public void CreateAndDisposeCapsuleController()
{
using (var core = CreatePhysicsAndScene())
{
var controllerManager = core.Scene.CreateControllerManager();
var material = core.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var desc = new CapsuleControllerDesc()
{
Radius = 5,
Height = 2,
Material = material
};
Assert.IsTrue(desc.IsValid());
CapsuleController capsuleController;
using (capsuleController = controllerManager.CreateController<CapsuleController>(desc))
{
Assert.IsNotNull(capsuleController);
Assert.IsFalse(capsuleController.Disposed);
}
Assert.IsTrue(capsuleController.Disposed);
}
}
protected override void LoadPhysics(Scene scene)
{
var material = scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var controllerManager = scene.CreateControllerManager();
// User controllable character
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(0, 3, 0),
ReportCallback = new ControllerHitReport()
};
_controller = controllerManager.CreateController <CapsuleController>(desc);
}
// Another controller to walk into
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(15, 3, 15)
};
controllerManager.CreateController <CapsuleController>(desc);
}
}
public void CreateAndDisposeCapsuleController()
{
using (var core = CreatePhysicsAndScene())
{
var controllerManager = core.Scene.CreateControllerManager();
var material = core.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var desc = new CapsuleControllerDesc()
{
Radius = 5,
Height = 2,
Material = material
};
Assert.IsTrue(desc.IsValid());
CapsuleController capsuleController;
using (capsuleController = controllerManager.CreateController <CapsuleController>(desc))
{
Assert.IsNotNull(capsuleController);
Assert.IsFalse(capsuleController.Disposed);
}
Assert.IsTrue(capsuleController.Disposed);
}
}
private void setupPhysics()
{
CapsuleControllerDesc desc = new CapsuleControllerDesc();
desc.Position = entityNode.Position;
desc.StepOffset = 0.01f;
desc.SlopeLimit = 0.5f; // max slope the character can walk
desc.Radius = 2.5f; //radius of the capsule
desc.Height = CHAR_HEIGHT; //height of the controller
desc.ClimbingMode = CapsuleClimbingModes.Easy;
desc.UpDirection = HeightFieldAxes.Y; // Specifies the 'up' direction
desc.Position = entityNode.Position;
physicsController = cotrollerManager.CreateController(physicsScene, desc);
physicsController.Actor.Group = 3;
}
protected override void LoadPhysics(Scene scene)
{
var material = scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var controllerManager = scene.CreateControllerManager();
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Math.Vector3(0, 1, 0),
Position = new Math.Vector3(0, 2, 0)
};
_controller = controllerManager.CreateController <CapsuleController>(desc);
}
protected override void LoadPhysics(Scene scene)
{
var material = scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var controllerManager = scene.CreateControllerManager();
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Math.Vector3(0, 1, 0),
Position = new Math.Vector3(0, 2, 0)
};
_controller = controllerManager.CreateController<CapsuleController>(desc);
}
public bool Create(Vector3 position, Quaternion orientation)
{
desc = new CapsuleControllerDesc();
desc.Position = position;
desc.Height = 1.2f;
desc.Radius = 0.8f;
desc.SkinWidth = 0.125f;
desc.SlopeLimit = Mogre.Math.Cos(new Radian(new Degree(45)));
desc.StepOffset = 0.5f;
desc.UpDirection = HeightFieldAxes.Y;
desc.ClimbingMode = CapsuleClimbingModes.Constrained;
desc.Callback = this;
this.camera = Engine.Graphics.Camera;
this.camera.Orientation = orientation;
controller = Engine.Physics.CreateCharacterController(desc);
return true;
}
public bool Create(Vector3 position, Quaternion orientation)
{
desc = new CapsuleControllerDesc();
desc.Position = position;
desc.Height = 1.2f;
desc.Radius = 0.8f;
desc.SkinWidth = 0.125f;
desc.SlopeLimit = Mogre.Math.Cos(new Radian(new Degree(45)));
desc.StepOffset = 0.5f;
desc.UpDirection = HeightFieldAxes.Y;
desc.ClimbingMode = CapsuleClimbingModes.Constrained;
desc.Callback = this;
this.camera = Engine.Graphics.Camera;
this.camera.Orientation = orientation;
controller = Engine.Physics.CreateCharacterController(desc);
return(true);
}
