public static Actor CreateCog(StillDesign.PhysX.Scene scene)
{
var actorDesc = new ActorDescription();
float radius = 6f;
float radius2 = 6.8f;
for (int i = 0; i < 16; i++)
{
SphereShapeDescription desc = new SphereShapeDescription(0.6f);
float angle = (i + 0.5f) * MathHelper.TwoPi * (1 / 16f);
desc.LocalPosition = new Vector3(radius * (float)Math.Sin(angle), radius * (float)Math.Cos(angle), 0);
actorDesc.Shapes.Add(desc);
desc = new SphereShapeDescription(0.2f);
desc.LocalPosition = new Vector3(radius2 * (float)Math.Sin(angle), radius2 * (float)Math.Cos(angle), 0);
actorDesc.Shapes.Add(desc);
}
actorDesc.BodyDescription = new BodyDescription();
actorDesc.BodyDescription.Mass = 10;
actorDesc.GlobalPose = Matrix.CreateRotationX(MathHelper.PiOver2);
return(scene.CreateActor(actorDesc));
}
public static void RunCharacterTest()
{
Core core = new Core();
StillDesign.PhysX.Scene scene = core.CreateScene();
ControllerManager manager = scene.CreateControllerManager();
CapsuleControllerDescription desc = new CapsuleControllerDescription(2, 10);
CapsuleController capsuleController = manager.CreateController <CapsuleController>(desc);
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(1, 1, 1);
ActorDescription actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
Actor actor = scene.CreateActor(actorDesc);
//capsuleController.Move( Vector3.Up );
// Update Physics
scene.Simulate(1.0f / 60.0f);
scene.FlushStream();
scene.FetchResults(SimulationStatus.RigidBodyFinished, true);
capsuleController.Move(Vector3.Up);
core.Dispose();
}
public void Initialize(StillDesign.PhysX.Scene _scene)
{
scene = _scene;
manager = scene.CreateControllerManager();
CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription(0.5f, 1);
controllerHitReport = new PlayerControllerHitReport();
capsuleControllerDesc.Callback = controllerHitReport;
/*{
* Callback = new ControllerHitReport()
* };*/
CapsuleController capsuleController = manager.CreateController <CapsuleController>(capsuleControllerDesc);
capsuleController.Position = player.Position.xna();
capsuleController.Actor.Name = "PlayerController";
capsuleController.SetCollisionEnabled(true);
controller = capsuleController;
}
public void UpdateScene(float elapsed, StillDesign.PhysX.Scene scene)
{
scene.Simulate(elapsed);
//_scene.Simulate( 1.0f / 60.0f );
scene.FlushStream();
scene.FetchResults(SimulationStatus.RigidBodyFinished, true);
}
public void TestSyncOnlineClient()
{
var conn = NetworkingUtilities.ConnectTCP(10045, "5.149.17.16");
//var conn = NetworkingClientTest.ConnectTCP(10045, "127.0.0.1");
conn.Receiving = true;
var client = new ClientPacketManagerNetworked(conn);
var clientSyncer = new ClientSyncer(client);
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var client1 = clientSyncer.CreateActor(physicsEngine.Scene.CreateActor(actorDesc));
client1.ID = 2; // Identify
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
clientSyncer.Update(game.Elapsed);
};
client.SyncronizeRemotePacketIDs();
client.WaitForUDPConnected();
game.Run();
physicsEngine.Dispose();
}
public static Actor CreateDynamicSphereActor(StillDesign.PhysX.Scene scene, float radius, float mass)
{
ActorDescription actorDesc = new ActorDescription(new SphereShapeDescription(radius));
actorDesc.BodyDescription = new BodyDescription(mass);
return(scene.CreateActor(actorDesc));
}
/// <summary>
/// You can put a scale (-1) operation in the global pose, it works! (not for convex meshes though!)
