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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.
*/
#ifndef __SAMPLE_CAPSULE_ACTOR_H__
#define __SAMPLE_CAPSULE_ACTOR_H__
#include "SampleShapeActor.h"
#include "PxRigidDynamic.h"
#include "geometry/PxCapsuleGeometry.h"
#include "extensions/PxExtensionsAPI.h"
namespace physx
{
class PxMaterial;
}
#include <Renderer.h>
#include <RendererMeshContext.h>
class SampleCapsuleActor : public SampleShapeActor
{
public:
SampleCapsuleActor(SampleRenderer::Renderer* renderer,
SampleFramework::SampleMaterialAsset& material,
physx::PxScene& physxScene,
const physx::PxVec3& pos,
const physx::PxVec3& vel,
float height,
float radius,
float density,
physx::PxMaterial* PxMaterial,
bool useGroupsMask,
nvidia::apex::RenderDebugInterface* rdebug = NULL)
: SampleShapeActor(rdebug)
, mRendererCapsuleShape(NULL)
, mRadius(radius)
, mHeight(height)
{
mRenderer = renderer;
if (!PxMaterial)
physxScene.getPhysics().getMaterials(&PxMaterial, 1);
createActor(physxScene, pos, vel, radius, height, density, PxMaterial, useGroupsMask);
mRendererCapsuleShape = new SampleRenderer::RendererCapsuleShape(*mRenderer, mHeight / 2, mRadius);
mRendererMeshContext.material = material.getMaterial();
mRendererMeshContext.materialInstance = material.getMaterialInstance();
mRendererMeshContext.mesh = mRendererCapsuleShape->getMesh();
mRendererMeshContext.transform = &mTransform;
if (rdebug)
{
mBlockId = RENDER_DEBUG_IFACE(rdebug)->beginDrawGroup(mTransform);
RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::SolidShaded);
static uint32_t ccount /* = 0 */;
RENDER_DEBUG_IFACE(rdebug)->setCurrentColor(0xFFFFFF);
RENDER_DEBUG_IFACE(rdebug)->setCurrentTextScale(0.5f);
RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::CenterText);
RENDER_DEBUG_IFACE(rdebug)->addToCurrentState(RENDER_DEBUG::DebugRenderState::CameraFacing);
RENDER_DEBUG_IFACE(rdebug)->debugText(physx::PxVec3(0, 1.0f + 0.01f, 0), "Sample Sphere:%d", ccount++);
RENDER_DEBUG_IFACE(rdebug)->endDrawGroup();
}
}
virtual ~SampleCapsuleActor()
{
if (mRendererCapsuleShape)
{
delete mRendererCapsuleShape;
mRendererCapsuleShape = NULL;
}
}
private:
void createActor(physx::PxScene& physxScene,
const physx::PxVec3& pos,
const physx::PxVec3& vel,
float radius,
float height,
float density,
physx::PxMaterial* PxMaterial,
bool useGroupsMask)
{
mTransform = physx::PxMat44(physx::PxIdentity);
mTransform.setPosition(pos);
physx::PxRigidDynamic* actor = physxScene.getPhysics().createRigidDynamic(physx::PxTransform(mTransform));
PX_ASSERT(actor);
actor->setAngularDamping(0.5f);
actor->setLinearVelocity(vel);
physx::PxCapsuleGeometry capsuleGeom(radius, height * 0.5f);
physx::PxShape* shape = actor->createShape(capsuleGeom, *PxMaterial);
PX_ASSERT(shape);
if (shape && useGroupsMask)
{
shape->setSimulationFilterData(physx::PxFilterData(1, 0, ~0u, 0));
shape->setQueryFilterData(physx::PxFilterData(1, 0, ~0u, 0));
}
if (density > 0)
{
physx::PxRigidBodyExt::updateMassAndInertia(*actor, density);
}
else
{
actor->setMass(1.0f);
}
SCOPED_PHYSX_LOCK_WRITE(&physxScene);
physxScene.addActor(*actor);
mPhysxActor = actor;
}
/*virtual*/ physx::PxMat44 convertToGraphicalCoordinates(const physx::PxTransform & physicsPose) const
{
static const physx::PxTransform rotCcwRhZ = physx::PxTransform(physx::PxQuat(physx::PxHalfPi, physx::PxVec3(0.0f, 0.0f, 1.0f)));
return physx::PxMat44(physicsPose * rotCcwRhZ);
}
/*virtual*/ physx::PxTransform convertToPhysicalCoordinates(const physx::PxMat44 & graphicsPose) const
{
static const physx::PxTransform rotCwRhZ = physx::PxTransform(physx::PxQuat(-1.0f * physx::PxHalfPi, physx::PxVec3(0.0f, 0.0f, 1.0f)));
return physx::PxTransform(graphicsPose * rotCwRhZ);
}
private:
SampleRenderer::RendererCapsuleShape* mRendererCapsuleShape;
float mRadius, mHeight;
};
#endif
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