public void TestCleanup()
{
_physics.Dispose();
_physics = null;
_actor = null;
}
public void TestCleanup()
{
_physics.Dispose();
_physics = null;
_actor = null;
}
public PhysxPhysicObject(Scene scene, Geometry geometry, float mass, Matrix localTransformation, Matrix worldTransformation, Vector3 scale, MaterialDescription MaterialDescription)
{
Scale = scale;
rigidActor = scene.Physics.CreateRigidDynamic(worldTransformation.AsPhysX());
material = scene.Physics.CreateMaterial(MaterialDescription.StaticFriction, MaterialDescription.DynamicFriction, MaterialDescription.Bounciness);
var boxShape = rigidActor.CreateShape(geometry, material, localTransformation.AsPhysX());
rigidActor.SetMassAndUpdateInertia(mass);
}
public PhysxPhysicObject(Scene scene, Geometry geometry, float mass, Matrix localTransformation, Matrix worldTransformation, Vector3 scale, MaterialDescription MaterialDescription)
{
Scale = scale;
rigidActor = scene.Physics.CreateRigidDynamic(worldTransformation.AsPhysX());
material = scene.Physics.CreateMaterial(MaterialDescription.StaticFriction, MaterialDescription.DynamicFriction, MaterialDescription.Bounciness);
var boxShape = rigidActor.CreateShape(geometry, material, localTransformation.AsPhysX());
rigidActor.SetMassAndUpdateInertia(mass);
}
public void TestInitalize()
{
_physics = CreatePhysicsAndScene();
_material = _physics.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
_actor = _physics.Physics.CreateRigidDynamic();
_physics.Scene.AddActor(_actor);
}
public void TestInitalize()
{
_physics = CreatePhysicsAndScene();
_material = _physics.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
_actor = _physics.Physics.CreateRigidDynamic();
_physics.Scene.AddActor(_actor);
}
public void TestInitalize()
{
_physics = CreatePhysicsAndScene();
_material = _physics.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
_actor = _physics.Physics.CreateRigidDynamic();
// Make the actor kinematic because Triangle mesh, heightfield and plane geometry shapes require it.
_actor.RigidBodyFlags = RigidBodyFlag.Kinematic;
_physics.Scene.AddActor(_actor);
}
public void TestInitalize()
{
_physics = CreatePhysicsAndScene();
_material = _physics.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
_actor = _physics.Physics.CreateRigidDynamic();
// Make the actor kinematic because Triangle mesh, heightfield and plane geometry shapes require it.
_actor.Flags = RigidDynamicFlags.Kinematic;
_physics.Scene.AddActor(_actor);
}
private void ProcessMouseManipulation()
{
if (!MouseTracker.LeftMousePressed)
{
checkForHit = true;
hitActor = null;
HookPoint = Point3d.Unset;
HookPointOnMouseLine = Point3d.Unset;
}
else
{
if (checkForHit)
{
checkForHit = false;
Vector3d mouseLineDirection = MouseTracker.MouseLine.Direction;
mouseLineDirection.Unitize();
PxGhManager.Scene.Raycast(
MouseTracker.MouseLine.From.ToSystemVector(),
mouseLineDirection.ToSystemVector(),
9999f,
999,
HitCallback,
HitFlag.Position);
}
if (hitActor != null)
{
Rhino.Geometry.Plane frame = hitActor.GlobalPose.ToRhinoPlane();
HookPoint = frame.Origin + frame.XAxis * hookPoint.X + frame.YAxis * hookPoint.Y + frame.ZAxis * hookPoint.Z;
HookPointOnMouseLine = MouseTracker.MouseLine.ClosestPoint(HookPoint, false);
if (MouseManipulationMode == MouseManipulationMode.Position)
{
frame.Origin = HookPointOnMouseLine + (frame.Origin - HookPoint);
hitActor.GlobalPose = frame.ToMatrix();
hitActor.LinearVelocity = Vector3.Zero;
hitActor.AddForceAtLocalPosition((hitActor.Mass * -Gravity).ToSystemVector(), hookPoint.ToSystemVector(), ForceMode.Force, true);
}
else
{
Vector3d force = (HookPointOnMouseLine - HookPoint) * MouseManipulationStrength *
(MouseManipulationMode == MouseManipulationMode.Acceleration ? hitActor.Mass : 1.0);
hitActor.AddForceAtLocalPosition(force.ToSystemVector(), hookPoint.ToSystemVector(), ForceMode.Force, true);
}
}
}
}
protected override void LoadPhysics(PhysX.Scene scene)
{
var material = scene.Physics.CreateMaterial(0.7f, 0.7f, 0.1f);
var sphereA = scene.Physics.CreateRigidDynamic();
sphereA.CreateShape(new SphereGeometry(1), material);
