Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 547 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleVehicle/SampleVehicleTerrain.cpp b/PhysX_3.4/Samples/SampleVehicle/SampleVehicleTerrain.cpp
new file mode 100644
index 00000000..e5d57c3a
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+++ b/PhysX_3.4/Samples/SampleVehicle/SampleVehicleTerrain.cpp
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and 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.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "SampleVehicle.h"
+#include "SampleVehicle_SceneQuery.h"
+#include "SampleRandomPrecomputed.h"
+#include "SampleAllocatorSDKClasses.h"
+#include "RendererMemoryMacros.h"
+#include "RenderMaterial.h"
+#include "RenderMeshActor.h"
+#include "cooking/PxTriangleMeshDesc.h"
+#include "geometry/PxHeightFieldGeometry.h"
+#include "geometry/PxHeightFieldSample.h"
+#include "geometry/PxHeightFieldDesc.h"
+#include "cooking/PxCooking.h"
+#include "PxScene.h"
+#include "PxRigidStatic.h"
+#include "PxTkStream.h"
+#include "PxTkFile.h"
+
+//using namespace physx;
+using namespace PxToolkit;
+
+//Use a mesh (instead of a height field)
+static bool gRecook = false;
+
+enum MaterialID
+{
+	MATERIAL_TERRAIN_MUD	 = 1000,
+	MATERIAL_ROAD_TARMAC = 1001,
+	MATERIAL_ROAD_SNOW	 = 1002,
+	MATERIAL_ROAD_GRASS = 1003,
+};
+
+static void computeTerrain(bool* done, float* pVB, PxU32 x0, PxU32 y0, PxU32 currentSize, float value, PxU32 initSize, SampleRandomPrecomputed& randomPrecomputed)
+{
+	// Compute new size
+	currentSize>>=1;
+	if(currentSize > 0)
+	{
+		const PxU32 x1 = (x0+currentSize)			   % initSize;
+		const PxU32 x2 = (x0+currentSize+currentSize) % initSize;
+		const PxU32 y1 = (y0+currentSize)			   % initSize;
+		const PxU32 y2 = (y0+currentSize+currentSize) % initSize;
+
+		if(!done[x1 + y0*initSize])	pVB[(x1 + y0*initSize)*9+1] = randomPrecomputed.getRandomInRange(-0.5f*value, 0.5f*value) + 0.5f * (pVB[(x0 + y0*initSize)*9+1] + pVB[(x2 + y0*initSize)*9+1]);
+		if(!done[x0 + y1*initSize])	pVB[(x0 + y1*initSize)*9+1] = randomPrecomputed.getRandomInRange(-0.5f*value, 0.5f*value) + 0.5f * (pVB[(x0 + y0*initSize)*9+1] + pVB[(x0 + y2*initSize)*9+1]);
+		if(!done[x2 + y1*initSize])	pVB[(x2 + y1*initSize)*9+1] = randomPrecomputed.getRandomInRange(-0.5f*value, 0.5f*value) + 0.5f * (pVB[(x2 + y0*initSize)*9+1] + pVB[(x2 + y2*initSize)*9+1]);
+		if(!done[x1 + y2*initSize])	pVB[(x1 + y2*initSize)*9+1] = randomPrecomputed.getRandomInRange(-0.5f*value, 0.5f*value) + 0.5f * (pVB[(x0 + y2*initSize)*9+1] + pVB[(x2 + y2*initSize)*9+1]);
+		if(!done[x1 + y1*initSize])	pVB[(x1 + y1*initSize)*9+1] = randomPrecomputed.getRandomInRange(-0.5f*value, 0.5f*value) + 0.5f * (pVB[(x0 + y1*initSize)*9+1] + pVB[(x2 + y1*initSize)*9+1]);
+
+		done[x1 + y0*initSize] = true;
