0];
gColors.colorBucket.back()[1]=ncc::rgb::grBlack[1];
gColors.colorBucket.back()[2]=ncc::rgb::grBlack[2];
shoopel1->userData=&(gColors.colorBucket.back()[0]);
shoopel2->userData=&(gColors.colorBucket.back()[0]);
shoopel3->userData=&(gColors.colorBucket.back()[0]);
// We signal that the experiment is ready for simulation by setting this flag.
gSim.isRunning = true;
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
// Slider Joint
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = gJointStartPos;
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
ball = CreateFollowBall(gBallStartPos,0.25,1);
ball->raiseBodyFlag(NX_BF_KINEMATIC);
NxMat33 orient = ball->getGlobalOrientation();
NxMat33 controlOrient;
controlOrient.setRow(0, orient.getRow(2));
controlOrient.setRow(1, orient.getRow(0));
controlOrient.setRow(2, orient.getRow(1));
ball->setGlobalOrientation(controlOrient);
gSelectedActor = ball;
gForceStrength = 1500;
gCameraSpeed = 10;
box = CreateBox(NxVec3(3,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,3), 1, 10);
capsule = CreateCapsule(NxVec3(-3,0,0), 2, 0.5, 10);
pyramid = CreatePyramid(NxVec3(0,0,-3), NxVec3(0.75,1.5,0.75), 10);
box->setLinearDamping(0.5);
sphere->setLinearDamping(0.5);
capsule->setLinearDamping(0.5);
pyramid->setLinearDamping(0.5);
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
BenchmarkSuiteDemo::BenchmarkSuiteDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
const BenchmarkSuiteVariant& variant = g_variants[m_variantId];
// Disable warnings:
hkError::getInstance().setEnabled(0x7dd65995, false); //'The system has requested a heap allocation on stack overflow.'
hkError::getInstance().setEnabled(0xaf55adde, false); //'No runtime block of size 637136 currently available. Allocating new block from unmanaged memory.'
//
// Setup the camera
//
{
hkVector4 from(55.0f, 50.0f, 55.0f);
hkVector4 to ( 0.0f, 0.0f, 0.0f);
hkVector4 up ( 0.0f, 1.0f, 0.0f);
setupDefaultCameras(env, from, to, up, 0.1f, 20000.0f);
}
//
// Create the world
//
{
hkpWorldCinfo worldInfo;
{
worldInfo.m_gravity.set(-0.0f, -9.81f, -0.0f);
worldInfo.setBroadPhaseWorldSize(500.0f);
worldInfo.setupSolverInfo( hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM );
if (variant.m_type == TYPE_3000_BODY_PILE)
{
worldInfo.m_enableSimulationIslands = false;
}
worldInfo.m_enableDeactivation = false;
}
m_world = new hkpWorld(worldInfo);
m_world->lock();
// Register ALL agents (though some may not be necessary)
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
// enable instancing (if present on platform). Call this after setup graphics (as it makes the local viewers..)
hkpShapeDisplayViewer* shapeViewer = (hkpShapeDisplayViewer*)getLocalViewerByName( hkpShapeDisplayViewer::getName() );
if (shapeViewer)
{
shapeViewer->setInstancingEnabled( true );
}
}
//
// Setup the camera
//
{
hkVector4 from(15.0f, 15.0f, 15.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
switch (variant.m_type)
{
case TYPE_10x10x1_ON_BOX:
{
CreateGroundPlane( m_world );
CreateStack(m_world, 10);
break;
}
case TYPE_5x5x5_ON_BOX:
{
CreateGroundPlane(m_world);
for (int q = -3; q <= 2; q++ )
{
CreateStack(m_world,5, q * 10.0f);
}
break;
}
case TYPE_300_BODY_PILE:
{
CreateGroundPlane(m_world);
CreateFall(m_world, 5);
break;
}
case TYPE_OBJECTS_ON_MOPP_SMALL:
{
CreatePhysicsTerrain(m_world, 16, 1.0f);
CreateFlatCubeGrid(m_world,8);
break;
}
case TYPE_LIST_PILE_SMALL:
{
int side = 16;
CreatePhysicsTerrain(m_world, side, 1.0f);
CreateListGrid(m_world, hkReal(side), 3, 3);
break;
}
case TYPE_30x30x1_ON_BOX:
{
CreateGroundPlane( m_world );
CreateStack(m_world, 30);
break;
}
case TYPE_20x20x5_ON_BOX:
{
CreateGroundPlane(m_world);
for (int q = -3; q <= 2; q++ )
{
CreateStack(m_world,20, q * 10.0f);
}
break;
}
case TYPE_12x12x10_ON_BOX:
{
CreateGroundPlane(m_world);
