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 Physics CreatePhysics(ErrorCallback errorCallback = null)
{
if (Physics.Instantiated)
Assert.Fail("Physics is still created");
if (errorCallback == null)
errorCallback = _errorLog = new ErrorLog();
if (_physics != null)
{
_physics.Dispose();
_physics = null;
}
if (_foundation != null)
{
_foundation.Dispose();
_foundation = null;
}
_foundation = new Foundation(errorCallback);
_physics = new Physics(_foundation, checkRuntimeFiles: true);
return _physics;
}
private Physics CreatePhysics(ErrorCallback errorCallback = null)
{
if (Physics.Instantiated)
{
Assert.Fail("Physics is still created");
}
if (errorCallback == null)
{
errorCallback = _errorLog = new ErrorLog();
}
if (_physics != null)
{
_physics.Dispose();
_physics = null;
}
if (_foundation != null)
{
_foundation.Dispose();
_foundation = null;
}
_foundation = new Foundation(errorCallback);
_physics = new Physics(_foundation, checkRuntimeFiles: true);
return(_physics);
}
public Material Duplicate(PhysX.Physics physics)
{
if (this.MaterialPreset != NO_PRESET)
{
return((Material)FindImpl((OpenMetaverse.Material) this.MaterialPreset));
}
else
{
PhysX.Material baseMaterial = physics.CreateMaterial(StaticFriction, DynamicFriction, Restitution);
return(new Material(baseMaterial, Density, GravityMultiplier));
}
}
public Material ToLocalMaterial(PhysX.Physics physics)
{
if (this.MaterialPreset != NO_PRESET)
{
return((Material)FindImpl((OpenMetaverse.Material) this.MaterialPreset));
}
else
{
_baseMaterial = physics.CreateMaterial(_serializedStaticFriction, _serializedDynamicFriction, _serializedRestitution);
return(this);
}
}
public override void Initialize(IMesher meshmerizer, Nini.Config.IConfigSource config, OpenMetaverse.UUID regionId)
{
_regionId = regionId;
_mesher = meshmerizer;
m_log.Info("[InWorldz.PhysxPhysics] Creating PhysX scene");
if (config.Configs["InWorldz.PhysxPhysics"] != null)
{
Settings.Instance.UseVisualDebugger = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_visual_debugger", false);
Settings.Instance.UseCCD = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_ccd", true);
Settings.Instance.Gravity = config.Configs["InWorldz.PhysxPhysics"].GetFloat("gravity", -9.8f);
Settings.Instance.ThrowOnSdkError = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("throw_on_sdk_error", false);
Settings.Instance.InstrumentMeshing = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("instrument_meshing", false);
}
else
{
Settings.Instance.UseVisualDebugger = false;
Settings.Instance.UseCCD = true;
Settings.Instance.Gravity = -9.8f;
Settings.Instance.ThrowOnSdkError = false;
Settings.Instance.InstrumentMeshing = false;
}
Nini.Config.IConfig startupcfg = config.Configs["Startup"];
if (startupcfg != null)
_gridmode = startupcfg.GetBoolean("gridmode", false);
if (_foundation == null)
{
_foundation = new PhysX.Foundation(s_ErrorCallback);
_physics = new PhysX.Physics(_foundation);
Material.BuiltinMaterialInit(_physics);
}
_sceneDesc = new PhysX.SceneDesc(null, Settings.Instance.UseCCD);
_sceneDesc.Gravity = new PhysX.Math.Vector3(0f, 0f, Settings.Instance.Gravity);
_simEventDelegator = new SimulationEventCallbackDelegator();
_simEventDelegator.OnContactCallback += this.OnContact;
_simEventDelegator.OnTriggerCallback += this.OnTrigger;
_sceneDesc.SimulationEventCallback = _simEventDelegator;
_scene = _physics.CreateScene(_sceneDesc);
Preload();
if (Settings.Instance.UseCCD)
{
_scene.SetFlag(PhysX.SceneFlag.SweptIntegration, true);
}
if (Settings.Instance.UseVisualDebugger && _physics.RemoteDebugger != null)
{
_physics.RemoteDebugger.Connect("localhost", null, null, PhysX.VisualDebugger.VisualDebuggerConnectionFlag.Debug, null);
}
_controllerManager = _scene.CreateControllerManager();
CreateDefaults();
_terrainMesher = new Meshing.TerrainMesher(_scene);
_terrainMgr = new TerrainManager(_scene, _terrainMesher, regionId);
_meshingStage = new Meshing.MeshingStage(_scene, meshmerizer, _terrainMesher);
_meshingStage.OnShapeNeedsFreeing += new Meshing.MeshingStage.ShapeNeedsFreeingDelegate(_meshingStage_OnShapeNeedsFreeing);
_kinematicManager = new KinematicManager();
//fire up our work loop
HeartbeatThread = Watchdog.StartThread(new ThreadStart(Heartbeat), "Physics Heartbeat",
ThreadPriority.Normal, false);
TimingThread = Watchdog.StartThread(new ThreadStart(DoTiming), string.Format("Physics Timing"),
ThreadPriority.Highest, false);
}
/// <summary>
/// Fills out the physics material implementation from the description. Used when
/// deserializing a physics material
/// </summary>
internal void FillMaterialFromDesc(PhysX.Physics physics)
{
PhysxMaterial = PhysxMaterial.ToLocalMaterial(physics);
}
