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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and 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.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// 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 "PxPhysXConfig.h"
#if PX_USE_CLOTH_API
#include "SampleCharacterClothFlag.h"
#include "SampleCharacterCloth.h"
#include "TestClothHelpers.h"
#include "cloth/PxClothParticleData.h"
using namespace PxToolkit;
////////////////////////////////////////////////////////////////////////////////
SampleCharacterClothFlag::SampleCharacterClothFlag(SampleCharacterCloth& sample, const PxTransform &pose, PxU32 resX, PxU32 resY, PxReal sizeX, PxReal sizeY, PxReal height)
:
mRenderActor(NULL),
mSample(sample),
mWindDir(1.0f, 0.0f, 0.0f),
mWindRange(1.0f),
mWindStrength(1.0f),
mTime(0.0f),
mCapsuleActor(NULL)
{
PxScene& scene = mSample.getActiveScene();
PxPhysics& physics = mSample.getPhysics();
// adjust placement position for the flag with ray casting so that we can put each flag properly on the terrain
PxVec3 pos = pose.p;
PxRaycastBuffer hit;
scene.raycast(PxVec3(pos.x,100,pos.z), PxVec3(0,-1,0), 500.0f, hit, PxHitFlags(0xffff));
bool didHit = hit.hasBlock;
PX_ASSERT(didHit); PX_UNUSED(didHit);
pos = hit.block.position + PxVec3(0,0.2f,0.0);
// settings to adjust flag and pole position on the ground
PxTransform clothPose(pos, pose.q);
PxReal halfSizeX = sizeX * 0.5f;
PxReal halfSizeY = sizeY * 0.5f;
PxReal offset = sizeX * 0.1f;
PxReal halfHeight = height * 0.5f;
PxReal clothHeight = height - halfSizeY;
clothPose.p.y += clothHeight;
// create the cloth flag mesh
SampleArray<PxVec4> vertices;
SampleArray<PxU32> primitives;
PxClothMeshDesc meshDesc = Test::ClothHelpers::createMeshGrid(
PxVec3(sizeX,0,0), PxVec3(0,-sizeY,0), resX, resY, vertices, primitives, mUVs);
// attach two corners on the left
for (PxU32 i = 0; i < meshDesc.points.count; i++)
{
PxReal u = mUVs[i].x, v = mUVs[i].y;
bool constrain = ( (u < 0.01) && (v < 0.01) ) || (( u < 0.01) && (v > 0.99));
vertices[i].w = constrain ? 0.0f : 1.0f;
}
// create cloth fabric
PxClothFabric* clothFabric = PxClothFabricCreate(physics, meshDesc, PxVec3(0,-1,0));
PX_ASSERT(meshDesc.points.stride == sizeof(PxVec4));
// create the cloth actor
const PxClothParticle* particles = (const PxClothParticle*)meshDesc.points.data;
PxCloth* cloth = physics.createCloth( clothPose, *clothFabric, particles, PxClothFlags());
PX_ASSERT(cloth);
// add this cloth into the scene
scene.addActor(*cloth);
// create collision capsule for the pole
SampleArray<PxClothCollisionSphere> spheres(2);
spheres[0].pos = PxVec3(-halfSizeX - offset, -clothHeight, 0);
spheres[1].pos = PxVec3(-halfSizeX - offset, halfSizeY, 0);
spheres[0].radius = 0.1f;
spheres[1].radius = 0.1f;
SampleArray<PxU32> indexPairs;
indexPairs.pushBack(0);
indexPairs.pushBack(1);
cloth->setCollisionSpheres(spheres.begin(), 2);
cloth->addCollisionCapsule(indexPairs[0], indexPairs[1]);
// create render material
RenderMaterial* clothMaterial = mSample.mFlagMaterial;
mRenderActor = SAMPLE_NEW (RenderClothActor)(*mSample.getRenderer(), *cloth, meshDesc,
mUVs.begin(), 0.5f);
mRenderActor->setRenderMaterial(clothMaterial);
mSample.mRenderClothActors.push_back(mRenderActor);
mSample.mRenderActors.push_back(mRenderActor);
// set solver settings
cloth->setSolverFrequency(120);
cloth->setDampingCoefficient(PxVec3(0.0f));
cloth->setStretchConfig(PxClothFabricPhaseType::eBENDING, PxClothStretchConfig(0.1f));
cloth->setTetherConfig(PxClothTetherConfig(1.0f, 1.0f));
mCloth = cloth;
// we create an invisible kinematic capsule so that the CCT avoids colliding character against the pole of this flag
// note that cloth collision capsule above has no effect on rigid body scenes.
PxTransform capsulePose(pos, PxQuat(PxHalfPi, PxVec3(0,0,1)));
capsulePose.p.x -= halfSizeX + offset;
capsulePose.p.y += halfHeight;
PxCapsuleGeometry geom(0.2f,halfHeight);
mCapsuleActor = sample.getPhysics().createRigidDynamic(capsulePose);
mCapsuleActor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
PxRigidActorExt::createExclusiveShape(*mCapsuleActor, geom, sample.getDefaultMaterial());
scene.addActor(*mCapsuleActor);
}
////////////////////////////////////////////////////////////////////////////////
void
SampleCharacterClothFlag::release()
{
mSample.removeRenderClothActor(*mRenderActor);
delete mRenderActor;
mCloth->release();
mCapsuleActor->release();
delete this;
}
////////////////////////////////////////////////////////////////////////////////
void
SampleCharacterClothFlag::setWind(const PxVec3 &dir, PxReal strength, const PxVec3& range)
{
mWindStrength = strength;
mWindDir = dir;
mWindRange = range;
}
////////////////////////////////////////////////////////////////////////////////
void
SampleCharacterClothFlag::update(PxReal dtime)
{
PX_ASSERT(mCloth);
// implementation of a simple wind force that varies its direction, strength over time
mTime += dtime * PxToolkit::Rand(0.0f, 1.0f);
float st = 1.0f + (float)sin(mTime);
float windStrength = PxToolkit::Rand(1.0f, st) * mWindStrength;
float windRangeStrength = PxToolkit::Rand(0.0f, 2.0f);
PxVec3 offset( PxReal(PxToolkit::Rand(-1,1)), PxReal(PxToolkit::Rand(-1,1)), PxReal(PxToolkit::Rand(-1,1)));
float ct = 1.0f + (float)cos(mTime + 0.1);
offset *= ct;
PxVec3 windAcceleration = windStrength * mWindDir + windRangeStrength * mWindRange.multiply(offset);
mCloth->setExternalAcceleration(windAcceleration);
#if 0
PxU32 nbParticles = mCloth->getNbParticles();
SampleArray<PxVec4> accel(nbParticles);
for (PxU32 i = 0; i < nbParticles; i++)
{
accel[i].x = PxToolkit::Rand(-1,1) * mWindRange.x;
accel[i].y = PxToolkit::Rand(-1,1) * mWindRange.y;
accel[i].z = PxToolkit::Rand(-1,1) * mWindRange.z;
}
mCloth->setParticleAccelerations(accel.begin());
#endif
}
#endif // PX_USE_CLOTH_API
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