public static SLAct createBox(float x, float y, float z, float density, bool fix)
{
Vector3 pos = new Vector3(x, y, z);
ActorDescription actorDesc = new ActorDescription();
BodyDescription bodyDesc = new BodyDescription();
actorDesc.SetToDefault();
bodyDesc.SetToDefault();
BoxShapeDescription capsuleDesc = new BoxShapeDescription()
{
LocalPose = Matrix.Translation(new Vector3(0, 0, 0)),
//Name = mName
// LocalRotation = Matrix.CreateRotationZ(45)
};
actorDesc.Shapes.Add(capsuleDesc);
if (density > 0)
{
actorDesc.BodyDescription = bodyDesc;
actorDesc.Density = density;
}
actorDesc.GlobalPose = Matrix.Translation(pos);
SLAct act = new SLAct(actorDesc);
act.no_gravity = fix;
return(act);
}
public void TestPhysicsMeshPoolConvexMesh()
{
XNAGame game = new XNAGame();
var mesh = new RAMMesh();
var data = mesh.GetCollisionData();
var convex = new MeshCollisionData.Convex();
convex.Positions = new List <Vector3>();
Vector3[] pos = CreatePyramidPositions();
Vector3[] transpos = new Vector3[pos.Length];
var mat = Matrix.CreateTranslation(20, 5, 20);
Vector3.Transform(pos, ref mat, transpos);
convex.Positions.AddRange(transpos);
data.ConvexMeshes.Add(convex);
PhysicsEngine engine = new PhysicsEngine();
PhysicsDebugRendererXNA debugRenderer = null;
game.InitializeEvent += delegate
{
engine.Initialize();
debugRenderer = new PhysicsDebugRendererXNA(game, engine.Scene);
debugRenderer.Initialize(game);
var pool = new MeshPhysicsPool();
var tMesh1 = pool.CreateConvexMesh(engine.Scene, mesh.GetCollisionData().ConvexMeshes[0]);
var tMesh2 = pool.CreateConvexMesh(engine.Scene, mesh.GetCollisionData().ConvexMeshes[0]);
Assert.AreEqual(tMesh1, tMesh2);
var actorDesc = new ActorDescription(new ConvexShapeDescription()
{
ConvexMesh = tMesh1
});
engine.Scene.CreateActor(actorDesc);
};
game.DrawEvent += delegate
{
debugRenderer.Render(game);
};
int frameNum = 0;
game.UpdateEvent += delegate
{
engine.Update(game.Elapsed);
//if (frameNum > 2) game.Exit();
frameNum++;
};
game.Run();
}
public static PhysX.Fluid FluidWithEmitterAndDrain(Scene scene)
{
const int maximumParticles = 1000;
var fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose =
Matrix.RotationAxis(new Vector3(0, 1, 0), (float)Math.PI) *
Matrix.Translation(-40, 10, -50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
var fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer <Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
var fluid = scene.CreateFluid(fluidDesc);
// Ledge
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
var drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.RotationX(-0.5f) * Matrix.Translation(-40, 5, -52),
Shapes = { boxShapeDesc }
};
var drianActor = scene.CreateActor(drainActorDesc);
}
// Drain
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
var drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(-40, 0, -55),
Shapes = { boxShapeDesc }
};
var drianActor = scene.CreateActor(drainActorDesc);
}
return(fluid);
}
private void CreateBoxes(Nx.Material material)
{
for (int x = 0; x < XCount; x++)
for (int y = 0; y < YCount; y++)
for (int z = 0; z < ZCount; z++)
{
var rigidBodyDesc = new BodyDescription();
var boxDesc = new BoxShapeDescription
{
Material = material,
Dimensions = new NxVector3(WidthX / 2, WidthY / 2, WidthZ / 2)
};
var actorDesc = new ActorDescription(boxDesc)
{
BodyDescription = rigidBodyDesc,
Density = 10.0f,
GlobalPose = NxMath.Matrix.Translation(
XOffset + x * XSpace - ((XCount - 1) * XSpace / 2),
YOffset + y * YSpace - ((YCount - 1) * YSpace / 2),
ZOffset + z * ZSpace - ((ZCount - 1) * ZSpace / 2)),
UserData = _boxModel
};
if (!actorDesc.IsValid())
throw new Exception("ActorDesc invalid!");
var actor = _scene.CreateActor(actorDesc);
if (actor == null)
throw new Exception("Actor invalid!");
}
}
public void DeletePairedActors()
{
using( CreateCoreAndScene() )
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorA = this.Scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { new BoxShapeDescription( 2, 5, 7 ) }
};
actorB = this.Scene.CreateActor( actorDesc );
}
this.Scene.SetActorPairFlags( actorA, actorB, ContactPairFlag.All );
ContactPairFlag pairFlags = this.Scene.GetActorPairFlags( actorA, actorB );
actorB.Dispose();
actorA.Dispose();
}
}
protected override void LoadContent(GraphicInfo GraphicInfo, GraphicFactory factory ,IContentManager contentManager)
{
PhysxPhysicWorld PhysxPhysicWorld = World.PhysicWorld as PhysxPhysicWorld;
base.LoadContent(GraphicInfo, factory, contentManager);
var grid = VertexGrid.CreateGrid(100, 100, 0.3f, 100, 100);
ClothModel ClothModel = new PloobsEngine.Modelo.ClothModel(factory, PhysxPhysicWorld,
new ClothMeshDescription(), grid.Points,grid.TextCoords,grid.Indices, "Textures//meiofio");
var clothDesc = new ClothDescription()
{
Friction = 0.5f,
ClothMesh = ClothModel.ClothMesh,
Flags = ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization ,
Thickness = 0.2f,
WindAcceleration = new StillDesign.PhysX.MathPrimitives.Vector3(10,0,10)
};
clothDesc.MeshData.AllocatePositions<Vector3>(grid.Points.Length );
clothDesc.MeshData.AllocateIndices<int>(grid.Indices.Length );
clothDesc.MeshData.AllocateNormals<Vector3>(grid.Points.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 ;
PhysxClothObject PhysxClothObject = new PloobsEngine.Physics.PhysxClothObject(clothDesc,
Matrix.CreateRotationX((float)Math.PI / 2f) * Matrix.CreateTranslation(0,10,0));
ForwardXNABasicShader ForwardXNABasicShader = new PloobsEngine.Material.ForwardXNABasicShader();
ClothMaterial ClothMaterial = new ClothMaterial(ForwardXNABasicShader);
IObject IObject = new PloobsEngine.SceneControl.IObject(ClothMaterial, ClothModel, PhysxClothObject);
World.AddObject(IObject);
///pra preender
CapsuleShapeDescription CapsuleShapeDescription = new StillDesign.PhysX.CapsuleShapeDescription();
CapsuleShapeDescription.Height = 100;
CapsuleShapeDescription.Radius = 0.15f;
CapsuleShapeDescription.LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 0.15f + 0.5f * 10, 0);
var actorDesc = new ActorDescription()
{
GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0,-0.2f,0),
Shapes = { CapsuleShapeDescription }
};
var actor = PhysxPhysicWorld.Scene.CreateActor(actorDesc);
