/// <summary>
/// Creates a new PhysX.RigidDynamic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidDynamic CreateRigidDynamic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
bool physical, bool kinematic, Material material)
{
PhysX.RigidDynamic physActor = scene.SceneImpl.Physics.CreateRigidDynamic();
if (kinematic) physActor.Flags |= PhysX.RigidDynamicFlags.Kinematic;
SetCommonProperties(scene, shape, position, rotation, physActor, physical, material);
if (physical)
{
physActor.UpdateMassAndInertia(material.Density);
physActor.MaxAngularVelocity *= 4;
physActor.AngularDamping = DEFAULT_ANGULAR_DAMPING;
physActor.LinearDamping = DEFAULT_LINEAR_DAMPING;
}
physActor.SleepThreshold = SLEEP_THRESHOLD;
return physActor;
}
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();
}
private void ReplaceMaterialOnAllShapes(Material material)
{
//place the primary copy of this material on the root prim
ReplaceMaterialOnShapes(material, this, _primaryShapes);
//duplicate the material for each child prim shape
foreach (var childShape in _childShapes)
{
ReplaceMaterialOnShapes(material.Duplicate(_scene.SceneImpl.Physics), childShape.Key, childShape.Value.PhyShapes);
}
}
/// <summary>
/// Sets the given prim in our linkset to the given material
/// </summary>
/// <param name="material"></param>
/// <param name="affectedPrim"></param>
private void SetMaterialSync(Material material, PhysxPrim affectedPrim, bool applyToObject)
{
IEnumerable<PhysX.Shape> shapes;
if (applyToObject)
{
ReplaceMaterialOnAllShapes(material);
return;
}
if (affectedPrim == this)
{
shapes = _actor.Shapes;
}
else
{
RelatedShapes childShapes;
if (_childShapes.TryGetValue(affectedPrim, out childShapes))
{
shapes = childShapes.PhyShapes;
}
else
{
m_log.ErrorFormat("[InWorldz.PhysxPhysics] Asked to set material for unknown child shape");
return;
}
}
ReplaceMaterialOnShapes(material, affectedPrim, shapes);
}
/// <summary>
/// Sets our root prim or one of our children to the given material
/// </summary>
/// <param name="material">The material to set</param>
/// <param name="applyToObject">Whether the material applies to the entire object or just this prim</param>
internal void SetMaterialSync(Material material, bool applyToObject)
{
if (HasActor)
{
SetMaterialSync(material, this, applyToObject);
}
else
{
_parentPrim.SetMaterialSync(material, this, applyToObject);
}
}
public static void BuiltinMaterialInit(PhysX.Physics physics)
{
// PhysX collision forces are very strong, so the ground restitution needs to be lowered significantly.
GROUND = new Material(physics.CreateMaterial(0.4f, 0.35f, 0.05f), 1200.0f);
GROUND.IsShared = true;
// For navigable roads, people need a preset that acts mostly like ground.
STONE = new Material(physics.CreateMaterial(0.5f, 0.35f, 0.05f), 2400.0f, (int)OpenMetaverse.Material.Stone);
STONE.IsShared = true;
METAL = new Material(physics.CreateMaterial(0.3f, 0.25f, 0.4f), 2700.0f, (int)OpenMetaverse.Material.Metal);
METAL.IsShared = true;
GLASS = new Material(physics.CreateMaterial(0.2f, 0.15f, 0.7f), 2500.0f, (int)OpenMetaverse.Material.Glass);
GLASS.IsShared = true;
WOOD = new Material(physics.CreateMaterial(0.6f, 0.55f, 0.5f), 1000.0f, (int)OpenMetaverse.Material.Wood);
WOOD.IsShared = true;
FLESH = new Material(physics.CreateMaterial(0.9f, 0.8f, 0.3f), 1400.0f, (int)OpenMetaverse.Material.Flesh);
FLESH.IsShared = true;
PLASTIC = new Material(physics.CreateMaterial(0.4f, 0.35f, 0.7f), 900.0f, (int)OpenMetaverse.Material.Plastic);
PLASTIC.IsShared = true;
RUBBER = new Material(physics.CreateMaterial(0.9f, 0.87f, 0.9f), 1100.0f, (int)OpenMetaverse.Material.Rubber);
RUBBER.IsShared = true;
MaterialsByOMVEnum = new Material[]
{
STONE, //0...
METAL,
GLASS,
WOOD,
FLESH,
PLASTIC,
RUBBER,
WOOD //light.. which makes no sense is remapped to wood
};
}
private static void SetCommonProperties(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation, PhysX.RigidActor physActor,
bool physical, Material material)
{
shape.AssignToActor(physActor, material.PhyMaterial, physical);
physActor.GlobalPose =
PhysX.Math.Matrix.RotationQuaternion(new PhysX.Math.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W)) *
PhysX.Math.Matrix.Translation(position.X, position.Y, position.Z);
}
/// <summary>
/// Creates a new PhysX.RigidStatic using our defaults
/// </summary>
/// <param name="shape"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <returns></returns>
public static PhysX.RigidStatic CreateRigidStatic(PhysxScene scene, PhysicsShape shape, OpenMetaverse.Vector3 position, OpenMetaverse.Quaternion rotation,
Material material)
{
PhysX.RigidStatic physActor = scene.SceneImpl.Physics.CreateRigidStatic();
SetCommonProperties(scene, shape, position, rotation, physActor, false, material);
return physActor;
}
public static PhysX.RigidActor CreateProperInitialActor(PhysicsShape meshedShape, PhysxScene scene, OpenMetaverse.Vector3 pos,
OpenMetaverse.Quaternion rotation, PhysicsScene.AddPrimShapeFlags flags, out bool kinematicStatic,
Material material)
{
bool isPhysical = (flags & PhysicsScene.AddPrimShapeFlags.Physical) != 0;
kinematicStatic = false;
PhysX.RigidActor actor;
if (isPhysical)
{
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
else
{
if ((flags & PhysicsScene.AddPrimShapeFlags.FromSceneStartup) != 0)
{
actor = PhysxActorFactory.CreateRigidStatic(scene, meshedShape, pos, rotation, material);
}
else
{
kinematicStatic = true;
actor = PhysxActorFactory.CreateRigidDynamic(scene, meshedShape, pos, rotation, isPhysical, kinematicStatic, material);
}
}
return actor;
}