protected Controller _createCharacterController(Vector3 pose, Scene scene, SimpleShape shape, CharacterControllerDescription description)
{
Controller controller = null;
CapsuleControllerDesc controller_desc = new CapsuleControllerDesc();
controller_desc.ClimbingMode = description.CapsuleEasyClimbing ? CapsuleClimbingModes.Easy : CapsuleClimbingModes.Constrained;
Vector3 capsule_desc = shape.to_cc_shape();
controller_desc.Height = capsule_desc.y;
controller_desc.Radius = capsule_desc.x;
controller_desc.Position = pose;
controller_desc.SkinWidth = description.SkinWidth;
controller_desc.SlopeLimit = description.SlopeLimit;
controller_desc.StepOffset = description.StepOffset;
//controller_desc.s = (NxHeightFieldAxis)(int)description.mUpDirection;
//controller_desc.Callback = World::getSingleton()->getPhysXCharacterHitReport();
scene.Physics.ControllerManager.CreateController(scene, controller_desc);
return(controller);
}
public void SetToDefault()
{
using (var physics = CreatePhysicsAndScene())
{
var material = physics.Physics.CreateMaterial(1, 2, 3);
// Change all the properties of a CapsuleControllerDesc
var c = new CapsuleControllerDesc()
{
ClimbingMode = CapsuleClimbingMode.Easy,
ContactOffset = 99,
Density = 100,
Height = 101,
Material = material,
NonWalkableMode = ControllerNonWalkableMode.PreventClimbing,
Position = new Vector3(1, 2, 3),
Radius = 104,
ScaleCoefficient = 105,
SlopeLimit = 106,
StepOffset = 107,
UpDirection = new Vector3(0, 0, 1),
};
// Set the description to default
c.SetToDefault();
// Capsule
Assert.AreEqual(CapsuleClimbingMode.Easy, c.ClimbingMode);
Assert.AreEqual(0, c.Radius);
Assert.AreEqual(0, c.Height);
// ControllerDesc
Assert.AreEqual(0.1f, c.ContactOffset);
Assert.AreEqual(0.5f, c.StepOffset);
Assert.AreEqual(10.0f, c.Density);
Assert.AreEqual(0.8f, c.ScaleCoefficient);
Assert.AreEqual(null, c.UserData);
Assert.AreEqual(new Vector3(0, 0, 0), c.Position);
Assert.AreEqual(null, c.Material);
}
}
public void ControllerStateIsValid()
{
using (var core = CreatePhysicsAndScene())
{
var controllerManager = core.Scene.CreateControllerManager();
var material = core.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var desc = new CapsuleControllerDesc()
{
Height = 12,
Radius = 7,
Material = material,
Position = new Vector3(0, 25, 0)
};
// Create a capsule controller
var capsuleController = controllerManager.CreateController<CapsuleController>(desc);
// A box for it to fall on to
var box = CreateBoxActor(core.Scene, new Vector3(10, 1, 10), new Vector3(0, 0.5f, 0));
// Make it fall
for (int i = 0; i < 200; i++)
{
capsuleController.Move(new Vector3(0, -0.3f, 0), TimeSpan.FromMilliseconds(0.1));
core.Scene.Simulate(0.1f);
core.Scene.FetchResults(block: true);
}
//
var controllerState = capsuleController.GetState();
Assert.IsNotNull(controllerState);
Assert.AreEqual(box.Shapes.First(), controllerState.TouchedShape);
Assert.AreEqual(box, controllerState.TouchedActor);
Assert.AreEqual(ControllerCollisionFlag.Down, controllerState.CollisionFlags);
}
}
public void ControllerStateIsValid()
{
using (var core = CreatePhysicsAndScene())
{
var controllerManager = core.Scene.CreateControllerManager();
var material = core.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var desc = new CapsuleControllerDesc()
{
Height = 12,
Radius = 7,
Material = material,
Position = new Vector3(0, 25, 0)
};
// Create a capsule controller
var capsuleController = controllerManager.CreateController <CapsuleController>(desc);
// A box for it to fall on to
var box = CreateBoxActor(core.Scene, new Vector3(10, 1, 10), new Vector3(0, 0.5f, 0));
// Make it fall
for (int i = 0; i < 200; i++)
{
capsuleController.Move(new Vector3(0, -0.3f, 0), TimeSpan.FromMilliseconds(0.1));
core.Scene.Simulate(0.1f);
core.Scene.FetchResults(block: true);
}
//
var controllerState = capsuleController.GetState();
Assert.IsNotNull(controllerState);
Assert.AreEqual(box.Shapes.First(), controllerState.TouchedShape);
Assert.AreEqual(box, controllerState.TouchedActor);
Assert.AreEqual(ControllerCollisionFlag.Down, controllerState.CollisionFlags);
}
}
public void SetToDefault()
{
using (var physics = CreatePhysicsAndScene())
{
var material = physics.Physics.CreateMaterial(1, 2, 3);
