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/*
* 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 "InterCollisionScene.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"
DECLARE_SCENE_NAME(InterCollisionScene, "Inter Collision Scene")
void InterCollisionScene::initializeCloth(int index, physx::PxMat44 transform)
{
///////////////////////////////////////////////////////////////////////
ClothMeshData clothMesh;
float w = 5.f - index;
float h = 6.f + index;
transform *= PxTransform(PxVec3(0.f, 13.f, 0.f), PxQuat(0, PxVec3(1.f, 0.f, 0.f)));
clothMesh.GeneratePlaneCloth(w,h, 5*w, 5*h, false, transform);
clothMesh.AttachClothPlaneByAngles(5 * w, 5 * h);
//clothMesh.SetInvMasses(1.0f / (1000.0f / (5.0f*w*5.0f*h)));
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());
mClothActor[index]->mClothRenderable->setColor(getRandomPastelColor());
}
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)*0.9f + 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();
std::vector<physx::PxVec4> planes;
planes.push_back(physx::PxVec4(physx::PxVec3(0.0f, 1.f, 0.0f), -0.01f));
nv::cloth::Range<const physx::PxVec4> planesR(&planes[0], &planes[0] + planes.size());
mClothActor[index]->mCloth->setPlanes(planesR, 0, mClothActor[index]->mCloth->getNumPlanes());
std::vector<uint32_t> indices;
indices.resize(planes.size());
for(int i = 0; i < (int)indices.size(); i++)
indices[i] = 1 << i;
nv::cloth::Range<uint32_t> cind(&indices[0], &indices[0] + indices.size());
mClothActor[index]->mCloth->setConvexes(cind, 0, mClothActor[index]->mCloth->getNumConvexes());
mClothActor[index]->mCloth->setGravity(physx::PxVec3(0.0f, -1.0f, 0.0f));
mClothActor[index]->mCloth->setFriction(0.1);
mClothActor[index]->mCloth->setDragCoefficient(0.1f);
mClothActor[index]->mCloth->setLiftCoefficient(0.1f);
mClothActor[index]->mCloth->setSolverFrequency(120.0f);
// 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()));
trackClothActor(mClothActor[index]);
// Add the cloth to the solver for simulation
addClothToSolver(mClothActor[index], mSolver);
}
void InterCollisionScene::onInitialize()
{
mSolver = getSceneController()->getFactory()->createSolver();
mSolver->setInterCollisionNbIterations(8);
mSolver->setInterCollisionDistance(0.4f);
mSolver->setInterCollisionStiffness(0.95f);
mSolver->setInterCollisionFilter(
[](void* a, void* b) {
return true;
}
);
trackSolver(mSolver);
physx::PxMat44 posTrans(physx::PxIdentity);
posTrans.setPosition(physx::PxVec3(0.0f, 0.f, -1.0f));
initializeCloth(0, posTrans);
posTrans.setPosition(physx::PxVec3(0.0f, 0.8f, -1.2f));
initializeCloth(1, posTrans);
posTrans.setPosition(physx::PxVec3(0.0f, 1.6f, -1.4f));
initializeCloth(2, posTrans);
{
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);
}
}
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