Exemple #1
0
        public static PhysX.SoftBody TeapotSoftBody(Scene scene)
        {
            var doc = new XmlDocument();

            doc.Load(@"Resources\Teapot.xml");

            // Not how NxuStream are meant to used but what ever :S
            var vertices          = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
            var tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));

            var softBodyMeshDesc = new SoftBodyMeshDescription()
            {
                VertexCount     = vertices.Length,
                TetrahedraCount = tetrahedraSingles.Length / 4                 // Tetrahedras come in quadruples of ints
            };

            softBodyMeshDesc.AllocateVertices <Vector3>(softBodyMeshDesc.VertexCount);
            softBodyMeshDesc.AllocateTetrahedra <int>(softBodyMeshDesc.TetrahedraCount);            // Note: T is an int. T is the type of each point

            softBodyMeshDesc.VertexStream.SetData(vertices);
            softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);

            var memoryStream = new MemoryStream();

            Cooking.InitializeCooking();
            Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
            Cooking.CloseCooking();

            memoryStream.Position = 0;

            var softBodyMesh = scene.Core.CreateSoftBodyMesh(memoryStream);

            var desc = new SoftBodyDescription()
            {
                GlobalPose   = Matrix.Translation(-30, 20, -30),
                SoftBodyMesh = softBodyMesh
            };

            desc.Flags |= SoftBodyFlag.Visualization;

            desc.MeshData.AllocatePositions <Vector3>(vertices.Length);
            desc.MeshData.AllocateIndices <int>(tetrahedraSingles.Length);

            desc.MeshData.NumberOfVertices = vertices.Length;
            desc.MeshData.NumberOfIndices  = tetrahedraSingles.Length;

            desc.MeshData.MaximumVertices = vertices.Length;
            desc.MeshData.MaximumIndices  = tetrahedraSingles.Length;

            var softBody = scene.CreateSoftBody(desc);

            return(softBody);
        }
Exemple #2
0
		public static PhysX.SoftBody TeapotSoftBody(Scene scene)
		{
			var doc = new XmlDocument();
			doc.Load(@"Resources\Teapot.xml");

			// Not how NxuStream are meant to used but what ever :S
			var vertices = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
			var tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));

			var softBodyMeshDesc = new SoftBodyMeshDescription()
			{
				VertexCount = vertices.Length,
				TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
			};

			softBodyMeshDesc.AllocateVertices<Vector3>(softBodyMeshDesc.VertexCount);
			softBodyMeshDesc.AllocateTetrahedra<int>(softBodyMeshDesc.TetrahedraCount); // Note: T is an int. T is the type of each point

			softBodyMeshDesc.VertexStream.SetData(vertices);
			softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);

			var memoryStream = new MemoryStream();

			Cooking.InitializeCooking();
			Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
			Cooking.CloseCooking();

			memoryStream.Position = 0;

			var softBodyMesh = scene.Core.CreateSoftBodyMesh(memoryStream);

			var desc = new SoftBodyDescription()
			{
				GlobalPose = Matrix.Translation(-30, 20, -30),
				SoftBodyMesh = softBodyMesh
			};
			desc.Flags |= SoftBodyFlag.Visualization;

			desc.MeshData.AllocatePositions<Vector3>(vertices.Length);
			desc.MeshData.AllocateIndices<int>(tetrahedraSingles.Length);

			desc.MeshData.NumberOfVertices = vertices.Length;
			desc.MeshData.NumberOfIndices = tetrahedraSingles.Length;

			desc.MeshData.MaximumVertices = vertices.Length;
			desc.MeshData.MaximumIndices = tetrahedraSingles.Length;

			var softBody = scene.CreateSoftBody(desc);

			return softBody;
		}
        /// <summary>Simple examples of all the PhysX bits running together</summary>
        private void LoadPhysics()
        {
            // The ground plane (if created) sould be the first actor
            _groundActor      = _scene.Actors.First();
            _groundActor.Name = "Default Ground Plane";

            //

            #region Some Boxes
            for (int x = 0; x < 5; x++)
            {
                BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);