+		done[x0 + y1*initSize] = true;
+		done[x2 + y1*initSize] = true;
+		done[x1 + y2*initSize] = true;
+		done[x1 + y1*initSize] = true;
+
+		// Recurse through 4 corners
+		value *= 0.5f;
+		computeTerrain(done, pVB, x0,	y0,	currentSize, value, initSize, randomPrecomputed);
+		computeTerrain(done, pVB, x0,	y1,	currentSize, value, initSize, randomPrecomputed);
+		computeTerrain(done, pVB, x1,	y0,	currentSize, value, initSize, randomPrecomputed);
+		computeTerrain(done, pVB, x1,	y1,	currentSize, value, initSize, randomPrecomputed);
+	}
+}
+
+void SampleVehicle::createTerrain(PxU32 size, float width, float chaos)
+{
+	mNbTerrainVerts = size*size;
+
+	// Vertex buffer
+	mTerrainVB = (float*)SAMPLE_ALLOC(sizeof(float)*mNbTerrainVerts*3*3);
+	for(PxU32 y=0;y<size;y++)
+	{
+		for(PxU32 x=0;x<size;x++)
+		{
+			mTerrainVB[(x+y*size)*9+0] = (float(x)-(float(size-1)*0.5f))* width;
+			mTerrainVB[(x+y*size)*9+1] = 0.0f;
+			mTerrainVB[(x+y*size)*9+2] = (float(y)-(float(size-1)*0.5f))* width;
+			mTerrainVB[(x+y*size)*9+3] = 0.0f; mTerrainVB[(x+y*size)*9+4] = 1.0f; mTerrainVB[(x+y*size)*9+5] = 0.0f;
+			mTerrainVB[(x+y*size)*9+6] = 0.5f; mTerrainVB[(x+y*size)*9+7] = 0.4f; mTerrainVB[(x+y*size)*9+8] = 0.2f;
+		}
+	}
+
+	// Fractalize
+	bool* doneBuffer = (bool*)SAMPLE_ALLOC(sizeof(bool)*mNbTerrainVerts);
+	PxU32* tagBuffer = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*mNbTerrainVerts);
+	for(PxU32 i=0;i<mNbTerrainVerts;i++)
+	{ 
+		doneBuffer[i] = false;
+		tagBuffer[i] = 0;
+	}
+	mTerrainVB[1] = 10.0f;
+	mTerrainVB[(size-1)*9+1] = 10.0f;
+	mTerrainVB[(size*(size-1))*9+1] = 10.0f;
+	mTerrainVB[(mNbTerrainVerts-1)*9+1] = 10.0f;
+
+	SampleRandomPrecomputed randomPrecomputed(*this);
+	computeTerrain(doneBuffer, mTerrainVB, 0, 0, size, chaos/16.0f, size, randomPrecomputed);
+
+	const PxU32 street0 = (PxU32)(size/3.0f);
+	const PxU32 streetSize = (PxU32)(size/30.0f);
+	float ay = 0.0f;
+
+	for(PxU32 y=0;y<size;y++)
+	{
+		for(PxU32 x=street0;x<street0+streetSize;x++)
+		{
+			ay+=mTerrainVB[(x+y*size)*9+1];
+			ay+=mTerrainVB[(y+x*size)*9+1];
+		}
+	}
+
+	const float cx = size/2.0f;
+	const float cy = size/2.0f;
+	const float r = size/3.0f;
+	const float g = streetSize/2.0f;
+
+	for(PxU32 i=0;i<mNbTerrainVerts;i++)
+		tagBuffer[i] = false;
+
+	ay/=streetSize*size;
+	ay-=streetSize;
+	for(PxU32 y=15;y<size-15;y++)
+	{
+		bool smoothBorder = true;
+
+		for(PxU32 x=street0;x<street0+streetSize;x++)
+		{
+			if(y > size*0.5f && y < size*0.7f)
+			{
+				mTerrainVB[(x+y*size)*9+1]=ay+sinf(((float)y)*12.0f+4.0f)*2.0f;
+				smoothBorder = false;
+			}
+			else
+			{
+				mTerrainVB[(x+y*size)*9+1]=ay;
+			}
+
+			if(y > size*0.55f && y < size*0.75f)
+			{
+				mTerrainVB[(y+x*size)*9+1]=ay+sinf(y*12.0f)*0.75f;
+				//mTerrainVB[(y+x*size)*9+1]=ay;
+				tagBuffer[y+x*size] = 3;