// Change all the properties of a CapsuleControllerDesc
var c = new CapsuleControllerDesc()
{
ClimbingMode = CapsuleClimbingMode.Easy,
ContactOffset = 99,
Density = 100,
Height = 101,
Material = material,
NonWalkableMode = ControllerNonWalkableMode.PreventClimbing,
Position = new Vector3(1, 2, 3),
Radius = 104,
ScaleCoefficient = 105,
SlopeLimit = 106,
StepOffset = 107,
UpDirection = new Vector3(0, 0, 1),
};
// Set the description to default
c.SetToDefault();
// Capsule
Assert.AreEqual(CapsuleClimbingMode.Easy, c.ClimbingMode);
Assert.AreEqual(0, c.Radius);
Assert.AreEqual(0, c.Height);
// ControllerDesc
Assert.AreEqual(0.1f, c.ContactOffset);
Assert.AreEqual(0.5f, c.StepOffset);
Assert.AreEqual(10.0f, c.Density);
Assert.AreEqual(0.8f, c.ScaleCoefficient);
Assert.AreEqual(null, c.UserData);
Assert.AreEqual(new Vector3(0, 0, 0), c.Position);
Assert.AreEqual(null, c.Material);
}
}
protected override void LoadPhysics(Scene scene)
{
var material = scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var controllerManager = scene.CreateControllerManager();
// User controllable character
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(0, 3, 0),
// TODO: I think this is coming back in 3.3 (> beta 2)
//Callback = new ControllerHitReport()
};
_controller = controllerManager.CreateController<CapsuleController>(desc);
}
// Another controller to walk into
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(15, 3, 15)
};
controllerManager.CreateController<CapsuleController>(desc);
}
}
// TODO: Currently, this system is responsible for creating and setting PhysicsImplementation properties
// -issue: PhysicsImplementations can't be passed/delegated before this system is initialized, as the props are unset
// -motive: DynamicMovementController wants to be able to setup callbacks before any physics events happen
public void AddCharacterController(MoverComponent component)
{
var config = component.Config;
var radius = 0.175f;
// TODO: reduce duplicated code
if (component.Mode == MoverComponent.MovementMode.Freecam)
{
var posPose = Matrix4x4.CreateTranslation(component.Transform.TransformationMatrix.Translation);
var rot = Matrix4x4.CreateRotationY(MathF.PI / -2f);
var body = this.physxPhysics.CreateRigidDynamic(rot * posPose);
body.MassSpaceInertiaTensor = new Vector3(0, 0, 0);
body.Mass = 175f;
body.UserData = component;
body.RigidBodyFlags = RigidBodyFlag.Kinematic;
var capsuleDesc = new CapsuleGeometry(radius, config.Height / 2f - radius);
var shape = RigidActorExt.CreateExclusiveShape(body, capsuleDesc, characterControlMat);
// TODO: centralize filter data construction
shape.SimulationFilterData = new FilterData((uint)(OpenH2FilterData.NoClip | OpenH2FilterData.PlayerCharacter), 0, 0, 0);
shape.ContactOffset = 0.001f;
shape.RestOffset = 0.0009f;
var bodyProxy = new RigidBodyProxy(body);
component.PhysicsImplementation = bodyProxy;
this.physxScene.AddActor(body);
}
if (component.Mode == MoverComponent.MovementMode.KinematicCharacterControl)
{
var desc = new CapsuleControllerDesc()
{
Height = config.Height - .02f - (2 * radius),
Position = component.Transform.Position,
Radius = radius,
MaxJumpHeight = 1f,
UpDirection = EngineGlobals.Up,
SlopeLimit = MathF.Cos(0.872665f), // cos(50 degrees)
StepOffset = 0.1f,
Material = defaultMat,
ContactOffset = 0.0001f,
ReportCallback = new CustomHitReport()
};
var controller = this.controllerManager.CreateController <CapsuleController>(desc);
controller.Actor.UserData = component;
component.PhysicsImplementation = new KinematicCharacterControllerProxy(controller);
this.ControllerMap.Add(component, controller);
}
else if (component.Mode == MoverComponent.MovementMode.DynamicCharacterControl)
{
var posPose = Matrix4x4.CreateTranslation(component.Transform.TransformationMatrix.Translation);
var rot = Matrix4x4.CreateRotationY(MathF.PI / -2f);
var body = this.physxPhysics.CreateRigidDynamic(rot * posPose);
body.MassSpaceInertiaTensor = new Vector3(0, 0, 0);
body.Mass = 175f;
body.UserData = component;
var capsuleDesc = new CapsuleGeometry(radius, config.Height / 2f - radius);
var shape = RigidActorExt.CreateExclusiveShape(body, capsuleDesc, characterControlMat);
// TODO: centralize filter data construction