                ActorDescription actorDesc = new ActorDescription()
                {
                    Name            = String.Format("Box {0}", x),
                    BodyDescription = new BodyDescription(10.0f),
                    GlobalPose      = Matrix.CreateTranslation(100, 15 + 3 * x, 20),
                    Shapes          = { boxShapeDesc }
                };

                Actor actor = _scene.CreateActor(actorDesc);
            }
            #endregion

            #region Cloth (Flag)
            {
                // Create a Grid of Points
                VertexGrid grid = VertexGrid.CreateGrid(10, 10);

                ClothMeshDescription clothMeshDesc = new ClothMeshDescription();
                clothMeshDesc.AllocateVertices <Vector3>(grid.Points.Length);
                clothMeshDesc.AllocateTriangles <int>(grid.Indices.Length / 3);

                clothMeshDesc.VertexCount   = grid.Points.Length;
                clothMeshDesc.TriangleCount = grid.Indices.Length / 3;

                clothMeshDesc.VerticesStream.SetData(grid.Points);
                clothMeshDesc.TriangleStream.SetData(grid.Indices);

                // We are using 32 bit integers, so make sure the 16 bit flag is removed.
                // 32 bits are the default, so this isn't technically needed
                clothMeshDesc.Flags &= ~MeshFlag.Indices16Bit;

                // Write the cooked data to memory
                MemoryStream memoryStream = new MemoryStream();

                Cooking.InitializeCooking();
                Cooking.CookClothMesh(clothMeshDesc, memoryStream);
                Cooking.CloseCooking();

                // Need to reset the position of the stream to the beginning
                memoryStream.Position = 0;

                ClothMesh clothMesh = _core.CreateClothMesh(memoryStream);

                //

                ClothDescription clothDesc = new ClothDescription()
                {
                    ClothMesh  = clothMesh,
                    Flags      = ClothFlag.Gravity | ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization,
                    GlobalPose =
                        Matrix.CreateFromYawPitchRoll(0, (float)Math.PI / 2.0f, (float)Math.PI / 2.0f) *
                        Matrix.CreateTranslation(0, 20, 0)
                };
                clothDesc.MeshData.AllocatePositions <Vector3>(grid.Points.Length);
                clothDesc.MeshData.AllocateIndices <int>(grid.Indices.Length);

                clothDesc.MeshData.MaximumVertices = grid.Points.Length;
                clothDesc.MeshData.MaximumIndices  = grid.Indices.Length;

                clothDesc.MeshData.NumberOfVertices = grid.Points.Length;
                clothDesc.MeshData.NumberOfIndices  = grid.Indices.Length;

                _flag = _scene.CreateCloth(clothDesc);

                // Flag Pole
                ActorDescription flagPoleActorDesc = new ActorDescription()
                {
                    GlobalPose = Matrix.CreateTranslation(0, 10, 0),
                    Shapes     = { new BoxShapeDescription(1.0f, 20.0f, 1.0f) }
                };

                Actor flagPoleActor = _scene.CreateActor(flagPoleActorDesc);

                _flag.AttachToShape(flagPoleActor.Shapes[0], 0);
                _flag.WindAcceleration = new Vector3(10, 10, 10);
                _flag.BendingStiffness = 0.1f;
            }
            #endregion

            #region Revolute Joint
            {
                BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
                BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);

                ActorDescription actorDescA = new ActorDescription()
                {
                    BodyDescription = new BodyDescription(10.0f),
                    GlobalPose      = Matrix.CreateTranslation(75, 1.5f, 55),
                    Shapes          = { boxShapeDescA }
                };
                Actor actorA = _scene.CreateActor(actorDescA);

                ActorDescription actorDescB = new ActorDescription()
                {
                    BodyDescription = new BodyDescription(10.0f),
                    GlobalPose      = Matrix.CreateTranslation(70, 1.5f, 55),
                    Shapes          = { boxShapeDescB }
                };
                Actor actorB = _scene.CreateActor(actorDescB);

                //

                RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
                {
                    Actor1 = actorA,
                    Actor2 = actorB,
                    Motor  = new MotorDescription(20, 20.1f, true)
                };
                revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
                revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, 55));
                revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));