+				tagBuffer[x+y*size] = 3;
+				smoothBorder = false;
+			}
+			else if(y < size*0.15f)
+			{
+				const float s = size*0.15f-(float)y;
+				mTerrainVB[(y+x*size)*9+1]=ay+s*0.25f;
+				smoothBorder = false;
+			}
+			else if(y > size*0.85f)
+			{
+				const float s = (float)y-size*0.85f;
+				mTerrainVB[(y+x*size)*9+1]=ay+s*0.7f;
+				smoothBorder = false;
+			}
+			else
+			{
+				mTerrainVB[(y+x*size)*9+1]=ay;
+				tagBuffer[y+x*size] = 1;
+				tagBuffer[x+y*size] = 1;
+			}
+
+		}
+		if(smoothBorder)
+		{
+			mTerrainVB[((street0-1)+y*size)*9+1]=ay*0.5f+mTerrainVB[((street0-1)+y*size)*9+1]*0.5f;
+			mTerrainVB[(y+(street0-1)*size)*9+1]=ay*0.5f+mTerrainVB[(y+(street0-1)*size)*9+1]*0.5f;
+			mTerrainVB[((street0+1)+y*size)*9+1]=ay*0.5f+mTerrainVB[((street0+1)+y*size)*9+1]*0.5f;
+			mTerrainVB[(y+(street0+1)*size)*9+1]=ay*0.5f+mTerrainVB[(y+(street0+1)*size)*9+1]*0.5f;
+		}
+	}
+
+	// Circle street
+	for(PxU32 y=0;y<size;y++)
+	{
+		for(PxU32 x=0;x<size;x++)
+		{
+			const float x0 = x-cx;
+			const float y0 = y-cy;
+			const float d = sqrtf(x0*x0+y0*y0);
+			if(d >= r && d < r+streetSize)
+			{
+				mTerrainVB[(y+x*size)*9+1]=ay;
+				
+				if(y > size*0.55f && y < size*0.75f)
+					tagBuffer[y+x*size] = 2;
+				else
+					tagBuffer[y+x*size] = 1;
+
+			}
+			else if(d >= r+streetSize && d < r+streetSize+g)
+			{
+				const float a = (d-(r+streetSize))/g;
+				mTerrainVB[(y+x*size)*9+1]=ay*(1.0f-a) + mTerrainVB[(y+x*size)*9+1]*a;
+			}
+			else if(d >= r-g && d < r)
+			{
+				const float a = (d-(r-g))/g;
+				mTerrainVB[(y+x*size)*9+1]=ay*a+mTerrainVB[(y+x*size)*9+1]*(1.0f-a);
+			}
+		}
+	}
+
+	// Borders
+	const float b = size/25.0f;
+	const float bd = size/2.0f-b;
+	for(PxU32 y=0;y<size;y++)
+	{
+		for(PxU32 x=0;x<size;x++)
+		{
+			const float x0 = fabsf(x-cx);
+			const float y0 = fabsf(y-cy);
+			if(x0 > bd || y0 > bd)
+			{
+				float a0 = (x0-bd)/b;
+				float a1 = (y0-bd)/b;
+				if(a1 > a0)
+					a0 = a1;
+				mTerrainVB[(y+x*size)*9+1]=20.0f*a0 + mTerrainVB[(y+x*size)*9+1]*(1-a0);
+			}
+		}
+	}
+
+	// Sobel filter
+	for(PxU32 y=1;y<size-1;y++)
+	{
+		for(PxU32 x=1;x<size-1;x++)
+		{
+			//  1  0 -1
+			//  2  0 -2
+			//  1  0 -1
+			float dx;
+			dx  =   mTerrainVB[((x-1)+(y-1)*size)*9+1];
+			dx -=   mTerrainVB[((x+1)+(y-1)*size)*9+1];
+			dx += 2.0f*mTerrainVB[((x-1)+(y+0)*size)*9+1];
+			dx -= 2.0f*mTerrainVB[((x+1)+(y+0)*size)*9+1];
+			dx +=   mTerrainVB[((x-1)+(y+1)*size)*9+1];
+			dx -=   mTerrainVB[((x+1)+(y+1)*size)*9+1];
+
+			//  1  2  1
+			//  0  0  0
+			// -1 -2 -1
+			float dy;
+			dy  =   mTerrainVB[((x-1)+(y-1)*size)*9+1];
+			dy += 2.0f*mTerrainVB[((x+0)+(y-1)*size)*9+1];
+			dy +=   mTerrainVB[((x+1)+(y-1)*size)*9+1];
+			dy -=   mTerrainVB[((x-1)+(y+1)*size)*9+1];
+			dy -= 2.0f*mTerrainVB[((x+0)+(y+1)*size)*9+1];
