public static void Initialise()
{
var eo = new ErrorOutput();
Foundation = new Foundation(eo);
PVD = new Pvd(Foundation);
Physics = new PhysX.Physics(Foundation, false, PVD);
PhysicsScene = Physics.CreateScene(); // TODO: SceneDesc
PhysicsScene.SetVisualizationParameter(VisualizationParameter.Scale, 2.0f);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.JointLocalFrames, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.JointLimits, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
PVD.Connect("localhost");
}
public PhysxPhysicsSystem(World world) : base(world)
{
// Setup PhysX infra here
this.physxFoundation = new PxFoundation(new ConsoleErrorCallback());
this.physxScale = new PxTolerancesScale()
{
Length = 0.1f,
Speed = 98.1f
};
#if DEBUG
pvd = new Pvd(this.physxFoundation);
pvd.Connect("localhost", 5425, TimeSpan.FromSeconds(2), InstrumentationFlag.Debug);
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale, false, pvd);
#else
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale);
#endif
this.defaultMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0.1f);
this.characterControlMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0f);
this.characterControlMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat = this.physxPhysics.CreateMaterial(0f, 0f, 0f);
this.frictionlessMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat.Flags = MaterialFlags.DisableFriction;
var sceneDesc = new SceneDesc(this.physxScale)
{
BroadPhaseType = BroadPhaseType.SweepAndPrune,
Gravity = world.Gravity,
Flags = SceneFlag.EnableStabilization,
SolverType = SolverType.TGS,
FilterShader = new DefaultFilterShader(),
BounceThresholdVelocity = 0.2f * world.Gravity.Length()
};
this.physxScene = this.physxPhysics.CreateScene(sceneDesc);
#if DEBUG
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactPoint, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactNormal, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactForce, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactError, true);
var pvdClient = this.physxScene.GetPvdSceneClient();
pvdClient.SetScenePvdFlags(SceneVisualizationFlags.TransmitContacts | SceneVisualizationFlags.TransmitConstraints | SceneVisualizationFlags.TransmitSceneQueries);
#endif
var cookingParams = new CookingParams()
{
Scale = this.physxScale,
AreaTestEpsilon = 0.001f,
MidphaseDesc = new MidphaseDesc()
{
Bvh33Desc = new Bvh33MidphaseDesc()
{
MeshCookingHint = MeshCookingHint.SimulationPerformance
}
},
BuildTriangleAdjacencies = true,
MeshCookingHint = MeshCookingHint.SimulationPerformance,
MeshWeldTolerance = 0.001f
};
this.cooker = this.physxPhysics.CreateCooking(cookingParams);
this.controllerManager = this.physxScene.CreateControllerManager();
var contactProv = new ContactModifyProxy();
this.contactProvider = contactProv;
this.physxScene.ContactModifyCallback = contactProv;
this.simCallback = new SimulationCallback();
this.physxScene.SetSimulationEventCallback(simCallback);
}