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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) 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 "PxTkStream.h"
#include "SampleNorthPole.h"
#include "RenderBaseActor.h"
using namespace PxToolkit;
//#define USE_RAYCAST_CCD_FOR_SNOWBALLS
void SampleNorthPole::detach()
{
std::vector<PxShape*>::const_iterator ite;
for(ite=mDetaching.begin(); ite<mDetaching.end(); ++ite)
{
PxSceneWriteLock scopedLock(*mScene);
PxShape* shape = *ite;
PxRigidActor* actor = shape->getActor();
PxMaterial* mat;
shape->getMaterials(&mat,1);
PxGeometryHolder geometry = shape->getGeometry();
PxTransform newActorPose = PxShapeExt::getGlobalPose(*shape, *actor);
PxRigidDynamic* newActor = PxCreateDynamic(*mPhysics, newActorPose, geometry.any(), *mat, 1);
if(!newActor)
fatalError("creating detached actor failed");
getActiveScene().addActor(*newActor);
mPhysicsActors.push_back(newActor);
// the only convex shape is the nose, so we can just test the type
if(geometry.getType() == PxGeometryType::eCONVEXMESH)
{
newActor->addForce(PxVec3(0,.1,0),PxForceMode::eFORCE);
size_t index = reinterpret_cast<size_t>(actor->userData);
mSnowman[index].changeMood();
}
// reuse the old shape's rendering actor
RenderBaseActor* render = getRenderActor(actor, shape);
PxShape* newShape;
newActor->getShapes(&newShape,1);
unlink(render, shape, actor);
link(render, newShape, newActor);
setCCDActive(*newShape, newActor);
actor->detachShape(*shape);
}
mDetaching.clear();
}
void SampleNorthPole::cookCarrotConvexMesh()
{
static const PxVec3 carrotVerts[] = {PxVec3(0,0,.3),PxVec3(.05,0,0),PxVec3(-.05,0,0),PxVec3(0,.05,0),PxVec3(0,-.05,0)};
mCarrotConvex = PxToolkit::createConvexMesh(getPhysics(), getCooking(), carrotVerts, 5, PxConvexFlag::eCOMPUTE_CONVEX);
if(!mCarrotConvex)
fatalError("creating the convex mesh failed");
}
PxRigidDynamic* SampleNorthPole::throwBall()
{
PxSceneWriteLock scopedLock(*mScene);
static unsigned int numBall = 0;
PxVec3 vel = getCamera().getViewDir() * 20.0f;
PxRigidDynamic* ballActor = getPhysics().createRigidDynamic(PxTransform(getCamera().getPos()+getCamera().getViewDir()));
if(!ballActor)
fatalError("creating ball actor failed");
ballActor->setLinearVelocity(vel);
PxShape* ballShape = PxRigidActorExt::createExclusiveShape(*ballActor, PxSphereGeometry(0.1f),getDefaultMaterial());
if(!ballShape)
fatalError("creating ball shape failed");
setSnowball(*ballShape);
PxRigidBodyExt::updateMassAndInertia(*ballActor,1);
#ifndef USE_RAYCAST_CCD_FOR_SNOWBALLS
setCCDActive(*ballShape, ballActor);
#endif
getActiveScene().addActor(*ballActor);
RenderBaseActor* actor = mSnowBallsRenderActors[numBall];;
if(actor)
{
link(actor, ballShape, ballActor);
}
else
{
actor = createRenderObjectFromShape(ballActor, ballShape, mSnowMaterial);
mSnowBallsRenderActors[numBall] = actor;
}
#ifdef USE_RAYCAST_CCD_FOR_SNOWBALLS
if(ballShape)
{
RenderBaseActor* renderActor = getRenderActor(ballActor, ballShape);
renderActor->setRaycastCCD(true);
}
#endif
PxRigidDynamic* oldBall = mSnowBalls[numBall];
if(oldBall)
{
removeActor(oldBall);
oldBall->release();
}
mSnowBalls[numBall] = ballActor;
if(! (++numBall < NUM_BALLS))
numBall=0;
return ballActor;
}
void SampleNorthPole::createSnowMen()
{
PxU32 numSnowmen = NUM_SNOWMEN; // can't have NUM_SNOWMEN in the loop since setting to 0 causes compiler warnings
for(PxU32 i=0; i<numSnowmen; i++)
{
PxVec3 pos(0,1,-8);
PxQuat rot(2*PxPi*i/numSnowmen,PxVec3(0,1,0));
createSnowMan(PxTransform(rot.rotate(pos),rot),i,i);
}
}
PxRigidDynamic* SampleNorthPole::createSnowMan(const PxTransform& pos, const PxU32 mode, const PxU32 index)
{
PxRigidDynamic* snowmanActor = getPhysics().createRigidDynamic(PxTransform(pos));
if(!snowmanActor)
fatalError("create snowman actor failed");
PxMaterial& material = getDefaultMaterial();
PxShape* armL = NULL; PxShape* armR = NULL;
switch(mode%5)
{
case 0: // with a weight at the bottom
{
PxShape* shape = NULL;
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.2),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,-.29,0)));
PxRigidBodyExt::updateMassAndInertia(*snowmanActor,10);
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
if(!shape)
fatalError("creating snowman shape failed");
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armL)
fatalError("creating snowman shape failed");
armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armR)