+			dy -=   mTerrainVB[((x+1)+(y+1)*size)*9+1];
+
+			const float nx = dx/width*0.15f;
+			const float ny = 1.0f;
+			const float nz = dy/width*0.15f;
+
+			const float len = sqrtf(nx*nx+ny*ny+nz*nz);
+
+			mTerrainVB[(x+y*size)*9+3] = nx/len;
+			mTerrainVB[(x+y*size)*9+4] = ny/len;
+			mTerrainVB[(x+y*size)*9+5] = nz/len;
+		}
+	}
+
+	// Static lighting (two directional lights)
+	const float l0[3] = {0.25f/0.8292f, 0.75f/0.8292f, 0.25f/0.8292f};
+	const float l1[3] = {0.65f/0.963f, 0.55f/0.963f, 0.45f/0.963f};
+	//const float len = sqrtf(l1[0]*l1[0]+l1[1]*l1[1]+l1[2]*l1[2]);
+	for(PxU32 y=0;y<size;y++)
+	{
+		for(PxU32 x=0;x<size;x++)
+		{
+			const float nx = mTerrainVB[(x+y*size)*9+3], ny = mTerrainVB[(x+y*size)*9+4], nz = mTerrainVB[(x+y*size)*9+5];
+
+			const float a = 0.3f;
+			float dot0 = l0[0]*nx + l0[1]*ny + l0[2]*nz;
+			float dot1 = l1[0]*nx + l1[1]*ny + l1[2]*nz;
+			if(dot0 < 0.0f) { dot0 = 0.0f; }
+			if(dot1 < 0.0f) { dot1 = 0.0f; }
+
+			const float l = dot0*0.7f + dot1*0.3f;
+
+			mTerrainVB[(x+y*size)*9+6] = mTerrainVB[(x+y*size)*9+6]*(l + a);
+			mTerrainVB[(x+y*size)*9+7] = mTerrainVB[(x+y*size)*9+7]*(l + a);
+			mTerrainVB[(x+y*size)*9+8] = mTerrainVB[(x+y*size)*9+8]*(l + a);
+
+			/*mTerrainVB[(x+y*size)*9+3] = 0.0f;
+			mTerrainVB[(x+y*size)*9+4] = -1.0f;
+			mTerrainVB[(x+y*size)*9+5] = 0.0f;*/
+		}
+	}
+
+	// Index buffers
+	const PxU32 maxNbTerrainTriangles = (size-1)*(size-1)*2;
+
+	mNbIB = 4;
+	mRenderMaterial[0] = MATERIAL_TERRAIN_MUD;
+	mRenderMaterial[1] = MATERIAL_ROAD_TARMAC;
+	mRenderMaterial[2] = MATERIAL_ROAD_SNOW;
+	mRenderMaterial[3] = MATERIAL_ROAD_GRASS;
+
+	for(PxU32 i=0;i<mNbIB;i++)
+	{
+		mIB[i] = (PxU32*)SAMPLE_ALLOC(sizeof(PxU32)*maxNbTerrainTriangles*3);
+		mNbTriangles[i] = 0;
+	}
+
+	for(PxU32 j=0;j<size-1;j++)
+	{
+		for(PxU32 i=0;i<size-1;i++)
+		{
+			PxU32 tris[6];
+			tris[0] = i   + j*size; tris[1] = i   + (j+1)*size; tris[2] = i+1 + (j+1)*size;
+			tris[3] = i   + j*size; tris[4] = i+1 + (j+1)*size; tris[5] = i+1 + j*size;
+
+			for(PxU32 t=0;t<2;t++)
+			{
+				const PxU32 vt0 = tagBuffer[tris[t*3+0]];
+				const PxU32 vt1 = tagBuffer[tris[t*3+1]];
+				const PxU32 vt2 = tagBuffer[tris[t*3+2]];
+
+				PxU32 buffer = 0;
+				if(vt0 == vt1 && vt0 == vt2)
+					buffer = vt0;
+				
+				mIB[buffer][mNbTriangles[buffer]*3+0] = tris[t*3+0];
+				mIB[buffer][mNbTriangles[buffer]*3+1] = tris[t*3+1];
+				mIB[buffer][mNbTriangles[buffer]*3+2] = tris[t*3+2];
+				mNbTriangles[buffer]++;
+			}
+		}
+	}
+
+	SAMPLE_FREE(tagBuffer);
+	SAMPLE_FREE(doneBuffer);
+}
+
+void SampleVehicle::addMesh(PxRigidActor* actor, float* verts, PxU32 nVerts, PxU32* indices, PxU32 mIndices, PxU32 materialIndex, const char* filename)
+{
+	const char* filenameCooked = getSampleOutputFilePath(filename, ""); 