/// NOTE: WARNING: scaling not supported!!! (still not supported, it has been delayed for several reasons)
/// </summary>
/// <param name="data"></param>
/// <param name="scene"></param>
/// <param name="globalPose"></param>
/// <returns></returns>
private ActorDescription createActorDesc(MeshCollisionData data, StillDesign.PhysX.Scene scene, Matrix globalPose)
{
// From PhysX SDK:
//There are some performance implications of compound shapes that the user should be aware of:
//You should avoid static actors being compounds; there's a limit to the number of triangles allowed in one actor's mesh shapes and subshapes exceeding the limit will be ignored.
//TODO: is this about triangle meshes only? EDIT: i dont think so
// Pull scaling out of the transformation
Vector3 scale, translation;
Quaternion rotation;
globalPose.Decompose(out scale, out rotation, out translation);
//globalPose = Matrix.CreateFromQuaternion(rotation) * Matrix.CreateTranslation(translation);
var scaleMat = Matrix.Identity;// Matrix.CreateScale(scale);
ActorDescription actorDesc = new ActorDescription();
for (int i = 0; i < data.Boxes.Count; i++)
{
var box = data.Boxes[i];
var shape = new BoxShapeDescription(box.Dimensions);
shape.LocalPose = box.Orientation * scaleMat;
actorDesc.Shapes.Add(shape);
}
for (int i = 0; i < data.ConvexMeshes.Count; i++)
{
var convex = data.ConvexMeshes[i];
var shape = new ConvexShapeDescription();
shape.ConvexMesh = MeshPhysicsPool.CreateConvexMesh(scene, convex);
shape.Flags = ShapeFlag.Visualization;
actorDesc.Shapes.Add(shape);
}
if (data.TriangleMesh != null)
{
TriangleMesh triangleMesh;
triangleMesh = MeshPhysicsPool.CreateTriangleMesh(scene, data.TriangleMesh);
TriangleMeshShapeDescription shapeDesc = new TriangleMeshShapeDescription();
shapeDesc.TriangleMesh = triangleMesh;
shapeDesc.Flags = ShapeFlag.Visualization; // Vizualization enabled, obviously (not obviously enabled, obvious that this enables visualization)
actorDesc.Shapes.Add(shapeDesc);
}
actorDesc.GlobalPose = globalPose;
return(actorDesc);
}
public Actor CreateActorStatic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public Actor CreateActorDynamic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
actorDesc.BodyDescription = new BodyDescription(10f); //TODO mass
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public void Dispose()
{
if (Scene != null)
{
Scene.Dispose();
Scene = null;
}
//if (_core != null)
//{
// _core.Dispose();
//}
//_core = null;
}
internal void disposeInternal()
{
if (node != null)
{
node.RemoveStaticObject(this);
}
builder = null;
scene = null;
if (Actor != null)
{
Actor.Dispose();
}
Actor = null;
}
public void Initialize()
{
//
if (Scene != null)
{
return;
}
var scene = CreateDefaultScene();
this.Scene = scene;
HardwareVersion ver = Core.HardwareVersion;
SimulationType simType = this.Scene.SimulationType;
}
public void InitDynamic(StillDesign.PhysX.Scene _scene)
{
if (actor != null)
{
throw new InvalidOperationException();
}
scene = _scene;
actor = Builder.CreateActorDynamic(scene, Mesh.GetCollisionData(), World);
actor.UserData = actorUserData;
updateActorFlags();
var bs = Microsoft.Xna.Framework.BoundingSphere.CreateFromBoundingBox(Builder.CalculateBoundingBox(Mesh.GetCollisionData()));
boundingRadius = bs.Radius;
if (ActorCreated != null)
{
ActorCreated(actor);
}
}
public PEngine()
{
Stoped = true;
Paused = false;
Time = 0;
LastTime = 0;
DeltaTime = 0;
Ph.CoreDescription CoreDesc = new Ph.CoreDescription();
PUserOutput UserOut = new PUserOutput();
Ph.Core core = new Ph.Core(CoreDesc, UserOut);
Core = core;
Ph.SceneDescription SceneDesc = new Ph.SceneDescription();
//grawitacja
SceneDesc.Gravity = new PhMath.Vector3(0, 0, 0);
SceneDesc.TimestepMethod = Ph.TimestepMethod.Fixed;
SceneDesc.GroundPlaneEnabled = true;
Ph.Scene scene = Core.CreateScene(SceneDesc);
Scene = scene;
Scene.DefaultMaterial.DynamicFriction = 0.5f;