public override void Initialize(IMesher meshmerizer, Nini.Config.IConfigSource config, OpenMetaverse.UUID regionId)
{
_regionId = regionId;
_mesher = meshmerizer;
m_log.Info("[InWorldz.PhysxPhysics] Creating PhysX scene");
if (config.Configs["InWorldz.PhysxPhysics"] != null)
{
Settings.Instance.UseVisualDebugger = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_visual_debugger", false);
Settings.Instance.UseCCD = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_ccd", true);
Settings.Instance.Gravity = config.Configs["InWorldz.PhysxPhysics"].GetFloat("gravity", -9.8f);
Settings.Instance.ThrowOnSdkError = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("throw_on_sdk_error", false);
Settings.Instance.InstrumentMeshing = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("instrument_meshing", false);
}
else
{
Settings.Instance.UseVisualDebugger = false;
Settings.Instance.UseCCD = true;
Settings.Instance.Gravity = -9.8f;
Settings.Instance.ThrowOnSdkError = false;
Settings.Instance.InstrumentMeshing = false;
}
Nini.Config.IConfig startupcfg = config.Configs["Startup"];
if (startupcfg != null)
{
_gridmode = startupcfg.GetBoolean("gridmode", false);
}
if (_foundation == null)
{
_foundation = new PhysX.Foundation(s_ErrorCallback);
_physics = new PhysX.Physics(_foundation);
Material.BuiltinMaterialInit(_physics);
}
_sceneDesc = new PhysX.SceneDesc(null, Settings.Instance.UseCCD);
_sceneDesc.Gravity = new PhysX.Math.Vector3(0f, 0f, Settings.Instance.Gravity);
_simEventDelegator = new SimulationEventCallbackDelegator();
_simEventDelegator.OnContactCallback += this.OnContact;
_simEventDelegator.OnTriggerCallback += this.OnTrigger;
_sceneDesc.SimulationEventCallback = _simEventDelegator;
_scene = _physics.CreateScene(_sceneDesc);
Preload();
if (Settings.Instance.UseCCD)
{
_scene.SetFlag(PhysX.SceneFlag.SweptIntegration, true);
}
if (Settings.Instance.UseVisualDebugger && _physics.RemoteDebugger != null)
{
_physics.RemoteDebugger.Connect("localhost", null, null, PhysX.VisualDebugger.VisualDebuggerConnectionFlag.Debug, null);
}
_controllerManager = _scene.CreateControllerManager();
CreateDefaults();
_terrainMesher = new Meshing.TerrainMesher(_scene);
_terrainMgr = new TerrainManager(_scene, _terrainMesher, regionId);
_meshingStage = new Meshing.MeshingStage(_scene, meshmerizer, _terrainMesher);
_meshingStage.OnShapeNeedsFreeing += new Meshing.MeshingStage.ShapeNeedsFreeingDelegate(_meshingStage_OnShapeNeedsFreeing);
_kinematicManager = new KinematicManager();
//fire up our work loop
HeartbeatThread = Watchdog.StartThread(new ThreadStart(Heartbeat), "Physics Heartbeat",
ThreadPriority.Normal, false);
TimingThread = Watchdog.StartThread(new ThreadStart(DoTiming), string.Format("Physics Timing"),
ThreadPriority.Highest, false);
}
public VehicleMotor(ref PhysxPrim _actor, ref VehicleProperties _props, ref PhysX.Physics _physics, ref PhysxScene _scene)
{
this._actor = _actor;
this._props = _props;
this._physics = _physics;
this._scene = _scene;
}
public VehicleDynamics(PhysxPrim physxPrim, VehicleProperties shadowProps, PhysX.Physics physics, PhysxScene scene)
{
_angularstatsX = new RunningStat();
_angularstatsY = new RunningStat();
_angularstatsZ = new RunningStat();
_linearstatsX = new RunningStat();
_linearstatsY = new RunningStat();
_linearstatsZ = new RunningStat();
_actor = physxPrim;
_props = new VehicleProperties();
_physics = physics;
_scene = scene;
_motor = new VehicleMotor(ref _actor, ref _props, ref _physics, ref _scene);
// Preset the defaults and new common keys. This ensures scripts with older versions of saved state
// do not crash the simulator since the new keys do not exist in the old state.
_props.Type = VehicleType.None;
SetVehicleDefaults(_props);
// Merge the new properties.
_props.Merge(shadowProps);
SetVehicleDefaultActions();
if (VehicleLimits.DebugVehicleChange) m_log.InfoFormat("[VehicleDynamics] constructed type={0} name={1} at {2}", _props.Type, _actor.SOPName, _actor.Position);
//DisplayParameters();
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density, OpenMetaverse.Material presetNumber)
: this(physics, staticFriction, dynamicFriction, restitution, density, GRAVITY_MULTIPLIER_DEFAULT)
{
MaterialPreset = (int)presetNumber;
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = GRAVITY_MULTIPLIER_DEFAULT;
}
public Material(PhysX.Physics physics, float staticFriction, float dynamicFriction, float restitution, float density, float gravityMultiplier)
{
_baseMaterial = physics.CreateMaterial(staticFriction, dynamicFriction, restitution);
Density = density;
GravityMultiplier = gravityMultiplier;
}
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();
}
}
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();
}
}