sphereA.GlobalPose = Matrix4x4.CreateTranslation(0, 30, 0);
scene.AddActor(sphereA);
//
var sphereB = scene.Physics.CreateRigidDynamic();
sphereB.CreateShape(new SphereGeometry(1), material);
sphereB.GlobalPose = Matrix4x4.CreateTranslation(0, 40, 0);
scene.AddActor(sphereB);
//
var sphereC = scene.Physics.CreateRigidDynamic();
sphereC.CreateShape(new SphereGeometry(1), material);
sphereC.GlobalPose = Matrix4x4.CreateTranslation(0, 50, 0);
scene.AddActor(sphereC);
_sphereC = sphereC;
//
var revoluteABJoint = scene.CreateJoint <RevoluteJoint>(sphereA, Matrix4x4.Identity, sphereB, Matrix4x4.Identity);
revoluteABJoint.SetGlobalFrame(new Vector3(0, 35, 0), new Vector3(0, 0, 1));
revoluteABJoint.ConstraintFlags = ConstraintFlag.Visualization;
var revoluteBCJoint = scene.CreateJoint <RevoluteJoint>(sphereB, Matrix4x4.Identity, sphereC, Matrix4x4.Identity);
revoluteBCJoint.SetGlobalFrame(new Vector3(0, 45, 0), new Vector3(0, 0, 1));
revoluteBCJoint.ConstraintFlags = ConstraintFlag.Visualization;
var revoluteAJoint = scene.CreateJoint <RevoluteJoint>(sphereA, Matrix4x4.Identity, null, Matrix4x4.Identity);
revoluteAJoint.SetGlobalFrame(new Vector3(0, 30, 0), new Vector3(0, 0, 1));
revoluteAJoint.ConstraintFlags = ConstraintFlag.Visualization;
}
private bool HitCallback(RaycastHit[] hits)
{
foreach (RaycastHit hit in hits)
{
if (!(hit.Actor is RigidDynamic))
{
continue;
}
hitActor = (RigidDynamic)hit.Actor;
Rhino.Geometry.Plane frame = hitActor.GlobalPose.ToRhinoPlane();
Vector3d v = hit.Position.ToRhinoPoint() - frame.Origin;
hookPoint = new Point3d(v * frame.XAxis, v * frame.YAxis, v * frame.ZAxis);
return(true);
}
return(false);
}
public void CreateBox(Scene.Entity3D ent)
{
Scene.Bounds bb = ent.Bounds;
ID = PhysicsManager.py.CreateRigidDynamic();
BoxGeometry ge = new BoxGeometry(bb.W / 2, bb.H / 2, bb.D / 2);
// Shape = ID.CreateShape ( ge, Mat );
ID.LinearVelocity = new System.Numerics.Vector3(0, 0, 0);
Shape = RigidActorExt.CreateExclusiveShape(ID, ge, Mat);
//Pose = ID.GlobalPose;
var wm = ent.WorldNoScale;
float m11 = wm.M11;
float m12 = wm.M12;
float m13 = wm.M13;
float m14 = wm.M14;
float m21 = wm.M21;
float m22 = wm.M22;
float m23 = wm.M23;
float m24 = wm.M24;
float m31 = wm.M31;
float m32 = wm.M32;
float m33 = wm.M33;
float m34 = wm.M34;
float m41 = wm.M41;
float m42 = wm.M42;
float m43 = wm.M43;
float m44 = wm.M44;
System.Numerics.Matrix4x4 tm = new System.Numerics.Matrix4x4(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44);
ID.GlobalPose = tm;
ID.SetMassAndUpdateInertia(3);
Physics.PhysicsManager.Scene.AddActor(ID);
}
protected override void LoadPhysics(PhysX.Scene scene)
{
var material = scene.Physics.CreateMaterial(0.7f, 0.7f, 0.1f);
var sphereA = scene.Physics.CreateRigidDynamic();
sphereA.CreateShape(new SphereGeometry(1), material);
sphereA.GlobalPose = Matrix4x4.CreateTranslation(0, 30, 0);
scene.AddActor(sphereA);
//
var sphereB = scene.Physics.CreateRigidDynamic();
sphereB.CreateShape(new SphereGeometry(1), material);
sphereB.GlobalPose = Matrix4x4.CreateTranslation(0, 40, 0);
scene.AddActor(sphereB);
//
var sphereC = scene.Physics.CreateRigidDynamic();
sphereC.CreateShape(new SphereGeometry(1), material);
sphereC.GlobalPose = Matrix4x4.CreateTranslation(0, 50, 0);
scene.AddActor(sphereC);
_sphereC = sphereC;
//
var revoluteABJoint = scene.CreateJoint<RevoluteJoint>(sphereA, Matrix4x4.Identity, sphereB, Matrix4x4.Identity);
revoluteABJoint.SetGlobalFrame(new Vector3(0, 35, 0), new Vector3(0, 0, 1));
revoluteABJoint.ConstraintFlag = ConstraintFlag.Visualization;
var revoluteBCJoint = scene.CreateJoint<RevoluteJoint>(sphereB, Matrix4x4.Identity, sphereC, Matrix4x4.Identity);
revoluteBCJoint.SetGlobalFrame(new Vector3(0, 45, 0), new Vector3(0, 0, 1));
revoluteBCJoint.ConstraintFlag = ConstraintFlag.Visualization;
var revoluteAJoint = scene.CreateJoint<RevoluteJoint>(sphereA, Matrix4x4.Identity, null, Matrix4x4.Identity);
revoluteAJoint.SetGlobalFrame(new Vector3(0, 30, 0), new Vector3(0, 0, 1));
revoluteAJoint.ConstraintFlag = ConstraintFlag.Visualization;
}