                RevoluteJoint revoluteJoint = _scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
            }
            #endregion

            #region Prismatic Joint with Limit
            {
                Actor actorA, actorB;
                {
                    BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);

                    BodyDescription bodyDesc = new BodyDescription(10.0f);
                    bodyDesc.BodyFlags |= BodyFlag.Kinematic;

                    ActorDescription actorDesc = new ActorDescription()
                    {
                        BodyDescription = bodyDesc,
                        GlobalPose      = Matrix.CreateTranslation(70, 25, 65),
                        Shapes          = { boxShapeDesc }
                    };
                    actorA = _scene.CreateActor(actorDesc);
                }
                {
                    BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);

                    ActorDescription actorDesc = new ActorDescription()
                    {
                        BodyDescription = new BodyDescription(10.0f),
                        GlobalPose      = Matrix.CreateTranslation(70, 15, 65),
                        Shapes          = { boxShapeDesc }
                    };
                    actorB = _scene.CreateActor(actorDesc);
                }

                PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
                {
                    Actor1 = actorA,
                    Actor2 = actorB,
                };
                prismaticJointDesc.SetGlobalAnchor(new Vector3(70, 20, 65));
                prismaticJointDesc.SetGlobalAxis(new Vector3(0, 1, 0));

                PrismaticJoint prismaticJoint = _scene.CreateJoint(prismaticJointDesc) as PrismaticJoint;

                LimitPlane limitPlane = new LimitPlane(new Vector3(0, 1, 0), new Vector3(-30, 8, -30), 0);
                prismaticJoint.AddLimitPlane(limitPlane);
            }
            #endregion

            #region Fluid
            {
                const int maximumParticles = 1000;

                FluidEmitterDescription fluidEmitterDesc = new FluidEmitterDescription()
                {
                    DimensionX   = 0.5f,
                    DimensionY   = 0.5f,
                    Rate         = 15,
                    RelativePose = Matrix.CreateTranslation(-40, 10, 50),
                    Shape        = EmitterShape.Rectangular,
                    Type         = EmitterType.ConstantFlowRate,
                    RandomAngle  = 0.5f
                };
                fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);

                FluidDescription fluidDesc = new FluidDescription()
                {
                    Emitters         = { fluidEmitterDesc },
                    Flags            = FluidFlag.Enabled | FluidFlag.Visualization,
                    MaximumParticles = maximumParticles
                };
                fluidDesc.ParticleWriteData.AllocatePositionBuffer <Vector3>(maximumParticles);
                fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;

                Fluid fluid = _scene.CreateFluid(fluidDesc);

                // Ledge
                {
                    BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);

                    ActorDescription drainActorDesc = new ActorDescription()
                    {
                        GlobalPose = Matrix.CreateRotationX(0.5f) * Matrix.CreateTranslation(-40, 5, 52),
                        Shapes     = { boxShapeDesc }
                    };

                    Actor drianActor = _scene.CreateActor(drainActorDesc);
                }

                // Drain
                {
                    BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
                    boxShapeDesc.Flags |= ShapeFlag.FluidDrain;

                    ActorDescription drainActorDesc = new ActorDescription()
                    {
                        GlobalPose = Matrix.CreateTranslation(-40, 0, 55),
                        Shapes     = { boxShapeDesc }
                    };

                    Actor drianActor = _scene.CreateActor(drainActorDesc);
                }
            }
            #endregion

            #region Force Field
            {
                BoxForceFieldShapeDescription boxForceFieldShapeDesc = new BoxForceFieldShapeDescription()
                {
                    Size = new Vector3(10, 10, 10)
                };

                ForceFieldLinearKernelDescription kernelDesc = new ForceFieldLinearKernelDescription()
                {
                    Constant = new Vector3(0, 100.0f, 0)
                };

                ForceFieldLinearKernel kernel = _scene.CreateForceFieldLinearKernel(kernelDesc);

