private PhysX.Shape CreateTrimeshShape(PhysX.RigidActor actor, PhysX.Material material, ref PhysX.Math.Matrix localPose)
{
PhysX.Shape shape = actor.CreateShape(_triMesh, material, localPose);
shape.RestOffset = REST_OFFSET;
return(shape);
}
public Material(PhysX.Material baseMaterial, float density)
{
_baseMaterial = baseMaterial;
Density = density;
GravityMultiplier = GRAVITY_MULTIPLIER_DEFAULT;
MaterialPreset = NO_PRESET;
}
public Material(PhysX.Material baseMaterial, float density, float gravityMultiplier)
{
_baseMaterial = baseMaterial;
Density = density;
GravityMultiplier = gravityMultiplier;
MaterialPreset = NO_PRESET;
}
internal List <PhysX.Shape> AssignToActor(PhysX.RigidActor actor, PhysX.Material material, PhysX.Math.Matrix localPose, bool physical)
{
switch (_shapeType)
{
case ShapeType.PrimitiveBox:
case ShapeType.PrimitiveSphere:
return(new List <PhysX.Shape> {
CreatePrimitiveShape(actor, material, ref localPose, physical)
});
case ShapeType.TriMesh:
return(new List <PhysX.Shape> {
CreateTrimeshShape(actor, material, ref localPose)
});
case ShapeType.DecomposedConvexHulls:
case ShapeType.SingleConvex:
return(this.AssignHullsToActor(actor, material, localPose, physical));
case ShapeType.Null:
return(new List <PhysX.Shape>(0));
default:
throw new InvalidOperationException("Can not assign shape to actor: shapeType is missing or invalid");
}
}
public Material ToLocalMaterial(PhysX.Physics physics)
{
if (this.MaterialPreset != NO_PRESET)
{
return((Material)FindImpl((OpenMetaverse.Material) this.MaterialPreset));
}
else
{
_baseMaterial = physics.CreateMaterial(_serializedStaticFriction, _serializedDynamicFriction, _serializedRestitution);
return(this);
}
}
public Material Duplicate(PhysX.Physics physics)
{
if (this.MaterialPreset != NO_PRESET)
{
return((Material)FindImpl((OpenMetaverse.Material) this.MaterialPreset));
}
else
{
PhysX.Material baseMaterial = physics.CreateMaterial(StaticFriction, DynamicFriction, Restitution);
return(new Material(baseMaterial, Density, GravityMultiplier));
}
}
private PhysX.Shape CreatePrimitiveShape(PhysX.RigidActor actor, PhysX.Material material, ref PhysX.Math.Matrix localPose,
bool physical)
{
PhysX.Shape shape = actor.CreateShape(_primitiveGeom, material, localPose);
shape.RestOffset = REST_OFFSET;
if (physical && Settings.Instance.UseCCD)
{
//enable CCD
shape.Flags |= PhysX.ShapeFlag.UseSweptBounds;
}
return(shape);
}
private List <PhysX.Shape> AssignHullsToActor(PhysX.RigidActor actor, PhysX.Material material, PhysX.Math.Matrix localPose,
bool physical)
{
List <PhysX.Shape> hulls = new List <PhysX.Shape>();
foreach (PhysX.ConvexMeshGeometry geom in _convexHulls)
{
PhysX.Shape shape = actor.CreateShape(geom, material, localPose);
shape.RestOffset = REST_OFFSET;
if (physical && Settings.Instance.UseCCD)
{
//enable CCD
shape.Flags |= PhysX.ShapeFlag.UseSweptBounds;
}
hulls.Add(shape);
}
return(hulls);
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density, float gravityMultiplier)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = gravityMultiplier;
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density, float gravityMultiplier)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = gravityMultiplier;
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = GRAVITY_MULTIPLIER_DEFAULT;
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = GRAVITY_MULTIPLIER_DEFAULT;
}
public Material(PhysX.Material baseMaterial, float density, int materialPreset)
: this(baseMaterial, density, GRAVITY_MULTIPLIER_DEFAULT)
{
MaterialPreset = materialPreset;
}
private void ReplaceMaterialOnShapes(Material material, PhysxPrim affectedPrim, IEnumerable<PhysX.Shape> shapes)
{
Material oldMaterial = affectedPrim.PhysxProperties.PhysxMaterial;
affectedPrim.PhysxProperties.PhysxMaterial = material;
PhysX.Material[] materialArr = new PhysX.Material[] { material.PhyMaterial };
foreach (PhysX.Shape shape in shapes)
{
shape.SetMaterials(materialArr);
}
if (oldMaterial.Density != material.Density) UpdateMassAndInertia();
oldMaterial.CheckedDispose();
}
public Material ToLocalMaterial(PhysX.Physics physics)
{
if (this.MaterialPreset != NO_PRESET)
{
return (Material)FindImpl((OpenMetaverse.Material)this.MaterialPreset);
}
else
{
_baseMaterial = physics.CreateMaterial(_serializedStaticFriction, _serializedDynamicFriction, _serializedRestitution);
return this;
}
}
