Seamine* SampleSubmarine::createSeamine(const PxVec3& inPosition, PxReal inHeight)
{
static const PxReal chainLinkLength = 2.0f;
static const PxReal linkSpacing = 0.05f;
static const PxReal mineHeadRadius = 1.5f;
const PxVec3 mineStartPos = inPosition;
static const PxVec3 linkOffset = PxVec3(0, chainLinkLength + linkSpacing, 0);
static const PxVec3 halfLinkOffset = linkOffset * 0.5f;
static const PxVec3 linkDim = PxVec3(chainLinkLength*0.125f, chainLinkLength*0.5f, chainLinkLength*0.125f);
PxU32 numLinks = PxU32((inHeight - 2.0f*mineHeadRadius) / (chainLinkLength + linkSpacing));
numLinks = numLinks ? numLinks : 1;
Seamine* seamine = SAMPLE_NEW(Seamine);
mSeamines.push_back(seamine);
// create links from floor
PxVec3 linkPos = mineStartPos + halfLinkOffset;
PxRigidActor* prevActor = NULL;
for(PxU32 i = 0; i < numLinks; i++)
{
// create the link actor
PxRigidDynamic* link = createBox(linkPos, linkDim, NULL, mSeamineMaterial, 1.0f)->is<PxRigidDynamic>();
if(!link) fatalError("createBox failed!");
// back reference to mineHead
link->userData = seamine;
seamine->mLinks.push_back(link);
setupFiltering(link, FilterGroup::eMINE_LINK, FilterGroup::eSUBMARINE);
link->setLinearDamping(0.5f);
link->setAngularDamping(0.5f);
link->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
// create distance joint between link and prevActor
PxTransform linkFrameA = prevActor ? PxTransform(halfLinkOffset, PxQuat::createIdentity()) : PxTransform(mineStartPos, PxQuat::createIdentity());
PxTransform linkFrameB = PxTransform(-halfLinkOffset, PxQuat::createIdentity());
PxDistanceJoint *joint = PxDistanceJointCreate(getPhysics(), prevActor, linkFrameA, link, linkFrameB);
if(!joint) fatalError("PxDistanceJointCreate failed!");
// set min & max distance to 0
joint->setMaxDistance(0.0f);
joint->setMinDistance(0.0f);
// setup damping & spring
joint->setDamping(1.0f * link->getMass());
joint->setSpring(400.0f * link->getMass());
joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
// add to joints array for cleanup
mJoints.push_back(joint);
prevActor = link;
linkPos += linkOffset;
}
// create mine head
linkPos.y += mineHeadRadius - (chainLinkLength*0.5f);
PxRigidDynamic* mineHead = createSphere(linkPos, mineHeadRadius, NULL, mSeamineMaterial, 1.0f)->is<PxRigidDynamic>();
mineHead->userData = seamine;
seamine->mMineHead = mineHead;
mineHead->setLinearDamping(0.5f);
mineHead->setAngularDamping(0.5f);
mineHead->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
// setup filtering to trigger contact reports when submarine touches the minehead
setupFiltering(mineHead, FilterGroup::eMINE_HEAD, FilterGroup::eSUBMARINE);
// create distance joint between mine head and prevActor
PxTransform linkFrameA = PxTransform(halfLinkOffset, PxQuat::createIdentity());
PxTransform linkFrameB = PxTransform(PxVec3(0, -mineHeadRadius - linkSpacing*0.5f, 0), PxQuat::createIdentity());
PxDistanceJoint *joint = PxDistanceJointCreate(getPhysics(), prevActor, linkFrameA, mineHead, linkFrameB);
if(!joint) fatalError("PxDistanceJointCreate failed!");
// set min & max distance to 0
joint->setMaxDistance(0.0f);
joint->setMinDistance(0.0f);
// setup damping & spring
joint->setDamping(1.0f * mineHead->getMass());
joint->setSpring(400.0f * mineHead->getMass());
joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
// add to joints array for cleanup
mJoints.push_back(joint);
return seamine;
}
void InitializePhysX() {
gFoundation = PxCreateFoundation(
PX_PHYSICS_VERSION,
gDefaultAllocatorCallback,
gDefaultErrorCallback);
// Creating instance of PhysX SDK
gPhysicsSDK = PxCreatePhysics(
PX_PHYSICS_VERSION,
*gFoundation,
PxTolerancesScale());
if(gPhysicsSDK==NULL) {
cerr<<"Error creating PhysX3 device."<<endl;
cerr<<"Exiting..."<<endl;
exit(1);
}
if(!PxInitExtensions(*gPhysicsSDK))
cerr<<"PxInitExtensions failed!"<<endl;
//PxExtensionVisualDebugger::connect(gPhysicsSDK->getPvdConnectionManager(),"localhost",5425, 10000, true);
//Create the scene
PxSceneDesc sceneDesc(gPhysicsSDK->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.8f, 0.0f);
if(!sceneDesc.cpuDispatcher) {
PxDefaultCpuDispatcher* mCpuDispatcher = PxDefaultCpuDispatcherCreate(1);
if(!mCpuDispatcher)
cerr<<"PxDefaultCpuDispatcherCreate failed!"<<endl;
sceneDesc.cpuDispatcher = mCpuDispatcher;
}
if(!sceneDesc.filterShader)
sceneDesc.filterShader = gDefaultFilterShader;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
cerr<<"createScene failed!"<<endl;
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
PxMaterial* mMaterial = gPhysicsSDK->createMaterial(0.5, 0.5, 0.5);
//Create actors
//1) Create ground plane
PxReal d = 0.0f;
PxTransform pose = PxTransform(PxVec3(0.0f, 0, 0.0f), PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));
PxRigidStatic* plane = gPhysicsSDK->createRigidStatic(pose);
if(!plane)
cerr<<"create plane failed!"<<endl;
PxShape* shape = plane->createShape(PxPlaneGeometry(), *mMaterial);
if(!shape)
cerr<<"create shape failed!"<<endl;
gScene->addActor(*plane);
//2) Create dynamic cube
PxReal density = 1.0f;
PxTransform transform(PxVec3(0.0f, 3.0, 0.0f), PxQuat::createIdentity());
PxVec3 dimensions(0.5, 0.5, 0.5);
PxBoxGeometry geometry(dimensions);
PxRigidDynamic *dyn_box = PxCreateDynamic(*gPhysicsSDK, transform, geometry, *mMaterial, density);
if(!dyn_box)
cerr<<"create actor failed!"<<endl;
dyn_box->setAngularDamping(0.75);
dyn_box->setLinearVelocity(PxVec3(0, 0, 0));
gScene->addActor(*dyn_box);
boxes.push_back(dyn_box);
//create static cube
transform.p = PxVec3(0, 5, 0);
PxRigidStatic *static_box = PxCreateStatic(*gPhysicsSDK, transform, geometry, *mMaterial);
if(!static_box)
cerr<<"create actor failed!"<<endl;
gScene->addActor(*static_box);
boxes.push_back(static_box);
//create a joint
PxDistanceJoint* j = PxDistanceJointCreate(*gPhysicsSDK, dyn_box, PxTransform::createIdentity(), static_box, PxTransform::createIdentity());
j->setDamping(1);
//j->setSpring(200);
j->setMinDistance(1);
j->setMaxDistance(2);
j->setConstraintFlag(PxConstraintFlag::eCOLLISION_ENABLED, true);
j->setDistanceJointFlag(PxDistanceJointFlag::eMIN_DISTANCE_ENABLED, true);
j->setDistanceJointFlag(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED, true);
j->setDistanceJointFlag(PxDistanceJointFlag::eSPRING_ENABLED, true);
}
