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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 "RTdef.h"
#if RT_COMPILE
#ifndef COMPOUNDBASE
#define COMPOUNDBASE
#define TECHNICAL_MODE 1
#include <foundation/PxVec3.h>
#include <foundation/PxPlane.h>
#include <foundation/PxBounds3.h>
#include <foundation/PxTransform.h>
#include <PsArray.h>
#include <PxRigidDynamic.h>
#include <PsUserAllocated.h>
class Shader;
namespace physx
{
namespace fracture
{
namespace base
{
class Convex;
class Mesh;
class SimScene;
class CompoundGeometry;
// -----------------------------------------------------------------------------------
class Compound : public ::physx::shdfnd::UserAllocated
{
friend class SimScene;
friend class Actor;
protected:
Compound(SimScene* scene, PxReal contactOffset = 0.005f, PxReal restOffset = -0.001f);
public:
virtual ~Compound();
virtual bool createFromConvexes(Convex** convexes, int numConvexes, const PxTransform &pose, const PxVec3 &vel, const PxVec3 &omega, bool copyConvexes = true, int matID = 0, int surfMatID = 0);
bool createFromConvex(Convex* convex, const PxTransform &pose, const PxVec3 &vel, const PxVec3 &omega, bool copyConvexes = true, int matID = 0, int surfMatID = 0);
bool createFromGeometry(const CompoundGeometry &geom, const PxTransform &pose, const PxVec3 &vel, const PxVec3 &omega, Shader* myShader, int matID = 0, int surfMatID = 0);
bool createFromGeometry(const CompoundGeometry &geom, PxRigidDynamic* body, Shader* myShader, int matID = 0, int surfMatID = 0);
void createFromMesh(const Mesh *mesh, const PxTransform &pose, const PxVec3 &vel, const PxVec3 &omega, int submeshNr = -1, const PxVec3& scale = PxVec3(1.f), int matID = 0, int surfMatID = 0);
//bool createFromXml(XMLParser *p, float scale, const PxTransform &trans, bool ignoreVisualMesh = false);
virtual void applyShapeTemplate(PxShape* /*shape*/) {}
bool rayCast(const PxVec3 &orig, const PxVec3 &dir, float &dist, int &convexNr, PxVec3 &normal);
void setLifeFrames(int frames) { mLifeFrames = frames == 0 ? 1 : frames; }
int getLifeFrames() { return mLifeFrames; }
virtual void convexAdded(Convex* /*c*/, Shader* shader = NULL) {}
virtual void convexRemoved(Convex* /*c*/) {}
void attach(const shdfnd::Array<PxBounds3> &bounds);
void attachLocal(const shdfnd::Array<PxBounds3> &bounds);
const shdfnd::Array<Convex*>& getConvexes() const { return mConvexes; }
const shdfnd::Array<PxBounds3>& getAttachmentBounds() const { return mAttachmentBounds; }
PxRigidDynamic* getPxActor() { return mPxActor; }
void getWorldBounds(PxBounds3 &bounds) const;
void getLocalBounds(PxBounds3 &bounds) const;
void getRestBounds(PxBounds3 &bounds) const;
//void setShader(Shader* shader, const ShaderMaterial &mat) { mShader = shader; mShaderMat = mat; }
//Shader* getShader() const { return mShader; }
//const ShaderMaterial& getShaderMat() { return mShaderMat; }
void setKinematic(const PxVec3 &vel);
void step(float dt);
virtual void draw(bool /*useShader*/, bool /*debug*/ = false) {}
virtual void clear();
void setAdditionalImpactImpulse(float radial, float normal) {
mAdditionalImpactRadialImpulse = radial; mAdditionalImpactNormalImpulse = normal;
}
float getAdditionalImpactRadialImpulse() const { return mAdditionalImpactRadialImpulse; }
float getAdditionalImpactNormalImpulse() const { return mAdditionalImpactNormalImpulse; }
virtual void copyShaders(Compound*) {}
protected:
bool isAttached();
bool createPxActor(shdfnd::Array<PxShape*> &shapes, const PxTransform &pose, const PxVec3 &vel, const PxVec3 &omega);
static void appendUniformSamplesOfConvexPolygon(PxVec3* vertices, int numV, float area, shdfnd::Array<PxVec3>& samples, shdfnd::Array<PxVec3>* normals = NULL);
virtual float getSleepingThresholdRB() {return 0.1f;}
struct Edge {
void init(int c0, int c1) {
this->c0 = c0; this->c1 = c1;
restLen = 0.0f;
deleted = false;
}
int c0, c1;
float restLen;
bool deleted;
};
shdfnd::Array<Convex*> mConvexes;
shdfnd::Array<Edge> mEdges;
SimScene *mScene;
Actor *mActor;
PxRigidDynamic *mPxActor;
PxVec3 mKinematicVel;
shdfnd::Array<PxBounds3> mAttachmentBounds;
//Shader *mShader;
//ShaderMaterial mShaderMat;
PxReal mContactOffset;
PxReal mRestOffset;
int mLifeFrames;
float mAdditionalImpactNormalImpulse;
float mAdditionalImpactRadialImpulse;
PxU32 mDepth; // fracture depth
PxVec3 mNormal; // normal use with mSheetFracture
};
}}}
#endif
#endif
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