Scene.DefaultMaterial.StaticFriction = 0.5f;
Scene.DefaultMaterial.Restitution = 0f;
Scene.DefaultMaterial.RestitutionCombineMode = Ph.CombineMode.Minimum;
Scene.DefaultMaterial.FrictionCombineMode = Ph.CombineMode.Max;
core.SetParameter(Ph.PhysicsParameter.VisualizationScale, 1.0f);
core.SetParameter(Ph.PhysicsParameter.VisualizeCollisionShapes, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeClothMesh, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeJointLocalAxes, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeJointLimits, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeFluidPosition, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeFluidEmitters, false); // Slows down rendering a bit too much
core.SetParameter(Ph.PhysicsParameter.VisualizeForceFields, true);
core.SetParameter(Ph.PhysicsParameter.VisualizeSoftBodyMesh, true);
Core.Foundation.RemoteDebugger.Connect("localhost");
}
private void InitTestScene(StillDesign.PhysX.Scene scene)
{
ActorDescription actorDesc;
Actor actor;
CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription(1, 3);
actorDesc = new ActorDescription(capsuleShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalOrientation = Matrix.CreateRotationX(MathHelper.PiOver2);
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(40, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(0, 4, 0);
boxShapeDesc = new BoxShapeDescription(1, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(40f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(15, 40, 0);
boxShapeDesc = new BoxShapeDescription(1, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(-13, 5, 0);
boxShapeDesc = new BoxShapeDescription(1, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(-7, 5, 0);
boxShapeDesc = new BoxShapeDescription(1, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(-10, 5, 0);
boxShapeDesc = new BoxShapeDescription(1, 1, 1);
actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
actor = scene.CreateActor(actorDesc);
actor.GlobalPosition = new Vector3(-4, 5, 0);
}
public void TestSyncOnlineServer()
{
var server = new ServerPacketManagerNetworked(10045, 10046);
var serverSyncer = new ServerSyncer(server);
server.Start();
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
ServerSyncedActor server1 = null;
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
server1 = serverSyncer.CreateActor(serverScene.CreateActor(actorDesc));
((WorldPhysxSyncActor)server1.Actor).Actor.AddForce(Vector3.UnitX * 200, ForceMode.Impulse);
server1.ID = 2; // Identify
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
serverSyncer.Update(game.Elapsed);
if (game.Keyboard.IsKeyDown(Keys.Up))
{
((WorldPhysxSyncActor)server1.Actor).Actor.AddForce(Vector3.UnitX * 200, ForceMode.Force);
}
if (game.Keyboard.IsKeyDown(Keys.Down))
{
((WorldPhysxSyncActor)server1.Actor).Actor.AddForce(-Vector3.UnitX * 200, ForceMode.Force);
}
};
game.Run();
physicsEngine.Dispose();
}
public void TestSyncDirect()
{
var client = new ClientSyncedActor();
var server = new ServerSyncedActor();
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
float totalTime = 0;
float timeSinceTick = 0;
float tickRate = 1 / 30f;
int tickNumber = 0;
float packetLoss = 0.25f;
var rand = new Random();
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
server.Actor = new WorldPhysxSyncActor(serverScene.CreateActor(actorDesc));
((WorldPhysxSyncActor)server.Actor).Actor.AddForce(Vector3.UnitX * 200, ForceMode.Impulse);
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
client.Actor =
new WorldPhysxSyncActor(physicsEngine.Scene.CreateActor(actorDesc));
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
totalTime += game.Elapsed;
timeSinceTick += game.Elapsed;
int totalMiliseconds = (int)(totalTime * 1000);
while (timeSinceTick > tickRate)
{
timeSinceTick -= tickRate;
//Do a tick
tickNumber++;
server.Tick();
