public static void PX_RELEASE(ref PxVehicleDrivableSurfaceToTireFrictionPairs *x)
{
if (x != null)
{
x->release();
x = null;
}
}
public static PxVehicleDrivableSurfaceToTireFrictionPairs *createFrictionPairs(PxMaterial *defaultMaterial)
{
PxVehicleDrivableSurfaceType *surfaceTypes = stackalloc PxVehicleDrivableSurfaceType[1];
surfaceTypes[0].mType = SURFACE_TYPE_TARMAC;
PxMaterial **surfaceMaterials = stackalloc PxMaterial *[1];
surfaceMaterials[0] = defaultMaterial;
PxVehicleDrivableSurfaceToTireFrictionPairs *surfaceTirePairs =
PxVehicleDrivableSurfaceToTireFrictionPairs.allocate(MAX_NUM_TIRE_TYPES, MAX_NUM_SURFACE_TYPES);
surfaceTirePairs->setup(MAX_NUM_TIRE_TYPES, MAX_NUM_SURFACE_TYPES, surfaceMaterials, surfaceTypes);
for (uint i = 0; i < MAX_NUM_SURFACE_TYPES; i++)
{
for (uint j = 0; j < MAX_NUM_TIRE_TYPES; j++)
{
surfaceTirePairs->setTypePairFriction(i, j, gTireFrictionMultipliers[i, j]);
}
}
return(surfaceTirePairs);
}
public static void initPhysics()
{
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, ref gAllocator.Value, ref gErrorCallback.Value);
gPvd = PxCreatePvd(ref *gFoundation);
PxPvdTransport *transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
gPvd->connect(ref *transport, PxPvdInstrumentationFlags.eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, ref *gFoundation, new PxTolerancesScale(), true, gPvd);
PxSceneDesc sceneDesc = new(*gPhysics->getTolerancesScale());
sceneDesc.gravity = new PxVec3(0.0f, -9.81f, 0.0f);
uint numWorkers = 1;
gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
sceneDesc.cpuDispatcher = (PxCpuDispatcher *)gDispatcher; //BIOQUIRK: Base cast
sceneDesc.filterShader = &VehicleFilterShader;
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient *pvdClient = gScene->getScenePvdClient();
if (pvdClient != null)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_SCENEQUERIES, true);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, ref *gFoundation, new PxCookingParams(new PxTolerancesScale()));
/////////////////////////////////////////////
PxInitVehicleSDK(ref *gPhysics);
PxVehicleSetBasisVectors(new PxVec3(0, 1, 0), new PxVec3(0, 0, 1));
PxVehicleSetUpdateMode(PxVehicleUpdateMode.eVELOCITY_CHANGE);
//Create the batched scene queries for the suspension raycasts.
gVehicleSceneQueryData = VehicleSceneQueryData.allocate(1, PX_MAX_NB_WHEELS, 1, 1, &WheelSceneQueryPreFilterBlocking, null, ref gAllocator.Value);
gBatchQuery = VehicleSceneQueryData.setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
//Create the friction table for each combination of tire and surface type.
gFrictionPairs = createFrictionPairs(gMaterial);
//Create a plane to drive on.
PxFilterData groundPlaneSimFilterData = new((uint)COLLISION_FLAG_GROUND, (uint)COLLISION_FLAG_GROUND_AGAINST, 0, 0);
gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
gScene->addActor(ref *gGroundPlane);
//Create a vehicle that will drive on the plane.
VehicleDesc vehicleDesc = initVehicleDesc();
gVehicleNoDrive = createVehicleNoDrive(vehicleDesc, gPhysics, gCooking);
PxTransform startTransform = new(new PxVec3(0, (vehicleDesc.chassisDims.y * 0.5f + vehicleDesc.wheelRadius + 1.0f), 0), new PxQuat(PxIdentity));
gVehicleNoDrive->getRigidDynamicActor()->setGlobalPose(startTransform);
gScene->addActor(ref *gVehicleNoDrive->getRigidDynamicActor());
//Set the vehicle to rest in first gear.
//Set the vehicle to use auto-gears.
gVehicleNoDrive->setToRestState();
gVehicleModeTimer = 0.0f;
gVehicleOrderProgress = 0;
startBrakeMode();
}