PhysxClothObject.Cloth.AttachToShape(actor.Shapes.First(), (ClothAttachmentFlag)0);
BallThrowPhysx28 BallThrowBullet = new BallThrowPhysx28(this.World, GraphicFactory);
this.AttachCleanUpAble(BallThrowBullet);
this.World.CameraManager.AddCamera(new CameraFirstPerson(GraphicInfo));
}
public static Actor CreateCog(StillDesign.PhysX.Scene scene)
{
var actorDesc = new ActorDescription();
float radius = 6f;
float radius2 = 6.8f;
for (int i = 0; i < 16; i++)
{
SphereShapeDescription desc = new SphereShapeDescription(0.6f);
float angle = (i + 0.5f) * MathHelper.TwoPi * (1 / 16f);
desc.LocalPosition = new Vector3(radius * (float)Math.Sin(angle), radius * (float)Math.Cos(angle), 0);
actorDesc.Shapes.Add(desc);
desc = new SphereShapeDescription(0.2f);
desc.LocalPosition = new Vector3(radius2 * (float)Math.Sin(angle), radius2 * (float)Math.Cos(angle), 0);
actorDesc.Shapes.Add(desc);
}
actorDesc.BodyDescription = new BodyDescription();
actorDesc.BodyDescription.Mass = 10;
actorDesc.GlobalPose = Matrix.CreateRotationX(MathHelper.PiOver2);
return(scene.CreateActor(actorDesc));
}
public static PhysX.HeightField HeightfieldGrid(Scene scene)
{
int rows = 25;
int columns = 25;
var 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;
var sample = new HeightFieldSample()
{
Height = (short)h,
MaterialIndex0 = 0,
MaterialIndex1 = 1,
TessellationFlag = 0
};
samples[r * columns + c] = sample;
}
}
var heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns
};
heightFieldDesc.SetSamples(samples);
var heightField = scene.Core.CreateHeightField(heightFieldDesc);
//
var 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);
var actorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(100, 0, 0),
Shapes = { heightFieldShapeDesc }
};
var actor = scene.CreateActor(actorDesc);
return(heightField);
}
public void Initialize()
{
if (Behaviour.RefNumber == 99) //flag waving guy
{
SetAction(Behaviour.Actions[7], true);
}
else
{
SetAction(Behaviour.Standing, true);
}
Position = Instructions[InitialInstruction].Position;
_currentInstruction = InitialInstruction;
if (Instructions[_currentInstruction].AutoY)
{
StillDesign.PhysX.RaycastHit hit = PhysX.Instance.Scene.RaycastClosestShape(new StillDesign.PhysX.Ray(Position + new Vector3(0, 10, 0), Vector3.Down), StillDesign.PhysX.ShapesType.Static);
Position = hit.WorldImpact;
}
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = new BodyDescription(1);
actorDesc.BodyDescription.MassSpaceInertia = new Vector3(1, 1, 1);
actorDesc.BodyDescription.BodyFlags |= BodyFlag.Kinematic;
BoxShapeDescription box = new BoxShapeDescription(1.6f, 2.5f, 1.6f);
box.Flags = ShapeFlag.TriggerOnEnter;
box.LocalPosition = new Vector3(0, 1, 0);
actorDesc.Shapes.Add(box);
_physXActor = PhysX.Instance.Scene.CreateActor(actorDesc);
_physXActor.GlobalPosition = Position;
_physXActor.UserData = this;
}
protected void iniPhysx(Vector3 startPosition)
{
BodyDescription boxBody = new BodyDescription();
boxBody.AngularVelocity = new StillDesign.PhysX.MathPrimitives.Vector3(1, 0, 0);
boxBody.Mass = 2000;
//Material
MaterialDescription materialDesc = new MaterialDescription();
materialDesc.Restitution = 0.001f;
materialDesc.StaticFriction = 0.5f;
materialDesc.DynamicFriction = 0.5f;
materialDesc.Name = "Test";
this.game.scene.CreateMaterial(materialDesc);
BoxShapeDescription boxShapeDesc = new BoxShapeDescription();
boxShapeDesc.Dimensions = new StillDesign.PhysX.MathPrimitives.Vector3(20.5f, 6.4f, 34.0f);
boxShapeDesc.Material = this.game.scene.Materials[1];
boxShapeDesc.Mass = 2000;
ActorDescription actor = new ActorDescription();
actor.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(startPosition.X, startPosition.Y, startPosition.Z);
actor.BodyDescription = boxBody;
actor.Shapes.Add(boxShapeDesc);
this.actor = this.game.scene.CreateActor(actor);
this.shape = this.actor.CreateShape(boxShapeDesc) as BoxShape;
}
/// <summary>
/// Returns syntax for dispatching <paramref name="event"/> to <paramref name="actor"/>.
/// </summary>
/// <param name="event">
/// The event.
/// </param>
/// <param name="actor">
/// The actor description.
/// </param>
/// <returns>
/// Syntax for dispatching <paramref name="event"/> to <paramref name="actor"/>.
/// </returns>
private static StatementSyntax GenerateActorBlock(
ExpressionSyntax @event,
ActorDescription actor)
{
var @var = SF.IdentifierName("var");
var grainType = actor.Type.GetTypeSyntax();
var getGrain =
SF.InvocationExpression(SF.IdentifierName("GrainFactory").Member("GetGrain", grainType))
.AddArgumentListArguments(SF.Argument(@event.Member("To").Member("Id")));
var grain = SF.VariableDeclarator("grain").WithInitializer(SF.EqualsValueClause(getGrain));
var grainDeclaration = SF.LocalDeclarationStatement(SF.VariableDeclaration(@var).AddVariables(grain));
var returnNull = SF.ReturnStatement(SF.LiteralExpression(SyntaxKind.NullLiteralExpression));
var defaultSection = SF.SwitchSection().AddLabels(SF.DefaultSwitchLabel()).AddStatements(returnNull);
var methodSwitch =
SF.SwitchStatement(@event.Member("Type"))
.AddSections(
actor.Methods.Values.Where(_ => _.Visible)
.Select(method => GetMethodSwitchCase(@event, method))
.ToArray())
.AddSections(defaultSection);
var methodDispatcher = SF.Block().AddStatements(grainDeclaration, methodSwitch);
return(methodDispatcher);
}
public static void RunCharacterTest()
{
Core core = new Core();
StillDesign.PhysX.Scene scene = core.CreateScene();
ControllerManager manager = scene.CreateControllerManager();
CapsuleControllerDescription desc = new CapsuleControllerDescription(2, 10);
CapsuleController capsuleController = manager.CreateController <CapsuleController>(desc);
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(1, 1, 1);
ActorDescription actorDesc = new ActorDescription(boxShapeDesc);
actorDesc.BodyDescription = new BodyDescription(1f);
Actor actor = scene.CreateActor(actorDesc);
//capsuleController.Move( Vector3.Up );
// Update Physics
scene.Simulate(1.0f / 60.0f);
scene.FlushStream();
scene.FetchResults(SimulationStatus.RigidBodyFinished, true);
capsuleController.Move(Vector3.Up);
core.Dispose();
}
/// <summary>
/// This method take a name of a file, created by this app and create a PhysX actor with all shapes saved on file.