                ForceFieldShapeGroupDescription shapeGroupDesc = new ForceFieldShapeGroupDescription()
                {
                    Shapes = { boxForceFieldShapeDesc }
                };

                ForceFieldShapeGroup shapeGroup = _scene.CreateForceFieldShapeGroup(shapeGroupDesc);

                BoxForceFieldShape boxForceFieldShape = shapeGroup.CreateShape(boxForceFieldShapeDesc) as BoxForceFieldShape;
                boxForceFieldShape.Pose = Matrix.CreateTranslation(30, 5, 0);

                ForceFieldDescription forceFieldDesc = new ForceFieldDescription()
                {
                    Kernel      = kernel,
                    ShapeGroups = { shapeGroup }
                };
                ForceField forceField = _scene.CreateForceField(forceFieldDesc);
            }
            #endregion

            #region Heightfield
            {
                int rows    = 25;
                int columns = 25;

                HeightFieldSample[] samples = new HeightFieldSample[rows * columns];
                for (int r = 0; r < rows; r++)
                {
                    for (int c = 0; c < columns; c++)
                    {
                        // Put a z and x curve together
                        double h = Math.Sin(c) * Math.Cos(r) * short.MaxValue;

                        HeightFieldSample sample = new HeightFieldSample();
                        sample.Height           = (short)h;
                        sample.MaterialIndex0   = 0;
                        sample.MaterialIndex1   = 1;
                        sample.TessellationFlag = 0;

                        samples[r * columns + c] = sample;
                    }
                }

                HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
                {
                    NumberOfRows    = rows,
                    NumberOfColumns = columns,
                    Samples         = samples
                };

                HeightField heightField = _core.CreateHeightField(heightFieldDesc);

                //

                HeightFieldShapeDescription heightFieldShapeDesc = new HeightFieldShapeDescription()
                {
                    HeightField  = heightField,
                    HoleMaterial = 2,
                    // The max height of our samples is short.MaxValue and we want it to be 1
                    HeightScale = 1.0f / (float)short.MaxValue,
                    RowScale    = 3,
                    ColumnScale = 3
                };
                heightFieldShapeDesc.LocalPosition = new Vector3(-0.5f * rows * 1 * heightFieldShapeDesc.RowScale, 0, -0.5f * columns * 1 * heightFieldShapeDesc.ColumnScale);

                ActorDescription actorDesc = new ActorDescription()
                {
                    GlobalPose = Matrix.CreateTranslation(100, 0, 0),
                    Shapes     = { heightFieldShapeDesc }
                };
                Actor actor = _scene.CreateActor(actorDesc);
            }
            #endregion

            #region Convex Mesh
            {
                ModelMesh mesh = _torusModel.Meshes.First();

                Matrix[] transforms = new Matrix[_torusModel.Bones.Count];
                _torusModel.CopyAbsoluteBoneTransformsTo(transforms);

                // Gets the vertices from the mesh
                VertexPositionNormalTexture[] vertices = new VertexPositionNormalTexture[mesh.MeshParts[0].NumVertices];
                mesh.VertexBuffer.GetData <VertexPositionNormalTexture>(vertices);

                //

                // Allocate memory for the points and triangles
                var convexMeshDesc = new ConvexMeshDescription()
                {
                    PointCount = vertices.Length
                };
                convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
                convexMeshDesc.AllocatePoints <Vector3>(vertices.Length);

                // Write in the points and triangles
                // We only want the Position component of the vertex. Also scale down the mesh
                foreach (VertexPositionNormalTexture vertex in vertices)
                {
                    Vector3 position = Vector3.Transform(vertex.Position, Matrix.CreateScale(0.1f, 0.1f, 0.1f) * transforms[0]);

                    convexMeshDesc.PointsStream.Write(position);
                }

                //

                // Cook to memory or to a file
                MemoryStream stream = new MemoryStream();
                //FileStream stream = new FileStream( @"Convex Mesh.cooked", FileMode.CreateNew );

                Cooking.InitializeCooking(new ConsoleOutputStream());
                Cooking.CookConvexMesh(convexMeshDesc, stream);
                Cooking.CloseCooking();

                stream.Position = 0;

