/// <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 AssignActor(PhysX.RigidActor myActor, PhysicsShape newShape, bool isPhysical, DeleteActorFlags flags)
{
PhysX.RigidActor oldActor = _actor;
PhysicsShape oldShape = null;
if (newShape != null)
{
oldShape = _myShape;
_myShape = newShape;
}
_actor = myActor;
if (_actor != null && _actor is PhysX.RigidDynamic)
{
_dynActor = (PhysX.RigidDynamic)_actor;
CacheMassData();
}
else
{
_dynActor = null;
}
bool wasPhysical = _isPhysical;
_isPhysical = isPhysical;
if (HasActor) _scene.SceneImpl.AddActor(_actor); //add to physx scene
this.DeleteActor(oldActor, oldShape, wasPhysical, flags);
if (_actor != null)
{
_actor.UserData = this;
this.IndexAndConfigurePrimaryShapes();
}
ClearForcesAndSendUpdate();
ChangeGravityIfNeeded();
}
private void ChangeToChild(PhysxPrim parent, OpenMetaverse.Vector3 localPos, OpenMetaverse.Quaternion localRot)
{
_parentPrim = parent;
//this prim no longer has its old shape or its actor
_scene.PrimBecameChild(this);
//if we have children, we need to unref their shapes here, as our new parent (ours and our children)
//may require different shape types and will be rebuilt
this.DeleteActor(_actor, _myShape, _isPhysical, DeleteActorFlags.UnrefChildShapes);
_actor = null;
_dynActor = null;
_myShape = null;
_position = localPos;
_rotation = localRot;
}
private void button1_Click(object sender, EventArgs e)
{
PhysX.Physics phys = new PhysX.Physics();
PhysX.SceneDesc desc = new PhysX.SceneDesc();
desc.Gravity = new PhysX.Math.Vector3(0f, 0f, -9.8f);
PhysX.Scene scene = phys.CreateScene(desc);
material = scene.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
var conn = phys.ConnectToRemoteDebugger("localhost", null, null, null, PhysX.RemoteDebuggerConnectionFlags.Debug);
/*scene.SetVisualizationParameter(PhysX.VisualizationParameter.Scale, 1.0f);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.CollisionShapes, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLocalFrames, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLimits, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ParticleSystemPosition, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ActorAxes, true);*/
var hfGeom = this.CreateHfGeom(scene);
while (true)
{
PhysX.RigidDynamic sphere = CreateSphere(scene, 0);
sphere.Dispose();
PhysX.RigidStatic ground = CreateGround(scene, hfGeom);
ground.Dispose();
GC.Collect();
}
scene.AddActor(CreateGround(scene));
/*PhysX.RigidDynamic box1 = null;
* for (int i = 0; i < 10; i += 2)
* {
* PhysX.RigidDynamic mahBox = CreateBox(scene, i);
* scene.AddActor(mahBox);
*
* if (i == 0)
* {
* box1 = mahBox;
* ((PhysX.Actor)box1).Flags = PhysX.ActorFlag.DisableGravity;
* }
* }*/
for (int i = 0; i < 10; i += 2)
{
PhysX.RigidDynamic mahBox = CreateSphere(scene, i);
scene.AddActor(mahBox);
}
Stopwatch sw = new Stopwatch();
while (true)
{
sw.Start();
scene.Simulate(0.025f);
scene.FetchResults(true);
sw.Stop();
int sleep = 25 - (int)sw.ElapsedMilliseconds;
if (sleep < 0)
{
sleep = 0;
}
System.Threading.Thread.Sleep(sleep);
sw.Reset();
//label1.Text = DecomposeToPosition(mahBox.GlobalPose).ToString();
this.Update();
}
}