+	PX_ASSERT(NULL != filenameCooked);
+
+	bool ok = false;
+	if(!gRecook)
+	{
+		SampleFramework::File* fp = NULL;
+		PxToolkit::fopen_s(&fp, filenameCooked, "rb");
+		if(fp)
+		{
+			fseek(fp, 0, SEEK_END);
+			PxU32 filesize = (PxU32)ftell(fp);
+
+			fclose(fp);
+
+
+			ok = (filesize != 0);
+		}
+	}
+
+	if(!ok)
+	{
+		PxTriangleMeshDesc meshDesc;
+		meshDesc.points.count		= nVerts;
+		meshDesc.triangles.count	= mIndices;
+		meshDesc.points.stride		= sizeof(float)*3*3;
+		meshDesc.triangles.stride	= sizeof(PxU32)*3;
+		meshDesc.points.data		= verts;
+		meshDesc.triangles.data		= indices;
+		meshDesc.flags = PxMeshFlags(0);
+
+		//
+		shdfnd::printFormatted("Cooking object... %s", filenameCooked);
+		PxDefaultFileOutputStream stream(filenameCooked);
+		ok = getCooking().cookTriangleMesh(meshDesc, stream);
+		shdfnd::printFormatted(" - Done\n");
+	}
+
+	{
+		PxDefaultFileInputData stream(filenameCooked);
+		PxTriangleMesh* triangleMesh = getPhysics().createTriangleMesh(stream);
+
+		if(triangleMesh)
+		{
+			PxRigidActorExt::createExclusiveShape(*actor, PxTriangleMeshGeometry(triangleMesh), *mStandardMaterials[materialIndex] /**mStandardMaterial*/);
+		}
+	}
+}
+
+// PT: the renderer also expects 16bit indices so we still have to cut a big mesh to pieces
+void SampleVehicle::addRenderMesh(float* verts, PxU32 nVerts, PxU32* indices, PxU32 mIndices, PxU32 matID)
+{
+	float minX=1000000.0f;
+	float minZ=1000000.0f;
+	float maxX=-1000000.0f;
+	float maxZ=-1000000.0f;
+
+	// PT: the VB uses interleaved data so we need a temp buffer
+	PxVec3Alloc* v = SAMPLE_NEW(PxVec3Alloc)[nVerts];
+	float* curVerts = verts;
+	PxBounds3 meshBound = PxBounds3::empty();
+	for(PxU32 i=0;i<nVerts;i++)
+	{
+		v[i].x = curVerts[0];
+		v[i].y = curVerts[1];
+		v[i].z = curVerts[2];
+		if (v[i].x < minX) { minX = v[i].x; }
+		if (v[i].z < minZ) { minZ = v[i].z; }
+		if (v[i].x > maxX) { maxX = v[i].x; }
+		if (v[i].z > maxZ) { maxZ = v[i].z; }
+		curVerts += 3*3;
+
+		meshBound.include(v[i]);
+	}
+
+	PxReal* uv = (PxReal*)SAMPLE_ALLOC(sizeof(PxReal)*nVerts*2);
+	curVerts = verts;
+	const float scaleX = (maxX-minX)/64.0f;
+	const float scaleZ = (maxZ-minZ)/64.0f;
+	for(PxU32 i=0;i<nVerts;i++)
+	{
+		uv[i*2+0] = (curVerts[0]-minX)/scaleX;
+		uv[i*2+1] = (curVerts[2]-minZ)/scaleZ;
+		curVerts += 3*3;
+	}
+		
+	RAWMesh data;
+	data.mMaterialID	= matID;
+	data.mNbVerts		= nVerts;
+	data.mNbFaces		= mIndices;
+	data.mVerts			= v;
+	data.mUVs			= uv;
+	data.mIndices		= indices;
+	RenderMeshActor* renderActor = createRenderMeshFromRawMesh(data);
+	if( renderActor != NULL )
+	{
+		renderActor->setWorldBounds(meshBound);
+		renderActor->setEnableCameraCull(true);
+	}
+
+	SAMPLE_FREE(uv);
+	DELETEARRAY(v);
+}
+
+void SampleVehicle::createTrack(PxU32 size, float width, float chaos)
+{
