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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#include "Mesh.h"
#include "CompoundGeometry.h"
#include "CompoundCreator.h"
#include "PxConvexMeshGeometry.h"
#include "PxRigidBodyExt.h"
#include "foundation/PxMat44.h"
#include "PxScene.h"
#include "PxShape.h"
#include "SimScene.h"
#include "Compound.h"
#include "Convex.h"
#include "XMLParser.h"
#include "foundation/PxMathUtils.h"
#include <vector>
#include <stdio.h>
#include "MathUtils.h"
using namespace std;
#define CREATE_DEBRIS 1
float Compound::getSleepingThresholdRB()
{
return 0.1f;
}
// --------------------------------------------------------------------------------------------
void Compound::draw(bool useShader, bool debug)
{
if (useShader && mShader)
mShader->activate(mShaderMat);
else {
glColor3f(mShaderMat.color[0], mShaderMat.color[1], mShaderMat.color[2]);
}
for (int i = 0; i < (int)mConvexes.size(); i++)
mConvexes[i]->draw(debug);
if (useShader && mShader)
mShader->deactivate();
}
// --------------------------------------------------------------------------------------------
void Compound::clear()
{
base::Compound::clear();
mShader = NULL;
mShaderMat.init();
}
void Compound::copyShaders(base::Compound* m)
{
((Compound*)m)->mShader = mShader;
((Compound*)m)->mShaderMat = mShaderMat;
}
// --------------------------------------------------------------------------------------------
bool Compound::createFromXml(XMLParser *p, float scale, const PxTransform &trans, bool ignoreVisualMesh)
{
clear();
PxVec3 center;
for (int i = 0; i < (int)p->vars.size(); i++) {
if (p->vars[i].name == "name") {
// not used currently
}
else if (p->vars[i].name == "centerX")
sscanf(p->vars[i].value.c_str(), "%f", ¢er.x);
else if (p->vars[i].name == "centerY")
sscanf(p->vars[i].value.c_str(), "%f", ¢er.y);
else if (p->vars[i].name == "centerZ")
sscanf(p->vars[i].value.c_str(), "%f", ¢er.z);
}
p->readNextTag();
// create Px objects
shdfnd::Array<PxShape*> shapes;
while (!p->endOfFile() && p->tagName != "Compound") {
if (p->tagName == "Convex") {
Convex *c = (Convex*)mScene->createConvex();
if (!c->createFromXml(p, scale, ignoreVisualMesh)) {
delete c;
return false;
}
c->increaseRefCounter();
// added overlap test in island detector, no need for ghost anymore!
if (c->isGhostConvex()) {
// mConvexes.pushBack(c);
continue;
}
bool reused = c->getPxConvexMesh() != NULL;
PxConvexMesh* mesh = c->createPxConvexMesh(this, mScene->getPxPhysics(), mScene->getPxCooking());
if (mesh == NULL) {
delete c;
continue;
}
if (!reused)
convexAdded(c, NULL); //mScene->getConvexRenderer().add(c);
PxShape *shape = mScene->getPxPhysics()->createShape(
PxConvexMeshGeometry(mesh),
*mScene->getPxDefaultMaterial(),
true
);
shape->setLocalPose(c->getLocalPose());
//shape->setContactOffset(mContactOffset);
//shape->setRestOffset(mRestOffset);
if (mContactOffset < mRestOffset || mContactOffset < 0.0f)
{
printf("WRONG2\n");
}
mScene->mapShapeToConvex(*shape, *c);
shapes.pushBack(shape);
if (!c->hasExplicitVisMesh())
c->createVisMeshFromConvex();
mConvexes.pushBack(c);
}
}
p->readNextTag();
PxVec3 vel(0.0f, 0.0f, 0.0f);
PxVec3 omega(0.0f, 0.0f, 0.0f);
createPxActor(shapes, trans * PxTransform(scale * center), vel, omega);
bool indestructible = false;
for (int i = 0; i < (int)mConvexes.size(); i++) {
if (mConvexes[i]->isIndestructible()) {
indestructible = true;
break;
}
}
return true;
}
void Compound::convexAdded(base::Convex* c, Shader* shader)
{
((SimScene*)mScene)->getConvexRenderer().add(c, shader);
}
void Compound::convexRemoved(base::Convex* c)
{
((SimScene*)mScene)->getConvexRenderer().remove(c);
}
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