var p = new UpdateEntityPacket();
p.Positie = server.Positie;
p.RotatieQuat = server.RotatieQuat;
if (rand.NextDouble() < 1 - packetLoss)
{
client.AddEntityUpdate(tickNumber, p);
}
}
client.Process(totalMiliseconds, tickRate);
};
game.Run();
physicsEngine.Dispose();
}
public void TestSyncOnline()
{
var server = new ServerPacketManagerNetworked(10045, 10046);
var success = new AutoResetEvent(false);
var serverSyncer = new ServerSyncer(server);
server.Start();
var conn = NetworkingUtilities.ConnectTCP(10045, "127.0.0.1");
conn.Receiving = true;
var client = new ClientPacketManagerNetworked(conn);
var clientSyncer = new ClientSyncer(client);
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var server1 = serverSyncer.CreateActor(serverScene.CreateActor(actorDesc));
((WorldPhysxSyncActor)server1.Actor).Actor.AddForce(Vector3.UnitX * 200, ForceMode.Impulse);
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var client1 = clientSyncer.CreateActor(physicsEngine.Scene.CreateActor(actorDesc));
client1.ID = server1.ID; // Identify
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
serverSyncer.Update(game.Elapsed);
clientSyncer.Update(game.Elapsed);
};
client.SyncronizeRemotePacketIDs();
client.WaitForUDPConnected();
game.Run();
physicsEngine.Dispose();
}
public void TestSyncOffline()
{
var serverpm = new SimpleServerPacketManager();
var clientpm = serverpm.CreateClient();
var clientSyncer = new ClientSyncer(clientpm);
var serverSyncer = new ServerSyncer(serverpm);
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
float totalTime = 0;
float timeSinceTick = 0;
float tickRate = 1 / 30f;
int tickNumber = 0;
float packetLoss = 0.25f;
var rand = new Random();
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var server = serverSyncer.CreateActor(serverScene.CreateActor(actorDesc));
((WorldPhysxSyncActor)server.Actor).Actor.AddForce(Vector3.UnitX * 200, ForceMode.Impulse);
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var client = clientSyncer.CreateActor(physicsEngine.Scene.CreateActor(actorDesc));
client.ID = server.ID; // Identify
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
serverSyncer.Update(game.Elapsed);
clientSyncer.Update(game.Elapsed);
};
game.Run();
physicsEngine.Dispose();
}
/// <summary>
/// This constructor enables physics
/// </summary>
/// <param name="scene"></param>
/// <param name="center"></param>
/// <param name="radius"></param>
public ClientPhysicsTestSphere(StillDesign.PhysX.Scene scene, Vector3 center, float radius)
{
this.scene = scene;
Center = center;
Radius = radius;
}
public PhysicsDebugRenderer(DX11Game _game, Scene _physXScene)
{
game = _game;
physXScene = _physXScene;
Enabled = true;
}
public void Delete()
{
Scene.ShutdownWorkerThreads();
Scene.Dispose();
Core.Dispose();
Scene = null;
Core = null;
_instance = null;
}
public PhysicsDebugRendererXNA(IXNAGame _game, StillDesign.PhysX.Scene _physXScene)
{
game = _game;
physXScene = _physXScene;
enabled = true;
}
public void LoadInClientPhysics(StillDesign.PhysX.Scene _scene, ClientPhysicsQuadTreeNode root)
{
scene = _scene;
//root.OrdenObject(this);
root.AddStaticObject(this);
}
public static TriangleMesh CreateTriangleMesh(Vector3[] positions, int[] indices, StillDesign.PhysX.Scene scene)
{
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.AllocateVertices <Vector3>(positions.Length);
triangleMeshDesc.AllocateTriangles <int>(indices.Length); // int indices, should be short but whatever
triangleMeshDesc.VerticesStream.SetData(positions);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VertexCount = positions.Length;
triangleMeshDesc.TriangleCount = indices.Length / 3;
System.IO.MemoryStream stream = new System.IO.MemoryStream();
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(triangleMeshDesc, stream);
Cooking.CloseCooking();
stream.Position = 0;
return(scene.Core.CreateTriangleMesh(stream));
}