fatalError("creating snowman shape failed");
armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
}
break;
case 1: // only considering lowest shape mass
{
PxShape* shape = NULL;
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
if(!shape)
fatalError("creating snowman shape failed");
PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armL)
fatalError("creating snowman shape failed");
armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armR)
fatalError("creating snowman shape failed");
armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
}
break;
case 2: // considering whole mass
{
PxShape* shape = NULL;
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
if(!shape)
fatalError("creating snowman shape failed");
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armL)
fatalError("creating snowman shape failed");
armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armR)
fatalError("creating snowman shape failed");
armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
}
break;
case 3: // considering whole mass with low COM
{
PxShape* shape = NULL;
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
if(!shape)
fatalError("creating snowman shape failed");
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armL)
fatalError("creating snowman shape failed");
armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armR)
fatalError("creating snowman shape failed");
armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
const PxVec3 localPos = PxVec3(0,-.5,0);
PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1,&localPos);
}
break;
case 4: // setting up mass properties manually
{
PxShape* shape = NULL;
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5),material);
if(!shape)
fatalError("creating snowman shape failed");
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3),material);
if(!shape)
fatalError("creating snowman shape failed");
shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armL)
fatalError("creating snowman shape failed");
armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1),material);
if(!armR)
fatalError("creating snowman shape failed");
armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
snowmanActor->setMass(1);
snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
snowmanActor->setMassSpaceInertiaTensor(PxVec3(.05,100,100));
}
break;
default:
break;
}
setDetachable(*armL);
setDetachable(*armR);
createRenderObjectsFromActor(snowmanActor,mSnowMaterial);
PxShape* carrot = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxConvexMeshGeometry(mCarrotConvex),material);
if(!carrot)
fatalError("create snowman shape failed");
carrot->setLocalPose(PxTransform(PxVec3(0,1.1,.3)));
setDetachable(*carrot);
createRenderObjectFromShape(snowmanActor, carrot, mCarrotMaterial);
PxShape* button = NULL;
button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.02,.05),material);
if(!button)
fatalError("create snowman shape failed");
button->setLocalPose(PxTransform(PxVec3(.1,1.2,.3),PxQuat(PxHalfPi/3,PxVec3(0,0,1))));
button->setFlag(PxShapeFlag::eSIMULATION_SHAPE,false);
mSnowman[index].eyeL = button;
createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.02,.05),material);
if(!button)
fatalError("create snowman shape failed");
button->setLocalPose(PxTransform(PxVec3(-.1,1.2,.3),PxQuat(-PxHalfPi/3,PxVec3(0,0,1))));
button->setFlag(PxShapeFlag::eSIMULATION_SHAPE,false);
mSnowman[index].eyeR = button;
createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
if(!button)
fatalError("create snowman shape failed");
button->setLocalPose(PxTransform(PxVec3(0,.8,.35)));
setDetachable(*button);
createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
if(!button)
fatalError("create snowman shape failed");
button->setLocalPose(PxTransform(PxVec3(0,.6,.4)));
setDetachable(*button);
createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
button = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.05),material);
if(!button)
fatalError("create snowman shape failed");
button->setLocalPose(PxTransform(PxVec3(0,.4,.35)));
setDetachable(*button);
createRenderObjectFromShape(snowmanActor, button, mButtonMaterial);
getActiveScene().addActor(*snowmanActor);
snowmanActor->userData = (void*)size_t(index);
mPhysicsActors.push_back(snowmanActor);
return snowmanActor;
}
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