for (int q = -5; q <= 4; q++ )
{
CreateStack(m_world,12, q * 2.5f);
}
break;
}
case TYPE_3000_BODY_PILE:
{
CreateGroundPlane(m_world);
CreateFall(m_world, 50);
break;
}
case TYPE_OBJECTS_ON_MOPP_LARGE:
{
CreatePhysicsTerrain(m_world, 64, 1.0f);
CreateFlatCubeGrid(m_world,30);
break;
}
case TYPE_LIST_PILE_LARGE:
{
int side = 16;
CreatePhysicsTerrain(m_world, side, 1.0f);
CreateListGrid(m_world, hkReal(side), 5, 5);
break;
}
default:
{
CreateGroundPlane(m_world);
CreateStack(m_world, 20);
break;
}
}
//
// Some values
//
m_world->unlock();
}
void InitNx()
{
// Initialize Camera Parameters
gCameraAspectRatio = 1.0f;
gCameraPos = NxVec3(0,5,-15);
gCameraForward = NxVec3(0,0,1);
gCameraRight = NxVec3(-1,0,0);
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_LIN_VEL_SQUARED, 0.15*0.15);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_ANG_VEL_SQUARED, 0.14*0.14);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_AABBS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
// Create dynamic actors
CreateSphere(NxVec3(6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(6.0f, 0.0f, 6.0f), 0);
gSelectedActor = CreateConvex(NxVec3(6.0f, 0.0f, 0.0f), 0);
// Create static actors
CreateSphere(NxVec3(0.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(0.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(0.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(0.0f, 0.0f, 0.0f), 0);
// Create kinematic actors
CreateSphere(NxVec3(-6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(-6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(-6.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(-6.0f, 0.0f, 0.0f), 0);
bPause = false;
gCapsuleSegment.p0 = NxVec3(0, 1.2f, 0.5f);
gCapsuleSegment.p1 = NxVec3(0, 3.2f, 0.5f);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// gScene->setTiming(0.01); // timeStep, maxIter, TIMESTEP_FIXED
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
NxU32 r;
NxI32 x, z;
NxReal fRX, fRZ;
// create grass block
for (x = -patchsize; x < patchsize; x++)
{
for (z = -patchsize; z < patchsize; z++)
{
fRX = NxMath::rand(-45,45)*0.01;
fRZ = NxMath::rand(-45,45)*0.01;
r = NxMath::rand(0,4);
if (r == 0)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),3,4);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),1.8,2);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),2,3);
}
else if (r == 1)
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),1.5,2);
}
else
{
grassBlade[x+patchsize][z+patchsize] = new Blade(NxVec3(scale*(x+fRX),0,scale*(z+fRZ)),2.1,3);
}
}
}
gScene->setGroupCollisionFlag(1,1,false);
ball = CreateBall(NxVec3(0,10,0),1.5,350);
SetActorCollisionGroup(ball, 3);
gSelectedActor = ball;
gCameraSpeed = 20;
gForceStrength = 850000;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator, &gErrorStream);
if (0 == gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
if (gbThreadScheduler)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.customScheduler = &gCustomScheduler;
gCustomScheduler.CreateThreads(2);
}
else if (gbThreadPolling)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
}
else if (gbThreadSDKManage)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.internalThreadCount = 2;
}
else if (gbNoThread)
{
sceneDesc.flags &= ~NX_SF_SIMULATE_SEPARATE_THREAD;
}
else
assert(0);
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene) return;
}
if (gbThreadPolling)
{
gPollingThreads.CreateThreads(2, gScene);
// We must reset the polling threads so they are ready for the next run
gPollingThreads.ResetPollForWork();
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,5), 1, 10);
capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
pyramid = CreateHalfPyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
gSelectedActor = pyramid;
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