                ConvexMesh convexMesh = _core.CreateConvexMesh(stream);

                ConvexShapeDescription convexShapeDesc = new ConvexShapeDescription(convexMesh);

                ActorDescription actorDesc = new ActorDescription()
                {
                    BodyDescription = new BodyDescription(10.0f),
                    GlobalPose      = Matrix.CreateTranslation(30, 30, 0)
                };
                actorDesc.Shapes.Add(convexShapeDesc);

                _torusActor = _scene.CreateActor(actorDesc);
            }
            #endregion

            #region SoftBody
            if (false)              // Enable to view soft bodies, they run slowly
            {
                XmlDocument doc = new XmlDocument();
                doc.Load("Teapot.xml");

                // Not how NxuStream are meant to used but what ever :S
                Vector3[] vertices          = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
                int[]     tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));

                var softBodyMeshDesc = new SoftBodyMeshDescription()
                {
                    VertexCount     = vertices.Length,
                    TetrahedraCount = tetrahedraSingles.Length / 4                     // Tetrahedras come in quadruples of ints
                };

                softBodyMeshDesc.AllocateVertices <Vector3>(softBodyMeshDesc.VertexCount);
                softBodyMeshDesc.AllocateTetrahedra <int>(softBodyMeshDesc.TetrahedraCount);                  // Note: T is an int. T is the type of each point

                softBodyMeshDesc.VertexStream.SetData(vertices);
                softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);

                MemoryStream memoryStream = new MemoryStream();

                Cooking.InitializeCooking();
                Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
                Cooking.CloseCooking();

                memoryStream.Position = 0;

                SoftBodyMesh softBodyMesh = _core.CreateSoftBodyMesh(memoryStream);

                SoftBodyDescription desc = new SoftBodyDescription()
                {
                    GlobalPose   = Matrix.CreateTranslation(-30, 20, -30),
                    SoftBodyMesh = softBodyMesh
                };
                desc.Flags |= SoftBodyFlag.Visualization;

                desc.MeshData.AllocatePositions <Vector3>(vertices.Length);
                desc.MeshData.AllocateIndices <int>(tetrahedraSingles.Length);

                SoftBody softBody = _scene.CreateSoftBody(desc);
            }
            #endregion

            #region Reports
            // Contact report
            // When the capsule actor hits the ground make it bounce by using the conact report
            {
                CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription(1, 5);

                ActorDescription actorDesc = new ActorDescription()
                {
                    GlobalPose      = Matrix.CreateTranslation(-30, 20, 0),
                    BodyDescription = new BodyDescription(10.0f),
                    Name            = "Report Capsule",
                    Shapes          = { capsuleShapeDesc }
                };

                _contactReportActor = _scene.CreateActor(actorDesc);

                _scene.SetActorPairFlags(_contactReportActor, _groundActor, ContactPairFlag.All);

                _scene.UserContactReport = new ContactReport(this);
            }

            // Trigger Reports
            {
                BoxShapeDescription boxShapeDesc = new BoxShapeDescription(15, 8, 15);
                boxShapeDesc.Flags |= (ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave);

                ActorDescription actorDesc = new ActorDescription()
                {
                    GlobalPose = Matrix.CreateTranslation(-30, 4, 0),
                    Shapes     = { boxShapeDesc }
                };
                _scene.CreateActor(actorDesc);

                _scene.UserTriggerReport = new TriggerReport(this);
            }

            _scene.UserNotify = new Notify(this);
            #endregion

            #region Wheel
            {
                _basicVehicle = new Vehicle(this);
            }
            #endregion

            #region Controller
            {
                ControllerManager manager = _scene.CreateControllerManager();

                CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription(4, 3)
                {
                    Callback = new ControllerHitReport()
                };

                CapsuleController capsuleController = manager.CreateController <CapsuleController>(capsuleControllerDesc);
                capsuleController.Position   = new Vector3(0, 1.5f + 2, -15);
                capsuleController.Actor.Name = "BoxController";
                capsuleController.SetCollisionEnabled(true);
            }
            #endregion
        }