public Material(PhysX.Material baseMaterial, float density, float gravityMultiplier)
{
_baseMaterial = baseMaterial;
Density = density;
GravityMultiplier = gravityMultiplier;
MaterialPreset = NO_PRESET;
}
private void CreateDefaults()
{
DEFAULT_MATERIAL = _physics.CreateMaterial(0.5f, 0.5f, 0.15f);
}
private void button1_Click(object sender, EventArgs e)
{
PhysX.Physics phys = new PhysX.Physics();
PhysX.SceneDesc desc = new PhysX.SceneDesc();
desc.Gravity = new PhysX.Math.Vector3(0f, 0f, -9.8f);
PhysX.Scene scene = phys.CreateScene(desc);
material = scene.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
var conn = phys.ConnectToRemoteDebugger("localhost", null, null, null, PhysX.RemoteDebuggerConnectionFlags.Debug);
/*scene.SetVisualizationParameter(PhysX.VisualizationParameter.Scale, 1.0f);
scene.SetVisualizationParameter(PhysX.VisualizationParameter.CollisionShapes, true);
scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLocalFrames, true);
scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLimits, true);
scene.SetVisualizationParameter(PhysX.VisualizationParameter.ParticleSystemPosition, true);
scene.SetVisualizationParameter(PhysX.VisualizationParameter.ActorAxes, true);*/
var hfGeom = this.CreateHfGeom(scene);
while (true)
{
PhysX.RigidDynamic sphere = CreateSphere(scene, 0);
sphere.Dispose();
PhysX.RigidStatic ground = CreateGround(scene, hfGeom);
ground.Dispose();
GC.Collect();
}
scene.AddActor(CreateGround(scene));
/*PhysX.RigidDynamic box1 = null;
for (int i = 0; i < 10; i += 2)
{
PhysX.RigidDynamic mahBox = CreateBox(scene, i);
scene.AddActor(mahBox);
if (i == 0)
{
box1 = mahBox;
((PhysX.Actor)box1).Flags = PhysX.ActorFlag.DisableGravity;
}
}*/
for (int i = 0; i < 10; i += 2)
{
PhysX.RigidDynamic mahBox = CreateSphere(scene, i);
scene.AddActor(mahBox);
}
Stopwatch sw = new Stopwatch();
while (true)
{
sw.Start();
scene.Simulate(0.025f);
scene.FetchResults(true);
sw.Stop();
int sleep = 25 - (int)sw.ElapsedMilliseconds;
if (sleep < 0) sleep = 0;
System.Threading.Thread.Sleep(sleep);
sw.Reset();
//label1.Text = DecomposeToPosition(mahBox.GlobalPose).ToString();
this.Update();
}
}
private void button1_Click(object sender, EventArgs e)
{
PhysX.Physics phys = new PhysX.Physics();
PhysX.SceneDesc desc = new PhysX.SceneDesc();
desc.Gravity = new PhysX.Math.Vector3(0f, 0f, -9.8f);
PhysX.Scene scene = phys.CreateScene(desc);
material = scene.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
var conn = phys.ConnectToRemoteDebugger("localhost", null, null, null, PhysX.RemoteDebuggerConnectionFlags.Debug);
/*scene.SetVisualizationParameter(PhysX.VisualizationParameter.Scale, 1.0f);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.CollisionShapes, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLocalFrames, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLimits, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ParticleSystemPosition, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ActorAxes, true);*/
var hfGeom = this.CreateHfGeom(scene);
while (true)
{
PhysX.RigidDynamic sphere = CreateSphere(scene, 0);
sphere.Dispose();
PhysX.RigidStatic ground = CreateGround(scene, hfGeom);
ground.Dispose();
GC.Collect();
}
scene.AddActor(CreateGround(scene));
/*PhysX.RigidDynamic box1 = null;
* for (int i = 0; i < 10; i += 2)
* {
* PhysX.RigidDynamic mahBox = CreateBox(scene, i);
* scene.AddActor(mahBox);
*
* if (i == 0)
* {
* box1 = mahBox;
* ((PhysX.Actor)box1).Flags = PhysX.ActorFlag.DisableGravity;
* }
* }*/
for (int i = 0; i < 10; i += 2)
{
PhysX.RigidDynamic mahBox = CreateSphere(scene, i);
scene.AddActor(mahBox);
}
Stopwatch sw = new Stopwatch();
while (true)
{
sw.Start();
scene.Simulate(0.025f);
scene.FetchResults(true);
sw.Stop();
int sleep = 25 - (int)sw.ElapsedMilliseconds;
if (sleep < 0)
{
sleep = 0;
}
System.Threading.Thread.Sleep(sleep);
sw.Reset();
//label1.Text = DecomposeToPosition(mahBox.GlobalPose).ToString();
this.Update();
}
}
internal List <PhysX.Shape> AssignToActor(PhysX.RigidActor actor, PhysX.Material material, bool physical)
{
return(AssignToActor(actor, material, PhysX.Math.Matrix.Identity, physical));
}
private void CreateDefaults()
{
DEFAULT_MATERIAL = _physics.CreateMaterial(0.5f, 0.5f, 0.15f);
}
public Material(PhysX.Material baseMaterial, float density)
{
_baseMaterial = baseMaterial;
Density = density;
GravityMultiplier = GRAVITY_MULTIPLIER_DEFAULT;
MaterialPreset = NO_PRESET;
}