/// </summary>
/// <param name="name"></param>
/// <returns></returns>
public bool LoadPxMesh(string name)
{
//Get the streams names from file
var streams = PxMeshDecoder.Load(name);
var actorDesc = new ActorDescription();
try
{
for (int i = 0; i < streams.Count; i++)
{
actorDesc.Shapes.Add(GetPxMeshFromFile(streams[i], Matrix.Identity)); //Load the PxMesh present in file
}
actorDesc.GlobalPose = Matrix.CreateRotationY(0) * Matrix.CreateTranslation(Vector3.Zero);
//actorDesc.GlobalPose = modelSceneNode.Model.Root.Transform;
modelActor = PhysX.Instance.Scene.CreateActor(actorDesc);
return(true);
}
// ReSharper disable RedundantCatchClause
catch (Exception)
{
#if DEBUG
throw;
#else
return(false);
#endif
}
// ReSharper restore RedundantCatchClause
}
protected void iniPhysx(Vector3 startPosition)
{
BodyDescription boxBody = new BodyDescription();
boxBody.AngularVelocity = new StillDesign.PhysX.MathPrimitives.Vector3(1, 0, 0);
boxBody.Mass = 2000;
//Material
MaterialDescription materialDesc = new MaterialDescription();
materialDesc.Restitution = 0.001f;
materialDesc.StaticFriction = 0.5f;
materialDesc.DynamicFriction = 0.5f;
materialDesc.Name = "Test";
this.game.scene.CreateMaterial(materialDesc);
BoxShapeDescription boxShapeDesc = new BoxShapeDescription();
boxShapeDesc.Dimensions = new StillDesign.PhysX.MathPrimitives.Vector3(20.5f, 6.4f, 34.0f);
boxShapeDesc.Material = this.game.scene.Materials[1];
boxShapeDesc.Mass = 2000;
ActorDescription actor = new ActorDescription();
actor.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(startPosition.X, startPosition.Y, startPosition.Z);
actor.BodyDescription = boxBody;
actor.Shapes.Add(boxShapeDesc);
this.actor = this.game.scene.CreateActor(actor);
this.shape = this.actor.CreateShape(boxShapeDesc) as BoxShape;
}
public void DeletePairedActors()
{
using (CreateCoreAndScene())
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { new BoxShapeDescription(5, 6, 7) }
};
actorA = this.Scene.CreateActor(actorDesc);
}
{
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { new BoxShapeDescription(2, 5, 7) }
};
actorB = this.Scene.CreateActor(actorDesc);
}
this.Scene.SetActorPairFlags(actorA, actorB, ContactPairFlag.All);
ContactPairFlag pairFlags = this.Scene.GetActorPairFlags(actorA, actorB);
actorB.Dispose();
actorA.Dispose();
}
}
/// <summary>
/// The generate method.
/// </summary>
/// <param name="actor">
/// The actor.
/// </param>
/// <returns>
/// The <see cref="MethodDeclarationSyntax"/>.
/// </returns>
private static MethodDeclarationSyntax GenerateInvokeMethod(ActorDescription actor)
{
// Get the method with the correct type.
var method =
TypeUtil.GenericTypeMethod(
(IEventInvoker <IGrain> x) => x.Invoke(default(IGrain), default(Event)),
new[] { actor.Type });
var methodDeclaration = method.GetMethodDeclarationSyntax();
var parameters = method.GetParameters();
var @event =
SF.IdentifierName(parameters.First(_ => typeof(Event) == _.ParameterType).Name);
var instance =
SF.IdentifierName(parameters.First(_ => actor.Type == _.ParameterType).Name);
var switchCases = GenerateSwitchCases(actor, m => GenerateDispatchBlockForMethod(m, instance, @event)).ToArray();
var returnNull = SF.ReturnStatement(SF.LiteralExpression(SyntaxKind.NullLiteralExpression));
var defaultSection = SF.SwitchSection().AddLabels(SF.DefaultSwitchLabel()).AddStatements(returnNull);
var kindSwitch =
SF.SwitchStatement(@event.Member((Event _) => _.Type))
.AddSections(switchCases)
.AddSections(defaultSection);
return
(methodDeclaration
.AddBodyStatements(kindSwitch));
}
public void TestSyncOnlineClient()
{
var conn = NetworkingUtilities.ConnectTCP(10045, "5.149.17.16");
//var conn = NetworkingClientTest.ConnectTCP(10045, "127.0.0.1");
conn.Receiving = true;
var client = new ClientPacketManagerNetworked(conn);
var clientSyncer = new ClientSyncer(client);
var physicsEngine = new PhysicsEngine();
StillDesign.PhysX.Scene serverScene = null;
PhysicsDebugRendererXNA debugRenderer;
PhysicsDebugRendererXNA debugRendererServer;
var game = new XNAGame();
game.InitializeEvent += delegate
{
physicsEngine.Initialize();
serverScene = physicsEngine.CreateScene(physicsEngine.Scene.Gravity, true);
debugRenderer = new PhysicsDebugRendererXNA(game, physicsEngine.Scene);
game.AddXNAObject(debugRenderer);
debugRendererServer = new PhysicsDebugRendererXNA(game, serverScene);
game.AddXNAObject(debugRendererServer);
ActorDescription actorDesc;
SphereShapeDescription shape;
shape = new SphereShapeDescription(1);
actorDesc = new ActorDescription(shape);
actorDesc.BodyDescription = new BodyDescription(10);
var client1 = clientSyncer.CreateActor(physicsEngine.Scene.CreateActor(actorDesc));
client1.ID = 2; // Identify
};
game.UpdateEvent += delegate
{
physicsEngine.Update(game);
physicsEngine.UpdateScene(game.Elapsed, serverScene);
clientSyncer.Update(game.Elapsed);
};
client.SyncronizeRemotePacketIDs();
client.WaitForUDPConnected();
game.Run();
physicsEngine.Dispose();
}
public static Actor CreateDynamicSphereActor(StillDesign.PhysX.Scene scene, float radius, float mass)
{
ActorDescription actorDesc = new ActorDescription(new SphereShapeDescription(radius));
actorDesc.BodyDescription = new BodyDescription(mass);
return(scene.CreateActor(actorDesc));
}
public void CreateHeightfieldTest()
{
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()
{
Height = (short)h,
MaterialIndex0 = 0,
MaterialIndex1 = 1,
TessellationFlag = 0
};
samples[ r * columns + c ] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns
};
heightFieldDesc.SetSamples( samples );
using (CreateCoreAndScene())
{
HeightField heightField = this.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.Translation(100, 0, 0),
Shapes = { heightFieldShapeDesc }
};
Actor actor = this.Scene.CreateActor(actorDesc);
}
}
public static PhysX.Fluid FluidWithEmitterAndDrain(Scene scene)
{
const int maximumParticles = 1000;
var fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose =
Matrix.RotationAxis(new Vector3(0, 1, 0), (float)Math.PI) *
Matrix.Translation(-40, 10, -50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
var fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer<Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
var fluid = scene.CreateFluid(fluidDesc);
// Ledge
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
var drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.RotationX(-0.5f) * Matrix.Translation(-40, 5, -52),
Shapes = { boxShapeDesc }
};
var drianActor = scene.CreateActor(drainActorDesc);
}
// Drain
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
var drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(-40, 0, -55),
Shapes = { boxShapeDesc }
};
var drianActor = scene.CreateActor(drainActorDesc);
}
return fluid;
}
public static Actor CreateGroundPlane()
{
// Create a plane with default descriptor
var planeDesc = new PlaneShapeDescription();
var actorDesc = new ActorDescription();
actorDesc.Shapes.Add(planeDesc);
return(PhysX.Instance.Scene.CreateActor(actorDesc));
}
/// <summary>
/// You can put a scale (-1) operation in the global pose, it works! (not for convex meshes though!)