+	createTerrain(size, width, chaos);
+	createLandscapeMesh();
+}
+
+void SampleVehicle::createLandscapeMesh()
+{
+	RAWTexture data;
+	data.mName = "gravel_diffuse.dds";
+	RenderTexture* gravelTexture = createRenderTextureFromRawTexture(data);
+
+	mTerrainMaterial = SAMPLE_NEW(RenderMaterial)(*getRenderer(), PxVec3(0.5f, 0.25f, 0.125f), 1.0f, false, MATERIAL_TERRAIN_MUD, gravelTexture);
+	mRenderMaterials.push_back(mTerrainMaterial);
+
+	data.mName = "asphalt_diffuse.dds";
+	RenderTexture* asphaltTexture = createRenderTextureFromRawTexture(data);
+
+	mRoadMaterial = SAMPLE_NEW(RenderMaterial)(*getRenderer(), PxVec3(1.0f, 1.0f, 1.0f), 1.0f, false, MATERIAL_ROAD_TARMAC, asphaltTexture);
+	mRenderMaterials.push_back(mRoadMaterial);
+
+	data.mName = "ice_diffuse.dds";
+	RenderTexture* snowTexture = createRenderTextureFromRawTexture(data);
+
+	mRoadIceMaterial = SAMPLE_NEW(RenderMaterial)(*getRenderer(), PxVec3(0.05f, 0.05f, 0.75f), 1.0f, false, MATERIAL_ROAD_SNOW, snowTexture);
+	mRenderMaterials.push_back(mRoadIceMaterial);
+
+	data.mName = "grass_diffuse.dds";
+	RenderTexture* grassTexture = createRenderTextureFromRawTexture(data);
+
+	mRoadGravelMaterial = SAMPLE_NEW(RenderMaterial)(*getRenderer(), PxVec3(1.0f, 1.0f, 1.0f), 1.0f, false, MATERIAL_ROAD_GRASS, grassTexture);
+	mRenderMaterials.push_back(mRoadGravelMaterial);
+
+	PxTransform pose;
+	pose = PxTransform(PxIdentity);
+//	pose.p.y -= 10.0f;
+	mHFActor = getPhysics().createRigidStatic(pose);
+
+	for(PxU32 i=0;i<mNbIB;i++)
+	{
+		if(mNbTriangles[i] > 0) 
+		{
+			char filename[512];
+			sprintf(filename, "SampleVehicleGroundMeshes_Part%d", i);
+			addMesh(mHFActor, mTerrainVB, mNbTerrainVerts, mIB[i], mNbTriangles[i], i, filename);
+			if (mNbTriangles[i] > (1<<16)) 
+			{
+				PxU32 firstBatch = mNbTriangles[i]/2;
+				addRenderMesh(mTerrainVB, mNbTerrainVerts, mIB[i], firstBatch, MATERIAL_TERRAIN_MUD);
+				addRenderMesh(mTerrainVB, mNbTerrainVerts, mIB[i]+(firstBatch*3), mNbTriangles[i]-firstBatch, mRenderMaterial[i]);
+			} 
+			else 
+			{
+				addRenderMesh(mTerrainVB, mNbTerrainVerts, mIB[i], mNbTriangles[i], mRenderMaterial[i]);
+			}
+		}
+	}
+
+	PxSceneWriteLock scopedLock(*mScene);
+	mScene->addActor(*mHFActor);
+
+	PxShape* shapeBuffer[MAX_NUM_INDEX_BUFFERS];
+	mHFActor->getShapes(shapeBuffer, MAX_NUM_INDEX_BUFFERS);
+	PxFilterData simulationFilterData;
+	simulationFilterData.word0=COLLISION_FLAG_GROUND;
+	simulationFilterData.word1=COLLISION_FLAG_GROUND_AGAINST;
+	PxFilterData queryFilterData;
+	SampleVehicleSetupDrivableShapeQueryFilterData(&queryFilterData);
+	
+	for(PxU32 i=0;i<mNbIB;i++)
+	{
+		shapeBuffer[i]->setSimulationFilterData(simulationFilterData);
+		shapeBuffer[i]->setQueryFilterData(queryFilterData);
+		shapeBuffer[i]->setFlag(PxShapeFlag::eVISUALIZATION,false);
+	}
+}