//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();
}
/**
* Deserialize shared data and use resulting collection to deserialize and instance actor collections
*/
public static void deserializeObjects(ref PxInputData sharedData, ref PxInputData actorData)
{
PxSerializationRegistry *sr = PxSerialization.createSerializationRegistry(ref *gPhysics);
PxCollection *sharedCollection = null;
{
if (gUseBinarySerialization)
{
void *alignedBlock = createAlignedBlock(sharedData.getLength());
sharedData.read(alignedBlock, sharedData.getLength());
sharedCollection = PxSerialization.createCollectionFromBinary(alignedBlock, ref *sr);
}
else
{
sharedCollection = PxSerialization.createCollectionFromXml(ref sharedData, ref *gCooking, ref *sr);
}
}
// Deserialize collection and instantiate objects twice, each time with a different transform
PxTransform *transforms = stackalloc PxTransform[2] {
new PxTransform(new PxVec3(-5.0f, 0.0f, 0.0f)), new PxTransform(new PxVec3(5.0f, 0.0f, 0.0f))
};
for (uint i = 0; i < 2; i++)
{
PxCollection *collection = null;
// If the PxInputData actorData would refer to a file, it would be better to avoid reading from it twice.
// This could be achieved by reading the file once to memory, and then working with copies.
// This is particulary practical when using binary serialization, where the data can be directly
// converted to physics objects.
actorData.seek(0);
if (gUseBinarySerialization)
{
void *alignedBlock = createAlignedBlock(actorData.getLength());
actorData.read(alignedBlock, actorData.getLength());
collection = PxSerialization.createCollectionFromBinary(alignedBlock, ref *sr, sharedCollection);
}
else
{
collection = PxSerialization.createCollectionFromXml(ref actorData, ref *gCooking, ref *sr, sharedCollection);
}
for (uint o = 0; o < collection->getNbObjects(); o++)
{
//BIOQUIRK: is<T> is not translated https://github.com/MochiLibraries/Mochi.PhysX/issues/11
//PxRigidActor* rigidActor = collection->getObject(o).is<PxRigidActor>();
PxRigidActor *rigidActor = null;
{
PxBase *obj = collection->getObject(o);
//BIOQUIRK: Because PxRigidActor is not concrete, this ends up going down the isKindOf path, which is not publicly accessible.
// This is special-cased for this snippet, ideally we should just expose is<T> in a more C#-friendly way.
if ((PxConcreteType)obj->getConcreteType() is PxConcreteType.eRIGID_STATIC or PxConcreteType.eARTICULATION_LINK or PxConcreteType.eRIGID_DYNAMIC)
{
rigidActor = (PxRigidActor *)obj;
}
}
if (rigidActor != null)
{
PxTransform globalPose = rigidActor->getGlobalPose();
globalPose = globalPose.transform(transforms[i]);
rigidActor->setGlobalPose(globalPose);
}
}
gScene->addCollection(*collection);
collection->release();
}
sharedCollection->release();
PxMaterial *material;
gPhysics->getMaterials(&material, 1);
PxRigidStatic *groundPlane = PxCreatePlane(ref *gPhysics, new PxPlane(0, 1, 0, 0), ref *material);
gScene->addActor(ref *groundPlane);
sr->release();
}