/// NOTE: WARNING: scaling not supported!!! (still not supported, it has been delayed for several reasons)
/// </summary>
/// <param name="data"></param>
/// <param name="scene"></param>
/// <param name="globalPose"></param>
/// <returns></returns>
private ActorDescription createActorDesc(MeshCollisionData data, StillDesign.PhysX.Scene scene, Matrix globalPose)
{
// From PhysX SDK:
//There are some performance implications of compound shapes that the user should be aware of:
//You should avoid static actors being compounds; there's a limit to the number of triangles allowed in one actor's mesh shapes and subshapes exceeding the limit will be ignored.
//TODO: is this about triangle meshes only? EDIT: i dont think so
// Pull scaling out of the transformation
Vector3 scale, translation;
Quaternion rotation;
globalPose.Decompose(out scale, out rotation, out translation);
//globalPose = Matrix.CreateFromQuaternion(rotation) * Matrix.CreateTranslation(translation);
var scaleMat = Matrix.Identity;// Matrix.CreateScale(scale);
ActorDescription actorDesc = new ActorDescription();
for (int i = 0; i < data.Boxes.Count; i++)
{
var box = data.Boxes[i];
var shape = new BoxShapeDescription(box.Dimensions);
shape.LocalPose = box.Orientation * scaleMat;
actorDesc.Shapes.Add(shape);
}
for (int i = 0; i < data.ConvexMeshes.Count; i++)
{
var convex = data.ConvexMeshes[i];
var shape = new ConvexShapeDescription();
shape.ConvexMesh = MeshPhysicsPool.CreateConvexMesh(scene, convex);
shape.Flags = ShapeFlag.Visualization;
actorDesc.Shapes.Add(shape);
}
if (data.TriangleMesh != null)
{
TriangleMesh triangleMesh;
triangleMesh = MeshPhysicsPool.CreateTriangleMesh(scene, data.TriangleMesh);
TriangleMeshShapeDescription shapeDesc = new TriangleMeshShapeDescription();
shapeDesc.TriangleMesh = triangleMesh;
shapeDesc.Flags = ShapeFlag.Visualization; // Vizualization enabled, obviously (not obviously enabled, obvious that this enables visualization)
actorDesc.Shapes.Add(shapeDesc);
}
actorDesc.GlobalPose = globalPose;
return(actorDesc);
}
public static Model LoadConvexMesh(Scene scene, Device device)
{
var torusModel = ColladaLoader.Load(@"Resources\Torus.DAE", device);
var core = scene.Core;
// Allocate memory for the points and triangles
var convexMeshDesc = new ConvexMeshDescription()
{
PointCount = torusModel.VertexPositions.Length
};
convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
convexMeshDesc.AllocatePoints <Vector3>(torusModel.VertexPositions.Length);
// Write in the points and triangles
// We only want the Position component of the vertex. Also scale down the mesh.
foreach (var vertex in torusModel.VertexPositions)
{
var t = SlimDX.Matrix.Scaling(0.1f, 0.1f, 0.1f);
var position = SlimDX.Vector3.TransformCoordinate(vertex, t);
convexMeshDesc.PointsStream.Write(position);
}
//
// Cook to memory or to a file
ConvexMesh convexMesh;
using (var 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 = core.CreateConvexMesh(stream);
}
var convexShapeDesc = new ConvexShapeDescription(convexMesh);
var actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(30, 30, 0)
};
actorDesc.Shapes.Add(convexShapeDesc);
var actor = scene.CreateActor(actorDesc);
return(torusModel);
}
public PhysxPhysicObject(ShapeDescription ShapeDescription, Matrix worldTransformation, Vector3 scale, String name = null)
{
Scale = scale;
ActorDesc = new ActorDescription()
{
Name = name,
GlobalPose = worldTransformation.AsPhysX(),
Shapes = { ShapeDescription },
};
}
public Actor CreateActorStatic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public PhysxPhysicObject(ShapeDescription ShapeDescription, Matrix worldTransformation, Vector3 scale, String name = null)
{
Scale = scale;
ActorDesc = new ActorDescription()
{
Name = name,
GlobalPose = worldTransformation.AsPhysX(),
Shapes = { ShapeDescription },
};
}
private void LoadVehiclePhysics(Scene scene)
{
// Create a 2 ton car with 4 wheels
BodyDescription bodyDesc = new BodyDescription()
{
Mass = 2000
};
//bodyDesc.MassLocalPose = Matrix.CreateTranslation( 0, -1.5f, 0 ); // Seems not to be working
ActorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
Shapes = { new BoxShapeDescription(5, 3, 7) },
GlobalPose = Matrix.Translation(-50, 5, -70)
};
VehicleBodyActor = scene.CreateActor(ActorDesc);
VehicleBodyActor.SetCenterOfMassOffsetLocalPosition(new Vector3(0, -1.5f, 0)); // Move the COM to the bottom of the vehicle to stop it flipping over so much
//
WheelShapeDescription leftFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, 3)
};
WheelShapeDescription leftRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, -3),
};
WheelShapeDescription rightFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, 3)
};
WheelShapeDescription rightRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, -3)
};
this.LeftFront = VehicleBodyActor.CreateShape(leftFrontDesc) as WheelShape;
this.LeftRear = VehicleBodyActor.CreateShape(leftRearDesc) as WheelShape;
this.RightFront = VehicleBodyActor.CreateShape(rightFrontDesc) as WheelShape;
this.RightRear = VehicleBodyActor.CreateShape(rightRearDesc) as WheelShape;
}
public void TestTriangleMesh()
{
XNAGame game = new XNAGame();
game.SpectaterCamera.CameraPosition = new Vector3(0, 0, -40);
PhysicsEngine engine = new PhysicsEngine();
//game.AddXNAObject(engine);
game.InitializeEvent += delegate
{
engine.Initialize();
PhysicsDebugRendererXNA debugRenderer = new PhysicsDebugRendererXNA(game, engine.Scene);
game.AddXNAObject(debugRenderer);
TangentVertex[] vertices;
short[] indices;
BoxMesh.CreateUnitBoxVerticesAndIndices(out vertices, out indices);
var positions = new Vector3[vertices.Length];
for (int i = 0; i < positions.Length; i++)
{
positions[i] = vertices[i].pos;
}
int[] intIndices = new int[indices.Length];
for (int i = 0; i < intIndices.Length; i++)
{
intIndices[i] = indices[i];
}
var triangleMesh = CreateTriangleMesh(positions, intIndices, engine.Scene);
var triangleMeshShapeDesc = new TriangleMeshShapeDescription();
triangleMeshShapeDesc.TriangleMesh = triangleMesh;
var actorDesc = new ActorDescription(triangleMeshShapeDesc);
var actor = engine.Scene.CreateActor(actorDesc);
};
game.UpdateEvent += delegate
{
engine.Update(game.Elapsed);
};
game.Run();
engine.Dispose();
}
Actor CreateActorFromHeightmap(float[] heightmap)
{
HeightFieldSample[] samples = new HeightFieldSample[heightmap.Length];
float min = float.MaxValue, max = float.MinValue;
for(int i=0;i<heightmap.Length;i++)
{
if(heightmap[i] > max)
max = heightmap[i];
if(heightmap[i] < min)
min = heightmap[i];
}
for(int i=0;i<heightmap.Length;i++)
{
short normValue = (short) ((float) ((heightmap[i] - min)/(max - min))*(float) short.MaxValue);
samples[i] = new HeightFieldSample();
samples[i].Height = normValue;
samples[i].MaterialIndex0 = 0;
samples[i].MaterialIndex1 = 1;
samples[i].TessellationFlag = 0; // Might be important?
