public PhysxPhysicWorld(Vector3 gravity, bool connectToRemoteDebugger = false)
{
physix = new PhysX.Physics(new ErrorCallbackImp(), true);
var sceneDesc = new SceneDesc()
{
Gravity = gravity.AsPhysX()
};
scene = physix.CreateScene(sceneDesc);
this.scene.SetVisualizationParameter(VisualizationParameter.Scale, 1.0f);
this.scene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
this.scene.SetVisualizationParameter(VisualizationParameter.JointLocalFrames, true);
this.scene.SetVisualizationParameter(VisualizationParameter.JointLimits, true);
this.scene.SetVisualizationParameter(VisualizationParameter.ParticleSystemPosition, true);
this.scene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
// Connect to the remote debugger if it's there
if (connectToRemoteDebugger)
{
physix.ConnectToRemoteDebugger("localhost");
}
objs = new List<IPhysicObject>();
ctns = new List<IPhysicConstraint>();
cooking = physix.CreateCooking();
}
public PhysxPhysicWorld(Vector3 gravity, bool connectToRemoteDebugger = false)
{
physix = new PhysX.Physics(new ErrorCallbackImp(), true);
var sceneDesc = new SceneDesc()
{
Gravity = gravity.AsPhysX()
};
scene = physix.CreateScene(sceneDesc);
this.scene.SetVisualizationParameter(VisualizationParameter.Scale, 1.0f);
this.scene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
this.scene.SetVisualizationParameter(VisualizationParameter.JointLocalFrames, true);
this.scene.SetVisualizationParameter(VisualizationParameter.JointLimits, true);
this.scene.SetVisualizationParameter(VisualizationParameter.ParticleSystemPosition, true);
this.scene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
// Connect to the remote debugger if it's there
if (connectToRemoteDebugger)
{
physix.ConnectToRemoteDebugger("localhost");
}
objs = new List <IPhysicObject>();
ctns = new List <IPhysicConstraint>();
cooking = physix.CreateCooking();
}
public static void Initialise()
{
var eo = new ErrorOutput();
Foundation = new Foundation(eo);
PVD = new Pvd(Foundation);
Physics = new PhysX.Physics(Foundation, false, PVD);
PhysicsScene = Physics.CreateScene(); // TODO: SceneDesc
PhysicsScene.SetVisualizationParameter(VisualizationParameter.Scale, 2.0f);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.JointLocalFrames, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.JointLimits, true);
PhysicsScene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
PVD.Connect("localhost");
}
public static void InitSDK()
{
Foundation fd = new Foundation(new ECB());
pvd = new Pvd(fd);
py = new PhysX.Physics(fd, true, pvd);
SceneD = new SceneDesc
{
Gravity = new System.Numerics.Vector3(0, 0, 0)
};
Scene = py.CreateScene(SceneD);
Scene.SetVisualizationParameter(VisualizationParameter.Scale, 2.0f);
Scene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
Scene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
py.Pvd.Connect("localhost");
// Scene.Gravity = new System.Numerics.Vector3(0, 0, 0);
//PhysX.Material dm = Scene.get
}
public PhysxPhysicsSystem(World world) : base(world)
{
// Setup PhysX infra here
this.physxFoundation = new PxFoundation(new ConsoleErrorCallback());
this.physxScale = new PxTolerancesScale()
{
Length = 0.1f,
Speed = 98.1f
};
#if DEBUG
pvd = new Pvd(this.physxFoundation);
pvd.Connect("localhost", 5425, TimeSpan.FromSeconds(2), InstrumentationFlag.Debug);
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale, false, pvd);
#else
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale);
#endif
this.defaultMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0.1f);
this.characterControlMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0f);