shape.SimulationFilterData = new FilterData((uint)OpenH2FilterData.PlayerCharacter, 0, 0, 0);
shape.ContactOffset = 0.001f;
shape.RestOffset = 0.0009f;
var bodyProxy = new RigidBodyProxy(body);
component.PhysicsImplementation = bodyProxy;
this.physxScene.AddActor(body);
if (component.State is DynamicMovementController dynamicMover)
{
var contactInfo = ContactCallbackData.Normal;
this.contactProvider.RegisterContactCallback(body, contactInfo, dynamicMover.ContactFound);
}
}
}
public Controller CreateCharacterController(CapsuleControllerDesc desc)
{
return(physics.ControllerManager.CreateController(this.scene, desc));
}
public void Awake()
{
Console.WriteLine("StartGame");
//初始化物理
ErrorOutput errorOutput = new ErrorOutput();
Foundation foundation = new Foundation(errorOutput);
//var pvd = new PhysX.VisualDebugger.ConnectionManager
Physics = new Physics(foundation);
var sceneDesc = new SceneDesc
{
Gravity = new System.Numerics.Vector3(0, -9.81f, 0),
FilterShader = new SampleFilterShader()
};
Scene = Physics.CreateScene(sceneDesc);
this.Scene.SetVisualizationParameter(VisualizationParameter.Scale, 2.0f);
this.Scene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
this.Scene.SetVisualizationParameter(VisualizationParameter.JointLocalFrames, true);
this.Scene.SetVisualizationParameter(VisualizationParameter.JointLimits, true);
this.Scene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
Physics.PvdConnectionManager.Connect("localhost", 5425);
//创建平面
var groundPlaneMaterial = this.Scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var groundPlane = this.Scene.Physics.CreateRigidStatic();
groundPlane.GlobalPose = Matrix4x4.CreateFromAxisAngle(new System.Numerics.Vector3(0, 0, 1), (float)System.Math.PI / 2);
groundPlane.Name = "Ground Plane";
var planeGeom = new PlaneGeometry();
groundPlane.CreateShape(planeGeom, groundPlaneMaterial);
this.Scene.AddActor(groundPlane);
//创建角色
var material = Scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var controllerManager = Scene.CreateControllerManager();
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(0, 3, 0),
ReportCallback = new ControllerHitReport()
};
_controller = controllerManager.CreateController <CapsuleController>(desc);
}
//再来一个不动的
{
var desc = new CapsuleControllerDesc()
{
Height = 4,
Radius = 1,
Material = material,
UpDirection = new Vector3(0, 1, 0),
Position = new Vector3(15, 3, 15)
};
controllerManager.CreateController <CapsuleController>(desc);
}
}
public Controller CreateCharacterController(CapsuleControllerDesc desc)
{
return physics.ControllerManager.CreateController(this.scene, desc);
}
public override object Process(Scene scene, Frame node)
{
if (scene == null || scene.Physics == null)
{
return(null);
}
string tag = node.Tag;
if (tag == null)
{
return(null);
}
var match = _regex.Match(tag);
if (!match.Success)
{
return(null);
}
var obj = node.Component as IFrameMesh;
if (obj == null)
{
return(null);
}
CharacterControllerDesc controllerDesc;
var shapeDesc = obj.Mesh.CreateShapeDescriptor();
if (shapeDesc.Type == Physics.ShapeType.BOX)
{
BoxShapeDesc box = (BoxShapeDesc)shapeDesc;
controllerDesc = new BoxControllerDesc
{
Extents = box.Dimensions,
Position = box.LocalPose.Translation + node.GlobalPose.Translation,
UpDirection = HeightFieldAxis.Y,
SlopeLimit = (float)Math.Cos(Numerics.ToRadians(45.0f)),
Name = node.Name
};
}
else if (shapeDesc.Type == Physics.ShapeType.CAPSULE)
{
CapsuleShapeDesc capsuleShape = (CapsuleShapeDesc)shapeDesc;
controllerDesc = new CapsuleControllerDesc
{
Height = capsuleShape.Height,
Position = capsuleShape.LocalPose.Translation + node.GlobalPose.Translation,
Radius = capsuleShape.Radius,
UpDirection = HeightFieldAxis.Y,
SlopeLimit = (float)Math.Cos(Numerics.ToRadians(45.0f)),
Name = node.Name
};
}
else
{
return(null);
}
Frame bindedNode = null;
if (match.Groups["BINDING"].Success)
{
bindedNode = scene.FindNode(match.Groups["BINDING"].Value);
}
if (ControllerCreated != null)
{
ControllerCreated(controllerDesc, bindedNode);
}
var controller = CharacterControllerManager.Instance.CreateController(scene.Physics, controllerDesc);
if (bindedNode != null)
{
bindedNode.BindTo(controller);
}
obj.Mesh.Dispose();
node.Remove();
node.Dispose();
return(controller);
}
