1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
|
/*
* Copyright (c) 2008-2017, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, related documentation
* and any modifications thereto. Any use, reproduction, disclosure or
* distribution of this software and related documentation without an express
* license agreement from NVIDIA CORPORATION is strictly prohibited.
*/
#include "ConvexCollisionScene.h"
#include "scene/SceneController.h"
#include <NvClothExt/ClothFabricCooker.h>
#include "ClothMeshGenerator.h"
#include <NvCloth/Fabric.h>
#include <NvCloth/Solver.h>
#include <NvCloth/Cloth.h>
#include <NvCloth/Factory.h>
#include "Renderer.h"
#include "renderer/RenderUtils.h"
#include "windows.h"
#include "utils/MeshGenerator.h"
DECLARE_SCENE_NAME(ConvexCollisionScene, "Convex Collision Scene")
void ConvexCollisionScene::initializeCloth(int index, physx::PxVec3 offset)
{
///////////////////////////////////////////////////////////////////////
ClothMeshData clothMesh;
physx::PxMat44 transform = PxTransform(PxVec3(0.f, 13.f, 0.f)+ offset, PxQuat(0, PxVec3(1.f, 0.f, 0.f)));
clothMesh.GeneratePlaneCloth(5.f, 6.f, 59, 69, false, transform);
clothMesh.AttachClothPlaneByAngles(59, 69);
clothMesh.SetInvMasses(0.5f + (float)index * 2.0f);
mClothActor[index] = new ClothActor;
nv::cloth::ClothMeshDesc meshDesc = clothMesh.GetClothMeshDesc();
{
mClothActor[index]->mClothRenderMesh = new ClothRenderMesh(meshDesc);
mClothActor[index]->mClothRenderable = getSceneController()->getRenderer().createRenderable(*(static_cast<IRenderMesh*>(mClothActor[index]->mClothRenderMesh)), *getSceneController()->getDefaultMaterial());
float r, g, b;
r = index == 0 ? 1.0f : 0.3f;
g = index == 1 ? 1.0f : 0.3f;
b = index == 2 ? 1.0f : 0.3f;
mClothActor[index]->mClothRenderable->setColor(DirectX::XMFLOAT4(r, g, b, 1.0f));
}
nv::cloth::Vector<int32_t>::Type phaseTypeInfo;
mFabric[index] = NvClothCookFabricFromMesh(getSceneController()->getFactory(), meshDesc, physx::PxVec3(0.0f, 0.0f, 1.0f), &phaseTypeInfo, false);
trackFabric(mFabric[index]);
// Initialize start positions and masses for the actual cloth instance
// (note: the particle/vertex positions do not have to match the mesh description here. Set the positions to the initial shape of this cloth instance)
std::vector<physx::PxVec4> particlesCopy;
particlesCopy.resize(clothMesh.mVertices.size());
physx::PxVec3 clothOffset = transform.getPosition();
for(int i = 0; i < (int)clothMesh.mVertices.size(); i++)
{
// To put attachment point closer to each other
if(clothMesh.mInvMasses[i] < 1e-6)
clothMesh.mVertices[i] = (clothMesh.mVertices[i] - clothOffset)*0.95f + clothOffset;
particlesCopy[i] = physx::PxVec4(clothMesh.mVertices[i], clothMesh.mInvMasses[i]); // w component is 1/mass, or 0.0f for anchored/fixed particles
}
// Create the cloth from the initial positions/masses and the fabric
mClothActor[index]->mCloth = getSceneController()->getFactory()->createCloth(nv::cloth::Range<physx::PxVec4>(&particlesCopy[0], &particlesCopy[0] + particlesCopy.size()), *mFabric[index]);
particlesCopy.clear(); particlesCopy.shrink_to_fit();
mClothActor[index]->mCloth->setGravity(physx::PxVec3(0.0f, -9.8f, 0.0f));
mClothActor[index]->mCloth->setDamping(physx::PxVec3(0.1f, 0.1f, 0.1f));
//Generate collision planes
std::vector<physx::PxVec4> planes;
uint32_t mask1 = MeshGenerator::generateConvexPolyhedronPlanes(4, 4, physx::PxVec3(0.7f, 10.0f, -1.0f), 1.0f, &planes);
uint32_t mask2 = MeshGenerator::generateConvexPolyhedronPlanes(4, 4, physx::PxVec3(-0.7f, 10.0f, 0.0f), 1.0f, &planes);
MeshGenerator::Mesh mesh1 = MeshGenerator::generateCollisionConvex(planes.data(),mask1,-0.05f,false);
MeshGenerator::Mesh mesh2 = MeshGenerator::generateCollisionConvex(planes.data(), mask2, -0.05f, false);
//assign as collision data
nv::cloth::Range<const physx::PxVec4> planesR(&planes[0], &planes[0] + planes.size());
mClothActor[index]->mCloth->setPlanes(planesR, 0, mClothActor[index]->mCloth->getNumPlanes());
//assign convex indices
std::vector<uint32_t> indices;
indices.push_back(mask1);
indices.push_back(mask2);
nv::cloth::Range<uint32_t> cind(&indices[0], &indices[0] + indices.size());
mClothActor[index]->mCloth->setConvexes(cind, 0, mClothActor[index]->mCloth->getNumConvexes());
//create render mesh
//scale down the render model to not intersect the triangles so much
auto renderMesh1 = new MeshGenerator::MeshGeneratorRenderMesh(mesh1);
Renderable* renderable1 = getSceneController()->getRenderer().createRenderable(*renderMesh1, *getSceneController()->getDefaultMaterial());
trackRenderable(renderable1);
auto renderMesh2 = new MeshGenerator::MeshGeneratorRenderMesh(mesh2);
Renderable* renderable2 = getSceneController()->getRenderer().createRenderable(*renderMesh2, *getSceneController()->getDefaultMaterial());
trackRenderable(renderable2);
// Setup phase configs
std::vector<nv::cloth::PhaseConfig> phases(mFabric[index]->getNumPhases());
for(int i = 0; i < (int)phases.size(); i++)
{
phases[i].mPhaseIndex = i;
phases[i].mStiffness = 1.0f;
phases[i].mStiffnessMultiplier = 1.0f;
phases[i].mCompressionLimit = 1.0f;
phases[i].mStretchLimit = 1.0f;
}
mClothActor[index]->mCloth->setPhaseConfig(nv::cloth::Range<nv::cloth::PhaseConfig>(&phases.front(), &phases.back()));
mClothActor[index]->mCloth->setDragCoefficient(0.1f);
mClothActor[index]->mCloth->setLiftCoefficient(0.1f);
trackClothActor(mClothActor[index]);
// Add the cloth to the solver for simulation
addClothToSolver(mClothActor[index], mSolver);
}
void ConvexCollisionScene::onInitialize()
{
mSolver = getSceneController()->getFactory()->createSolver();
trackSolver(mSolver);
initializeCloth(0, physx::PxVec3(0.0f, 0.0f, 0.0f));
{
IRenderMesh* mesh = getSceneController()->getRenderer().getPrimitiveRenderMesh(PrimitiveRenderMeshType::Plane);
Renderable* plane = getSceneController()->getRenderer().createRenderable(*mesh, *getSceneController()->getDefaultPlaneMaterial());
plane->setTransform(PxTransform(PxVec3(0.f, 0.f, 0.f), PxQuat(PxPiDivTwo, PxVec3(0.f, 0.f, 1.f))));
plane->setScale(PxVec3(1000.f));
trackRenderable(plane);
}
}
|