bool InitNx()
{
// Initialize PhysicsSDK
NxPhysicsSDKDesc desc;
NxSDKCreateError errorCode = NXCE_NO_ERROR;
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, 0, 0, desc, &errorCode);
if(gPhysicsSDK == NULL)
{
printf("\nSDK create error (%d - %s).\nUnable to initialize the PhysX SDK, exiting the sample.\n\n", errorCode, getNxSDKCreateError(errorCode));
return false;
}
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, gSkinWidth);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_ENERGY, 0.01f);
// Create a scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = NxVec3(0.0f, -9.81f, 0.0f);
sceneDesc.userNotify = &g_SleepCallBack; //用户自定义事件
sceneDesc.userContactReport = &gMyContactReport;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(gScene == NULL)
{
printf("\nError: Unable to create a PhysX scene, exiting the sample.\n\n");
return false;
}
gScene->setTiming();
// Set default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.0f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
CreatePhysicsTerrain();
return true;
}
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();
}
