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
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
|
//
// 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) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#include "PxPhysicsAPI.h"
#include "extensions/PxExtensionsAPI.h"
#include "SceneCrab.h"
#include "SimScene.h"
#include "CompoundCreator.h"
#include <GL/glut.h>
#include "PxTkStream.h"
#include "PxTkFile.h"
using namespace PxToolkit;
// if enabled: runs the crab AI in sync, not as a parallel task to physx.
#define DEBUG_RENDERING 0
bool mSpawnActive = false;
SceneCrab::SceneCrab(PxPhysics* pxPhysics, PxCooking *pxCooking, bool isGrb,
Shader *defaultShader, const char *resourcePath, float slowMotionFactor) :
SceneKapla(pxPhysics, pxCooking, isGrb, defaultShader, resourcePath, slowMotionFactor)
{
mNbCrabsX = 20;
mNbCrabsZ = 20;
mNbSuperCrabs = 2;
}
void SceneCrab::onInit(PxScene* pxScene)
{
SceneKapla::onInit(pxScene);
mCrabManager.setSceneCrab(this);
mCrabManager.initialize(mNbCrabsX*mNbCrabsZ + mNbSuperCrabs);
createTerrain("terrain_ll2.bmp", "", 60.f, true);
const PxVec3 dims(0.08f, 0.25f, 1.0f);
PxMaterial* towerMaterial = mPxPhysics->createMaterial(0.5f, 0.25f, 0.1f);
ShaderMaterial mat;
mat.init();
PxFilterData queryData;
queryData.word0 = 128;
createCrabs();
createCylindricalTower(48, 3.6f, 3.6f, 15, dims, PxVec3(-25.f, -30.5f, -85.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
createCylindricalTower(48, 3.6f, 3.6f, 15, dims, PxVec3(-5.f, -30.5f, -85.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
createCylindricalTower(48, 3.6f, 3.6f, 15, dims, PxVec3(15.f, -30.5f, -85.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
createCylindricalTower(48, 3.6f, 3.6f, 15, dims, PxVec3(35.f, -30.5f, -85.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
createCylindricalTower(48, 3.6f, 3.6f, 15, dims, PxVec3(55.f, -30.5f, -85.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
//createCylindricalTower(64, 3.6f, 3.6f, 15, dims, PxVec3(-75.f, -30.65f, -95.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
//createCylindricalTower(64, 3.6f, 3.6f, 15, dims, PxVec3(-55.f, -30.65f, -95.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
//createCylindricalTower(64, 3.6f, 3.6f, 15, dims, PxVec3(-35.f, -30.65f, -95.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);
/*createCylindricalTower(64, 3.6f, 3.6f, 15, dims, PxVec3(55.f, -1.10f, 55.f), towerMaterial, mat, PxFilterData(), queryData, 0.2f);*/
}
SceneCrab::~SceneCrab()
{
}
void SceneCrab::setScene(PxScene* scene)
{
SceneKapla::setScene(scene);
mCrabManager.setScene(scene);
}
void SceneCrab::createCrabs()
{
PxVec3 startCrabPos(-75.f, 1.f, -75.f);
PxReal scale = 0.8f;
PxReal crabDepth = 2.0f;
PxReal legMass = 0.03f;
for (PxU32 i = 0; i < mNbCrabsX; ++i)
{
PxVec3 crabPos = startCrabPos + PxVec3(10.f*i, 0, 0);
for (PxU32 j = 0; j < mNbCrabsZ; ++j)
{
//const PxU32 index = i*mNbCrabsX + j;
crabPos.z += 10.f;
mCrabManager.createCrab(crabPos, crabDepth, scale, legMass, 4);
}
}
startCrabPos = PxVec3(-20.f, 1.f, -20.f);
crabDepth = 8.f;
legMass = 0.3f;
scale = 2.f;
for (PxU32 i = 0; i < mNbSuperCrabs; ++i)
{
PxVec3 crabPos = startCrabPos + PxVec3(-20.f*i, 0, -20.f*i);
//super crabs
mCrabManager.createCrab(crabPos, crabDepth, scale, legMass, 8);
}
}
// ----------------------------------------------------------------------------------------------
void SceneCrab::duringSim(float dt)
{
PxSceneWriteLock scopedLock(getScene());
mCrabManager.update(dt);
}
void SceneCrab::syncAsynchronousWork()
{
mCrabManager.syncWork();
}
void SceneCrab::handleKeyDown(unsigned char key, int x, int y)
{
if (key == 'k' || key == 'K')
{
if (!mSpawnActive)
{
mSpawnActive = true;
PxReal scale = 0.8f;
PxReal crabDepth = 2.0f;
PxReal legMass = 0.03f;
//Raycast against the static world to get a spawn position....
PxRaycastBuffer hit;
PxQueryFilterData fd; fd.flags |= PxQueryFlag::eSTATIC;
PxVec3 orig, dir;
getMouseRay(mMouseX, mMouseY, orig, dir);
if (mSimScene->getScene()->raycast(mCameraPos, dir, 1000.f, hit, PxHitFlags(PxHitFlag::eDEFAULT), fd))
{
//Spawn a walker...
for (PxU32 a = 0; a < 1; ++a)
{
for (PxU32 b = 0; b < 1; ++b)
{
mCrabManager.createCrab(hit.block.position + PxVec3(a*10.f, 0.f, b * 10.f), crabDepth, scale, legMass, 4);
}
}
}
}
}
SceneKapla::handleKeyDown(key, x, y);
}
void SceneCrab::handleKeyUp(unsigned char key, int x, int y)
{
if (key == 'k' || key == 'K')
{
mSpawnActive = false;
}
SceneKapla::handleKeyUp(key, x, y);
}
|