this.characterControlMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat = this.physxPhysics.CreateMaterial(0f, 0f, 0f);
this.frictionlessMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat.Flags = MaterialFlags.DisableFriction;
var sceneDesc = new SceneDesc(this.physxScale)
{
BroadPhaseType = BroadPhaseType.SweepAndPrune,
Gravity = world.Gravity,
Flags = SceneFlag.EnableStabilization,
SolverType = SolverType.TGS,
FilterShader = new DefaultFilterShader(),
BounceThresholdVelocity = 0.2f * world.Gravity.Length()
};
this.physxScene = this.physxPhysics.CreateScene(sceneDesc);
#if DEBUG
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactPoint, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactNormal, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactForce, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactError, true);
var pvdClient = this.physxScene.GetPvdSceneClient();
pvdClient.SetScenePvdFlags(SceneVisualizationFlags.TransmitContacts | SceneVisualizationFlags.TransmitConstraints | SceneVisualizationFlags.TransmitSceneQueries);
#endif
var cookingParams = new CookingParams()
{
Scale = this.physxScale,
AreaTestEpsilon = 0.001f,
MidphaseDesc = new MidphaseDesc()
{
Bvh33Desc = new Bvh33MidphaseDesc()
{
MeshCookingHint = MeshCookingHint.SimulationPerformance
}
},
BuildTriangleAdjacencies = true,
MeshCookingHint = MeshCookingHint.SimulationPerformance,
MeshWeldTolerance = 0.001f
};
this.cooker = this.physxPhysics.CreateCooking(cookingParams);
this.controllerManager = this.physxScene.CreateControllerManager();
var contactProv = new ContactModifyProxy();
this.contactProvider = contactProv;
this.physxScene.ContactModifyCallback = contactProv;
this.simCallback = new SimulationCallback();
this.physxScene.SetSimulationEventCallback(simCallback);
}
protected override void OnShown(EventArgs e)
{
var foundation = new Foundation(new Errors());
var physx = new PhysX.Physics(foundation, checkRuntimeFiles: true);
var apex = new ApexSdk(physx);
var destructibleModule = apex.CreateModule <PhysX.Apex.Modules.Destructible.DestructibleModule>();
var desc = destructibleModule.GetDefaultModuleDesc();
destructibleModule.Initalize(desc);
var apexSceneDesc = new ApexSceneDesc
{
UseDebugRenderable = true
};
var apexScene = apex.CreateScene(apexSceneDesc);
var serializer = apex.CreateSerializer(SerializeType.Binary, apexScene);
using (var stream = new StreamReader(@"C:\Development\Temp\Cube3.apb"))
{
var d = serializer.Deserialize(stream.BaseStream);
var p = d[0];
var asset = apex.CreateAsset(p, "Cube2");
var destructibleAsset = asset as DestructibleAsset;
var descParams = destructibleAsset.GetDefaultActorDesc();
bool valid = asset.IsValidForCreation(descParams, apexScene);
var actor = asset.CreateApexActor(descParams, apexScene);
var destructibleActor = actor as DestructibleActor;
}
//physx::PxFileBuf* stream = _apexSdk->createStream("C:\\Development\\Temp\\Cube2.apx", physx::PxFileBuf::OPEN_READ_ONLY);
//NxParameterized::Serializer::DeserializedData data;
//NxParameterized::Serializer::ErrorType serError = s->deserialize(*stream, data);
//NxParameterized::Interface *params = data[0];
//NxApexAsset* asset = _apexSdk->createAsset(params, "Asset Name");
//NxDestructibleAsset* destructibleAsset = static_cast<NxDestructibleAsset*>(asset);
//NxParameterized::Interface* descParams = destructibleAsset->getDefaultActorDesc();
//bool valid = asset->isValidForActorCreation(*descParams, *scene->UnmanagedPointer);
////NxParameterized::setParamMat44(*descParams, "globalPose", pose);
//NxApexActor* actor = asset->createApexActor(*descParams, *scene->UnmanagedPointer);
//NxDestructibleActor* destructibleActor = (NxDestructibleActor*)actor;
}