//PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0)){
PxRigidDynamicPtr createDynamic(PxTransform t, PxGeometry.Ref geometry, PxVec3 velocity)
{
//PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
//dynamic->setAngularDamping(0.5f);
//dynamic->setLinearVelocity(velocity);
//gScene->addActor(*dynamic);
//return dynamic;
PxRigidDynamicPtr dynamic = PxCreateDynamic(gPhysics, t, geometry, gMaterial, 10);
dynamic.setAngularDamping(.5f);
dynamic.setLinearVelocity(velocity);
gScene.addActor(dynamic);
return(dynamic);
}
//void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent){
void createStack(PxTransform t, uint size, float halfExtent)
{
//PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
PxShapePtr shape = gPhysics.createShape(new PxBoxGeometry(halfExtent, halfExtent, halfExtent), gMaterial);
//for(PxU32 i=0; i<size;i++){
// for(PxU32 j=0;j<size-i;j++){
for (int i = 0; i < size; i++)
{
for (int j = 0; j < size - i; j++)
{
//PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
//PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
//body->attachShape(*shape);
//PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
//gScene->addActor(*body);
PxTransform localTm = new PxTransform(new PxVec3(((j * 2) - (size - i)) * halfExtent, (i * 2 + 1) * halfExtent, 0));
PxRigidDynamicPtr body = gPhysics.createRigidDynamic(t.transform(localTm));
body.attachShape(shape);
PxRigidBodyExt.updateMassAndInertia(body, 10);
gScene.addActor(body);
}
}
//shape->release();
shape.release();
}
//void createPhysicsAndScene()
void createPhysicsAndScene()
{
//gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
gFoundation = SharpPhysX.CreateFoundation(gErrorCallback, PX_PHYSICS_VERSION);
//gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,gPvd);
gPhysics = PxPhysics.PxCreatePhysics(PX_PHYSICS_VERSION, gFoundation, PxTolerancesScale.Default());
//gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
gMaterial = gPhysics.createMaterial(.5f, .5f, .6f);
//PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
//sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
var sceneDesc = PxSceneDescPtr.New(PxTolerancesScale.Default());
sceneDesc.gravity = new PxVec3(0, -9.81f, 0);
//PxU32 numCores = SnippetUtils::getNbPhysicalCores();
//gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
//sceneDesc.cpuDispatcher = gDispatcher;
//sceneDesc.filterShader = PxDefaultSimulationFilterShader;
uint numCores = 4; //TODO
gDispatcher = PxDefaultCpuDispatcherCreate(numCores);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
//gScene = gPhysics->createScene(sceneDesc);
gScene = gPhysics.createScene(sceneDesc);
//PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
//gScene->addActor(*groundPlane);
var groundPlane = PxCreatePlane(gPhysics, new PxPlane(0, 1, 0, 0), gMaterial);
gScene.addActor(groundPlane);
//for(PxU32 i=0;i<5;i++)
//createStack(PxTransform(PxVec3(0,0,i*10.0f)), 10, 2.0f);
for (int i = 0; i < 5; i++)
{
createStack(new PxTransform(new PxVec3(0, 0, i * 10)), 10, 2);
}
}
//void initPhysics(bool interactive){
void initPhysics(bool interactive)
{
//gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
gFoundation = SharpPhysX.CreateFoundation(gErrorCallback, PX_PHYSICS_VERSION);
//gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,gPvd);
gPhysics = PxPhysics.PxCreatePhysics(PX_PHYSICS_VERSION, gFoundation, PxTolerancesScale.Default());
//PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
//sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
//gDispatcher = PxDefaultCpuDispatcherCreate(2);
//sceneDesc.cpuDispatcher = gDispatcher;
//sceneDesc.filterShader = PxDefaultSimulationFilterShader;
//gScene = gPhysics->createScene(sceneDesc);
var sceneDesc = PxSceneDescPtr.New(PxTolerancesScale.Default());
sceneDesc.gravity = new PxVec3(0, -9.81f, 0);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
gScene = gPhysics.createScene(sceneDesc);
//gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
gMaterial = gPhysics.createMaterial(.5f, .5f, .6f);
//PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
//gScene->addActor(*groundPlane);
var groundPlane = PxCreatePlane(gPhysics, new PxPlane(0, 1, 0, 0), gMaterial);
gScene.addActor(groundPlane);
//for(PxU32 i=0;i<5;i++)
// createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);
// for (int i = 0; i < 5; i++)
// createStack(new PxTransform(new PxVec3(0, 0, stackZ -= 10)), 10, 2);
//if(!interactive)
// createDynamic(PxTransform(PxVec3(0,40,100)), PxSphereGeometry(10), PxVec3(0,-50,-100));
if (!interactive)
{
DEBUG = createDynamic(new PxTransform(new PxVec3(0, 40, 100)), new PxSphereGeometry(10), new PxVec3(0, -50, -100));
}
}