}
HeightFieldDescription heightFieldDescription = new HeightFieldDescription();
// Might cause fun with MegaRegions
heightFieldDescription.NumberOfRows = (int) Constants.RegionSize;
heightFieldDescription.NumberOfColumns = (int) Constants.RegionSize;
HeightField heightField = physicsCore.CreateHeightField(heightFieldDescription);
HeightFieldShapeDescription heightFieldShapeDescription = new HeightFieldShapeDescription()
{
HeightField = heightField,
HoleMaterial = 2,
HeightScale = (max - min),
RowScale = 1.0f,
ColumnScale = 1.0f
};
heightFieldShapeDescription.LocalPosition = new Vector3(0, 0, min); // May need to move to ActorDescription.GlobalPos?
ActorDescription actorDescription = new ActorDescription()
{
Shapes = {heightFieldShapeDescription}
};
Actor actor = physicsScene.CreateActor(actorDescription);
return actor;
}
private static TypeDeclarationSyntax GenerateClass(ActorDescription actor)
{
var producerType = SF.SimpleBaseType(actor.Type.GetTypeSyntax());
var helperType = SF.SimpleBaseType(typeof(EventProducerBase <>).MakeGenericType(actor.Type).GetTypeSyntax());
return
(SF.ClassDeclaration(GetClassName(actor))
.AddModifiers(SF.Token(SyntaxKind.PublicKeyword))
.AddBaseListTypes(helperType, producerType)
.AddMembers(GenerateMethods(actor).ToArray()));
}
/// <summary>
/// Generates the class for the provided actor.
/// </summary>
/// <param name="actor">
/// The actor.
/// </param>
/// <returns>
/// The generated class.
/// </returns>
private static TypeDeclarationSyntax GenerateClass(ActorDescription actor)
{
var replayType = SF.SimpleBaseType(typeof(IEventInvoker <>).MakeGenericType(actor.Type).GetTypeSyntax());
return
(SF.ClassDeclaration(GetClassName(actor))
.AddModifiers(SF.Token(SyntaxKind.PublicKeyword))
.AddBaseListTypes(replayType)
.AddMembers(GenerateInvokeMethod(actor))
.AddMembers(GenerateGetTypeArgumentsMethod(actor)));
}
private void LoadVehiclePhysics(Scene scene)
{
// Create a 2 ton car with 4 wheels
BodyDescription bodyDesc = new BodyDescription()
{
Mass = 2000
};
//bodyDesc.MassLocalPose = Matrix.CreateTranslation( 0, -1.5f, 0 ); // Seems not to be working
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
Shapes = { new BoxShapeDescription(5, 3, 7) },
GlobalPose = Matrix.Translation(-50, 5, -70)
};
_vehicleBodyActor = scene.CreateActor(actorDesc);
_vehicleBodyActor.SetCenterOfMassOffsetLocalPosition(new Vector3(0, -1.5f, 0)); // Move the COM to the bottom of the vehicle to stop it flipping over so much
//
WheelShapeDescription leftFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, 3)
};
WheelShapeDescription leftRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, -3),
};
WheelShapeDescription rightFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, 3)
};
WheelShapeDescription rightRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, -3)
};
this.LeftFront = _vehicleBodyActor.CreateShape(leftFrontDesc) as WheelShape;
this.LeftRear = _vehicleBodyActor.CreateShape(leftRearDesc) as WheelShape;
this.RightFront = _vehicleBodyActor.CreateShape(rightFrontDesc) as WheelShape;
this.RightRear = _vehicleBodyActor.CreateShape(rightRearDesc) as WheelShape;
}
protected override void DoHandleMessage(ActorDescription remoteActor, MessageEnvelope envelope)
{
envelope.HandledBy(this.Actor, GetAdmissibleMessageType(envelope.MessageType), this.Actor.Decoder, remoteActor,
(object o) =>
{
return(o
.GetType()
.GetMethod("OnSyncMessage")
.MakeGenericMethod(GetAdmissibleMessageType(envelope.MessageType)));
});
}
public static void AddCogToothShapes(ActorDescription actorDesc, Vector3 pos, Vector3 normal, Vector3 tangent)
{
SphereShapeDescription desc = new SphereShapeDescription(0.6f);
desc.LocalPosition = pos;
actorDesc.Shapes.Add(desc);
desc = new SphereShapeDescription(0.2f);
desc.LocalPosition = pos + 0.6f * normal;
actorDesc.Shapes.Add(desc);
}
protected override void OnActorDataReceived(object sender, ActorDataReceivedEventArgs e)
{
var envelope = this.Decoder.Decode <MessageEnvelope>(e.Data, e.DataOffset, e.DataLength);
if (envelope.Source == null)
{
envelope.Source = Endpoint.CreateEndpoint();
}
envelope.Source.AttachPath(e.RemoteActor.GetKey());
if (envelope.Target != null)
{
envelope.Target.DetachPath();
}
bool handled = false;
if (!handled)
{
if (envelope.Target != null)
{
var target = envelope.Target.PeakPath();
if (!string.IsNullOrEmpty(target))
{
string remoteActorType, remoteActorName;
ActorDescription.Decode(target, out remoteActorType, out remoteActorName);
this.SendAsync(remoteActorType, remoteActorName, envelope.ToBytes(this.Encoder));
handled = true;
}
}
}
if (!handled)
{
foreach (var handler in GetMessageHandlers())
{
if (handler.CanHandleMessage(envelope))
{
handler.HandleMessage(e.RemoteActor, envelope);
handled = true;
break;
}
}
}
if (!handled)
{
_log.WarnFormat("OnActorDataReceived, cannot handle message [{0}] from remote actor [{1}].",
envelope.MessageType, e.RemoteActor);
}
base.OnActorDataReceived(sender, e);
}
public Actor CreateActorDynamic(StillDesign.PhysX.Scene scene, MeshCollisionData data, Matrix globalPose)
{
ActorDescription actorDesc = createActorDesc(data, scene, globalPose);
actorDesc.BodyDescription = new BodyDescription(10f); //TODO mass
if (actorDesc.Shapes.Count == 0)
{
return(null);
}
return(scene.CreateActor(actorDesc));
}
public static Model LoadConvexMesh(Scene scene, Device device)
{
var torusModel = ColladaLoader.Load(@"Resources\Torus.DAE", device);
var core = scene.Core;
// Allocate memory for the points and triangles
var convexMeshDesc = new ConvexMeshDescription()
{
PointCount = torusModel.VertexPositions.Length
};
convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
convexMeshDesc.AllocatePoints<Vector3>(torusModel.VertexPositions.Length);
// Write in the points and triangles
// We only want the Position component of the vertex. Also scale down the mesh.
