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class ShapeCollision : public Scene
{
public:
ShapeCollision(const char* name) : Scene(name) {}
void Initialize()
{
float maxShapeRadius = 0.25f;
float minShapeRadius = 0.1f;
int dimx = 4;
int dimy = 4;
int dimz = 4;
float radius = 0.05f;
int phase = NvFlexMakePhase(0, eNvFlexPhaseSelfCollide);
g_numSubsteps = 2;
g_params.radius = radius;
g_params.dynamicFriction = 0.25f;
g_params.dissipation = 0.0f;
g_params.restitution = 0.0;
g_params.numIterations = 2;
g_params.particleCollisionMargin = g_params.radius*0.5f;
g_params.shapeCollisionMargin = g_params.radius*0.5f;
g_params.maxSpeed = 0.5f*radius*float(g_numSubsteps)/g_dt;
CreateParticleGrid(Vec3(0.0f, 1.0f + dimy*maxShapeRadius*2.0f, 0.0f), 30, 50, 30, radius, Vec3(0.0f), 1.0f, false, 0.0f, phase, 0.0f);
Mesh* box = ImportMesh(GetFilePathByPlatform("../../data/box.ply").c_str());
box->Normalize(1.0f);
NvFlexTriangleMeshId mesh = CreateTriangleMesh(box);
delete box;
NvFlexDistanceFieldId sdf = CreateSDF(GetFilePathByPlatform("../../data/bunny.ply").c_str(), 128);
for (int i=0; i < dimx; ++i)
{
for (int j=0; j < dimy; ++j)
{
for (int k=0; k < dimz; ++k)
{
int type = Rand()%6;
Vec3 shapeTranslation = Vec3(float(i),float(j) + 0.5f,float(k))*maxShapeRadius*2.0f;
Quat shapeRotation = QuatFromAxisAngle(UniformSampleSphere(), Randf()*k2Pi);
switch(type)
{
case 0:
{
AddSphere(Randf(minShapeRadius, maxShapeRadius), shapeTranslation, shapeRotation);
break;
}
case 1:
{
AddCapsule(Randf(minShapeRadius, maxShapeRadius)*0.5f, Randf()*maxShapeRadius, shapeTranslation, shapeRotation);
break;
}
case 2:
{
Vec3 extents = 0.75f*Vec3(Randf(minShapeRadius, maxShapeRadius),
Randf(minShapeRadius, maxShapeRadius),
Randf(minShapeRadius, maxShapeRadius));
AddBox(extents, shapeTranslation, shapeRotation);
break;
}
case 3:
{
AddRandomConvex(6 + Rand()%6, shapeTranslation, minShapeRadius, maxShapeRadius, UniformSampleSphere(), Randf()*k2Pi);
break;
}
case 4:
{
AddTriangleMesh(mesh, shapeTranslation, shapeRotation, Randf(0.5f, 1.0f)*maxShapeRadius);
break;
}
case 5:
{
AddSDF(sdf, shapeTranslation, shapeRotation, maxShapeRadius*2.0f);
break;
}
};
}
}
}
}
virtual void CenterCamera()
{
g_camPos.y = 2.0f;
g_camPos.z = 6.0f;
}
};
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