1 files changed, 106 insertions, 0 deletions
diff --git a/KaplaDemo/samples/sampleViewer3/SceneRagdollWashingMachine.cpp b/KaplaDemo/samples/sampleViewer3/SceneRagdollWashingMachine.cpp
new file mode 100644
index 00000000..84b407d7
--- /dev/null
+++ b/KaplaDemo/samples/sampleViewer3/SceneRagdollWashingMachine.cpp
@@ -0,0 +1,106 @@
+#include "SceneRagdollWashingMachine.h"
+#include "Convex.h"
+#include "PxSimpleFactory.h"
+#include "PxRigidStatic.h"
+#include "PxShape.h"
+#include "foundation/PxMathUtils.h"
+#include "foundation/PxMat44.h"
+
+#include <stdio.h>
+#include <GL/glut.h>
+
+#include "SimScene.h"
+#include "CompoundCreator.h"
+#include "Mesh.h"
+#include "TerrainMesh.h"
+
+#include "PhysXMacros.h"
+
+#include "MathUtils.h"
+
+#include "PxRigidBodyExt.h"
+#include "PxD6Joint.h"
+
+using namespace physx;
+using namespace physx::shdfnd;
+
+static PxReal speeds[] = { 3.141692f*0.125f, 3.141592f*0.25f, 3.141592f*0.75f, 3.141592f*0.5f, 3.141592f*0.25f };
+static PxReal spinDurations[] = { 10, 15, 5, 5, 10 };
+
+SceneRagdollWashingMachine::SceneRagdollWashingMachine(PxPhysics* pxPhysics, PxCooking *pxCooking, bool isGrb,
+	Shader *defaultShader, const char *resourcePath, float slowMotionFactor) : SceneKapla(pxPhysics, pxCooking, isGrb, defaultShader, resourcePath, slowMotionFactor),
+	mWashingMachine(NULL)
+{
+	mChangeSpeedTime = 15.f;
+	mSpeedState = 0;
+}
+
+void SceneRagdollWashingMachine::preSim(float dt)
+{
+	mChangeSpeedTime -= dt;
+	if (mChangeSpeedTime < 0.f)
+	{
+		mSpeedState = (mSpeedState + 1)%5;
+		mChangeSpeedTime = spinDurations[mSpeedState];
+	}
+
+	PxQuat rotationPerFrame(speeds[mSpeedState]*dt, PxVec3(0,0,1));
+
+	PxTransform trans = mWashingMachine->getGlobalPose();
+	trans.q = trans.q * rotationPerFrame;
+	mWashingMachine->setKinematicTarget(trans);
+
+	SceneKapla::preSim(dt);
+}
+
+void SceneRagdollWashingMachine::onInit(PxScene* pxScene)
+{
+	//(1) Create the washing machine :)
+
+	SceneKapla::onInit(pxScene);
+
+	ShaderMaterial mat;
+	mat.init();
+
+	PxVec3 dims(3.f, 1.f, 35.f);
+
+	PxReal radius = 7.f;
+
+	PxReal circumference = 2.f * radius * 3.141592f;
+
+	//Now work out how many slabs you need to satisfy this...
+
+	PxU32 nbSlabs = PxU32((circumference / dims.x)) + 5;
+
+	PxVec3 offset(0, radius, 0);
+
+	for (PxU32 a = 0; a < nbSlabs; ++a)
+	{
+		PxQuat rotation(a*2.f*3.141592 / PxReal(nbSlabs), PxVec3(0, 0, 1));
+
+		PxTransform localTransform(rotation.rotate(offset), rotation);
+
+		mSimScene->getCompoundCreator()->createBox(dims, &localTransform, a == 0);
+	}
+
+	PxTransform localTransform(PxVec3(0, radius - dims.x/2.f, 0.f), PxQuat(3.141592*0.5f, PxVec3(0, 0, 1)));
+	mSimScene->getCompoundCreator()->createBox(dims, &localTransform, false);
+
+	Compound* compound = createObject(PxTransform(PxVec3(0, radius+5.f, -dims.z)), PxVec3(0), PxVec3(0), false, mat,false);
+	mWashingMachine = compound->getPxActor();
+	mWashingMachine->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
+
+	for (PxU32 a = 0; a < 20; ++a)
+	{
+		for (PxU32 b = 0; b < 35; ++b)
+		{
+			createRagdoll(PxVec3(-radius + 2.f + a * 0.5f, radius+5.f, -dims.z*0.8f - b * 0.5f), PxVec3(0), mat);
+		}
+	}
+
+	createGroundPlane(PxFilterData(), PxVec3(0, -2.f, 0));
+
+	mSimScene->getCompoundCreator()->createBox(PxVec3(20.f, 20.f, 2.f));
+	Compound* staticCompound = createObject(PxTransform(PxVec3(0.f, radius+5.f, -1.5f*dims.z)), PxVec3(0), PxVec3(0),false,mat,false);
+	staticCompound->getPxActor()->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
+}
+\ No newline at end of file