foreach (var vertex in torusModel.VertexPositions)
{
var t = SlimDX.Matrix.Scaling(0.1f, 0.1f, 0.1f);
var position = SlimDX.Vector3.TransformCoordinate(vertex, t);
convexMeshDesc.PointsStream.Write(position);
}
//
// Cook to memory or to a file
ConvexMesh convexMesh;
using (var 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 = core.CreateConvexMesh(stream);
}
var convexShapeDesc = new ConvexShapeDescription(convexMesh);
var actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(30, 30, 0)
};
actorDesc.Shapes.Add(convexShapeDesc);
var actor = scene.CreateActor(actorDesc);
return torusModel;
}
/// <summary>
/// Returns syntax for dispatching <paramref name="event"/> to <paramref name="actor"/>.
/// </summary>
/// <param name="actor">
/// The actor description.
/// </param>
/// <param name="event">
/// The event.
/// </param>
/// <returns>
/// Syntax for dispatching <paramref name="event"/> to <paramref name="actor"/>.
/// </returns>
private static SwitchSectionSyntax GetActorSwitch(
ActorDescription actor,
ExpressionSyntax @event)
{
var label =
SF.CaseSwitchLabel(SF.LiteralExpression(SyntaxKind.StringLiteralExpression, SF.Literal(actor.Kind)));
return
(SF.SwitchSection()
.AddLabels(label)
.AddStatements(GenerateActorBlock(@event, actor)));
}
/// <summary>
/// Returns the types referenced by the provided <paramref name="actor"/>.
/// </summary>
/// <param name="actor">
/// The actor.
/// </param>
/// <returns>
/// The types referenced by the provided <paramref name="actor"/>.
/// </returns>
public static IEnumerable <Type> GetTypes(ActorDescription actor)
{
foreach (var type in GetTypes(actor.Type))
{
yield return(type);
}
foreach (var type in actor.Methods.Values.SelectMany(GetTypes))
{
yield return(type);
}
}
/// <summary>
/// Generates switch cases for the provided actor.
/// </summary>
/// <param name="actor">
/// The actor.
/// </param>
/// <param name="generateSwitchBlock">
/// The function used to generate switch block statements for each method.
/// </param>
/// <returns>
/// The switch cases for the provided actor.
/// </returns>
private static IEnumerable <SwitchSectionSyntax> GenerateSwitchCases(ActorDescription actor, Func <ActorMethodDescription, StatementSyntax> generateSwitchBlock)
{
return(actor.Methods.Values.Select(
m =>
{
var label =
SF.CaseSwitchLabel(SF.LiteralExpression(SyntaxKind.StringLiteralExpression, SF.Literal(m.Name)));
return
SF.SwitchSection()
.AddLabels(label)
.AddStatements(generateSwitchBlock(m));
}));
}
private static Actor CreateBoxActor( Scene scene, float sizeX, float sizeY, float sizeZ )
{
var actorDesc = new ActorDescription();
var bodyDesc = new BodyDescription();
var boxDesc = new BoxShapeDescription( sizeX, sizeY, sizeZ );
actorDesc.Shapes.Add( boxDesc );
actorDesc.BodyDescription = bodyDesc;
actorDesc.Density = 10;
return scene.CreateActor( actorDesc );
}
public void ActorDeletion()
{
using( CreateCoreAndScene() )
{
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
Actor actor = this.Scene.CreateActor( actorDesc );
actor.Dispose();
}
}
public void Init(string name, uint localId, ActorDescription desc, IServerNode node)
{
_name = name;
_localId = localId;
_fullName = string.Format("Actor<Name:{0}, LocalId:{1}, Type:{2}>",name, localId, GetType().Name);
_description = desc;
Node = node;
Log = LogManager.GetLogger(_fullName);
Fiber = new ServerFiber();
_handlers = new Dictionary<uint, NetContractHandler>();
foreach (NetContractDescription implementedContract in desc.ImplementedContracts)
{
_handlers.Add(implementedContract.TypeId, new NetContractHandler(node.Dispatcher, implementedContract.TypeId, this));
}
OnCreated();
}
public void DisposeCore()
{
{
ConsoleOutputStream consoleOutputStream = new ConsoleOutputStream();
Core core = new Core( new CoreDescription(), consoleOutputStream );
Scene scene = core.CreateScene();
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription();
actorDesc.Shapes.Add( new BoxShapeDescription( 5, 6, 7 ) );
actorA = scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription();
actorDesc.Shapes.Add( new BoxShapeDescription( 2, 5, 7 ) );
actorB = scene.CreateActor( actorDesc );
}
core.Dispose();
}
{
ConsoleOutputStream consoleOutputStream = new ConsoleOutputStream();
Core core = new Core( new CoreDescription(), consoleOutputStream );
Scene scene = core.CreateScene();
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription();
actorDesc.Shapes.Add( new BoxShapeDescription( 5, 6, 7 ) );
actorA = scene.CreateActor( actorDesc );
}
core.Dispose();
}
}
protected override void iniPhysx()
{
BodyDescription bodyDesc = new BodyDescription();
bodyDesc.Mass = 5;
this.shapeDesc = new WheelShapeDescription();
this.shapeDesc.Radius = this.Radius;
shapeDesc.SuspensionTravel = 10;
//shapeDesc.LocalPosition = localPosition;
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = bodyDesc;
actorDesc.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(100,30,0);
actorDesc.Shapes.Add(shapeDesc);
this.actor = game.scene.CreateActor(actorDesc);
this.shape = actor.Shapes[0];
//this.shape = this.actor.CreateShape(shapeDesc) as WheelShape;
}
public static void SimpleBoxes(Scene scene)
{
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.Translation(100, 15 + 3 * x, 20),
Shapes = { boxShapeDesc }
};
Actor actor = scene.CreateActor(actorDesc);
}
}
public void RequiredMassSpaceInertia()
{
var shapeDescription = new SphereShapeDescription( 5 );
shapeDescription.Flags |= ( ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave );
var actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 1 )
{
MassSpaceInertia = new Vector3( 1, 1, 1 ),
BodyFlags = BodyFlag.Kinematic
},
Shapes = { shapeDescription }
};
Assert.IsTrue( actorDesc.IsValid() );
}
public static PrismaticJoint PrismaticJointWithLimit(Scene scene)
{
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.Translation(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.Translation(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);
return prismaticJoint;
}
public ActorRepository(IOperationDispatcher dispatcher, IEnumerable<Actor> actorPrototypes)
{
Dispatcher = dispatcher;
foreach (var entity in actorPrototypes)
{
Type type = entity.GetType();
var attr = type.GetAttribute<ActorAttribute>();
var contracts = new List<NetContractDescription>();
foreach (Type netContractType in entity.GetType().GetInterfaces())
{
uint typeId;
if(dispatcher.TryGetContractId(netContractType, out typeId))
contracts.Add(Dispatcher.GetContract(typeId));
}
var actorDescription = new ActorDescription(type, contracts, attr);
