1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
|
#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);
}
|