_descriptionsByTypeId.Add(actorDescription.PrimaryContract.TypeId, actorDescription);
Log.Info("Registered {0}", type, actorDescription);
}
}
public static void CreateContactReport(Scene scene, Actor groundActor)
{
// 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.Translation(-30, 20, 0),
BodyDescription = new BodyDescription(10.0f),
Name = "Report Capsule",
Shapes = { capsuleShapeDesc }
};
var contactReportActor = scene.CreateActor(actorDesc);
scene.SetActorPairFlags(contactReportActor, groundActor, ContactPairFlag.All);
scene.UserContactReport = new ContactReport(contactReportActor, groundActor);
}
// Trigger Reports
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(15, 8, 15);
boxShapeDesc.Flags |= (ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(-30, 4, 0),
Shapes = { boxShapeDesc }
};
scene.CreateActor(actorDesc);
scene.UserTriggerReport = new TriggerReport();
}
scene.UserNotify = new Notify();
}
private Actor CreateActor(RigidBodyDescriptor descriptor, Scene scene)
{
var materialDesc = new MaterialDescription
{
DynamicFriction = 0.5f,
StaticFriction = 0.5f,
Restitution = 0.7f,
FrictionCombineMode = CombineMode.Average,
RestitutionCombineMode = CombineMode.Average
};
DefaultMaterial = scene.CreateMaterial(materialDesc);
var boxDesc = new BoxShapeDescription
{
Material = DefaultMaterial,
Dimensions = new Vector3(1, 1, 1)
};
///////////////////////////////////////////////
//resolve the motion type
var rigidBodyDesc = descriptor.MotionType == MotionType.Static
? null
: new BodyDescription();
if (descriptor.MotionType == MotionType.Kinematic)
rigidBodyDesc.BodyFlags = BodyFlag.Kinematic;
HasDefaultShape = true;
var actorDesc = new ActorDescription(boxDesc)
{
BodyDescription = rigidBodyDesc,
Density = 10.0f,
GlobalPose = descriptor.Pose.ToPhysX(),
UserData = descriptor.UserData
};
return scene.CreateActor(actorDesc);
}
public void ReleaseJoint()
{
using( CreateCoreAndScene() )
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorA = this.Scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 2, 5, 7 ) }
};
actorB = this.Scene.CreateActor( actorDesc );
}
D6JointDescription d6JointDesc = new D6JointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
d6JointDesc.SetGlobalAnchor( new Vector3( 5, 6, 7 ) );
d6JointDesc.SetGlobalAxis( new Vector3( 0, 0, 1 ) );
D6Joint d6 = this.Scene.CreateJoint( d6JointDesc ) as D6Joint;
d6.Dispose();
}
}
public void CreateDistanceJoint()
{
using( CreateCoreAndScene() )
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorA = this.Scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorB = this.Scene.CreateActor( actorDesc );
}
DistanceJointDescription distanceJointDesc = new DistanceJointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
var distanceJoint = this.Scene.CreateJoint( distanceJointDesc ) as DistanceJoint;
Assert.IsNotNull( distanceJoint );
Update();
}
}
public static RevoluteJoint RevoluteJoint(Scene scene)
{
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.Translation(75, 1.5f, -55),
Shapes = { boxShapeDescA }
};
Actor actorA = scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(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;
return revoluteJoint;
}
/// <summary>
/// Initializes a new instance of the <see cref="PhysxTriangleMesh"/> class.
/// Cooks the Model on the fly
/// </summary>
/// <param name="PhysxPhysicWorld">The physx physic world.</param>
/// <param name="model">The model.</param>
/// <param name="worldTransformation">The world transformation.</param>
/// <param name="scale">The scale.</param>
/// <param name="density">The density.</param>
/// <param name="material">The material.</param>
public PhysxTriangleMesh(PhysxPhysicWorld PhysxPhysicWorld, IModelo model, Microsoft.Xna.Framework.Matrix worldTransformation, Microsoft.Xna.Framework.Vector3 scale, float density = 1,StillDesign.PhysX.Material material = null)
{
Microsoft.Xna.Framework.Vector3[] vertices = null;
int[] indices = null;
ExtractData(ref vertices, ref indices, model);
TriangleMeshDescription meshDesc = new TriangleMeshDescription();
meshDesc.AllocateVertices<Microsoft.Xna.Framework.Vector3>(vertices.Count());
meshDesc.VerticesStream.SetData<Microsoft.Xna.Framework.Vector3>(vertices);
meshDesc.AllocateTriangles<int>(indices.Count());
meshDesc.TriangleStream.SetData<int>(indices);
meshDesc.Flags = 0;
meshDesc.VertexCount = vertices.Count();
meshDesc.TriangleCount = indices.Count();
MemoryStream ms = new MemoryStream();
Cooking.InitializeCooking();
if (Cooking.CookTriangleMesh(meshDesc, ms) == false)
{
PloobsEngine.Engine.Logger.ActiveLogger.LogMessage("Cant Cook Model",Engine.Logger.LogLevel.FatalError);
}
Cooking.CloseCooking();
ms.Position = 0;
TriangleMesh triangleMesh = PhysxPhysicWorld.Core.CreateTriangleMesh(ms);
TriangleMeshShapeDescription bunnyShapeDesc = new TriangleMeshShapeDescription();
if (material != null)
bunnyShapeDesc.Material = material;
bunnyShapeDesc.TriangleMesh = triangleMesh;
ActorDesc = new ActorDescription();
ActorDesc.Shapes.Add(bunnyShapeDesc);
ActorDesc.BodyDescription= null;
ActorDesc.GlobalPose = worldTransformation.AsPhysX();
this.Scale = scale;
}
private void CreateTower(Nx.Material material, NxVector3 descriptor, int xCount, int yCount, int zCount, float xSpace, float ySpace, float zSpace, float xOffset, float yOffset, float zOffset)
{
for (int x = 0; x < xCount; x++)
for (int y = 0; y < yCount; y++)
for (int z = 0; z < zCount; z++)
{
var rigidBodyDesc = new BodyDescription();
var boxDesc = new BoxShapeDescription
{
Material = material,
Dimensions = new NxVector3(descriptor.X / 2, descriptor.Y / 2, descriptor.Z / 2)
};
var actorDesc = new ActorDescription(boxDesc)
{
BodyDescription = rigidBodyDesc,
Density = 10.0f,
GlobalPose = NxMath.Matrix.Translation(
xOffset + x * xSpace - ((xCount - 1) * xSpace / 2),
yOffset + y * ySpace - ((yCount - 1) * ySpace / 2),
zOffset + z * zSpace - ((zCount - 1) * zSpace / 2)),
UserData = _boxModel
};
if (!actorDesc.IsValid())
throw new Exception("ActorDesc invalid!");
var actor = _scene.CreateActor(actorDesc);
if (actor == null)
throw new Exception("Actor invalid!");
}
}
public void LoadPhysics()
{
Core _core = this.Core;
Scene _scene = this.Scene;
#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.Translation( 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.Translation( 75, 1.5f, 55 ),
Shapes = { boxShapeDescA }
};
Actor actorA = _scene.CreateActor( actorDescA );
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription( 10.0f ),
GlobalPose = Matrix.Translation( 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.Translation( 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.Translation( 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.Translation( -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.RotationX( 0.5f ) * Matrix.Translation( -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.Translation( -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.Translation( 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()
{
Height = (short)h,
MaterialIndex0 = 0,
MaterialIndex1 = 1,
TessellationFlag = 0
};
samples[ r * columns + c ] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns
};
heightFieldDesc.SetSamples( 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.Translation( 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 );
CapsuleController capsuleController = manager.CreateController<CapsuleController>( capsuleControllerDesc );
capsuleController.Position = new Vector3( 0, 1.5f + 2, -15 );
capsuleController.Actor.Name = "BoxController";
capsuleController.SetCollisionEnabled( true );
}
#endregion
}
protected override void LoadContent(GraphicInfo GraphicInfo, GraphicFactory factory ,IContentManager contentManager)
{
PhysxPhysicWorld PhysxPhysicWorld = World.PhysicWorld as PhysxPhysicWorld;
base.LoadContent(GraphicInfo, factory, contentManager);
const int maximumParticles = 1000;
var fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose =
Phyx.Matrix.RotationAxis(new Phyx.Vector3(0, 1, 0), (float)Math.PI) *
Phyx.Matrix.Translation(-40, 10, -50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
var fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization | FluidFlag.Enabled,
MaximumParticles = maximumParticles,
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer<Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
fluid = PhysxPhysicWorld.Scene.CreateFluid(fluidDesc);
Texture2D tex = factory.GetTexture2D("Textures/Smoke");
for (int i = 0; i < maximumParticles; i++)
{
Billboard3D Billboard3D = new Billboard3D(tex,Vector3.Zero,new Vector2(0.002f));
Billboard3D.Enabled = false;
CPUSphericalBillboardComponent.Billboards.Add(Billboard3D);
}
// Ledge
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
SimpleModel SimpleModel = new PloobsEngine.Modelo.SimpleModel(factory, "Model/block");
SimpleModel.SetTexture(factory.CreateTexture2DColor(1, 1, Color.Red), TextureType.DIFFUSE);
PhysxPhysicObject PhysxPhysicObject = new PloobsEngine.Physics.PhysxPhysicObject(boxShapeDesc,
(Phyx.Matrix.RotationX(-0.5f) * Phyx.Matrix.Translation(-40, 5, -52)).AsXNA(),new Vector3(5,0.1f,5));
ForwardXNABasicShader shader = new ForwardXNABasicShader(ForwardXNABasicShaderDescription.Default());
ForwardMaterial fmaterial = new ForwardMaterial(shader);
IObject obj = new IObject(fmaterial, SimpleModel, PhysxPhysicObject);
this.World.AddObject(obj);
}
// Drain
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
var drainActorDesc = new ActorDescription()
{
GlobalPose = Phyx.Matrix.Translation(-40, 0, -55),
Shapes = { boxShapeDesc }
};
var drianActor = PhysxPhysicWorld.Scene.CreateActor(drainActorDesc);
}
BallThrowPhysx28 BallThrowBullet = new BallThrowPhysx28(this.World, GraphicFactory);
this.AttachCleanUpAble(BallThrowBullet);
this.World.CameraManager.AddCamera(new CameraFirstPerson(GraphicInfo));
}
protected override void LoadContent(GraphicInfo GraphicInfo, GraphicFactory factory ,IContentManager contentManager)
{
PhysxPhysicWorld PhysxPhysicWorld = World.PhysicWorld as PhysxPhysicWorld;
base.LoadContent(GraphicInfo, factory, contentManager);
const int maximumParticles = 1000;
var fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose =
Phyx.Matrix.RotationAxis(new Phyx.Vector3(0, 1, 0), (float)Math.PI) *
Phyx.Matrix.Translation(-40, 10, -50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
var fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization | FluidFlag.Enabled,
MaximumParticles = maximumParticles,
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer<Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
InstancedBilboardModel InstancedBilboardModel = new InstancedBilboardModel(factory, "teste", "Textures/Smoke", new BilboardInstance[] {new BilboardInstance() }, maximumParticles);
PhysxFluidObject PhysxFluidObject = new PloobsEngine.Physics.PhysxFluidObject(fluidDesc);
DeferredInstancedBilboardShader DeferredInstancedBilboardShader = new PloobsEngine.Material.DeferredInstancedBilboardShader(BilboardType.Spherical);
DeferredInstancedBilboardShader.AlphaTestLimit = 0.2f;
FluidMaterial DeferredMaterial = new FluidMaterial(DeferredInstancedBilboardShader,maximumParticles,new Vector2(0.2f));
IObject IObject = new IObject(DeferredMaterial, InstancedBilboardModel, PhysxFluidObject);
this.World.AddObject(IObject);
// Ledge
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
SimpleModel SimpleModel = new PloobsEngine.Modelo.SimpleModel(factory, "Model/block");
SimpleModel.SetTexture(factory.CreateTexture2DColor(1, 1, Color.Red), TextureType.DIFFUSE);
PhysxPhysicObject PhysxPhysicObject = new PloobsEngine.Physics.PhysxPhysicObject(boxShapeDesc,
(Phyx.Matrix.RotationX(-0.5f) * Phyx.Matrix.Translation(-40, 5, -52)).AsXNA(),new Vector3(5,0.1f,5));
DeferredNormalShader shader = new DeferredNormalShader();
DeferredMaterial fmaterial = new DeferredMaterial(shader);
IObject obj = new IObject(fmaterial, SimpleModel, PhysxPhysicObject);
this.World.AddObject(obj);
}
// Drain
{
var boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
var drainActorDesc = new ActorDescription()
{
GlobalPose = Phyx.Matrix.Translation(-40, 0, -55),
Shapes = { boxShapeDesc }
};
var drianActor = PhysxPhysicWorld.Scene.CreateActor(drainActorDesc);
}
#region NormalLight
DirectionalLightPE ld1 = new DirectionalLightPE(Vector3.Left, Color.White);
DirectionalLightPE ld2 = new DirectionalLightPE(Vector3.Right, Color.White);
DirectionalLightPE ld3 = new DirectionalLightPE(Vector3.Backward, Color.White);
DirectionalLightPE ld4 = new DirectionalLightPE(Vector3.Forward, Color.White);
DirectionalLightPE ld5 = new DirectionalLightPE(Vector3.Down, Color.White);
float li = 0.5f;
ld1.LightIntensity = li;
ld2.LightIntensity = li;
ld3.LightIntensity = li;
ld4.LightIntensity = li;
ld5.LightIntensity = li;
this.World.AddLight(ld1);
this.World.AddLight(ld2);
this.World.AddLight(ld3);
this.World.AddLight(ld4);
this.World.AddLight(ld5);
#endregion
BallThrowPhysx28 BallThrowBullet = new BallThrowPhysx28(this.World, GraphicFactory,false);
this.AttachCleanUpAble(BallThrowBullet);
this.World.CameraManager.AddCamera(new CameraFirstPerson(GraphicInfo));
}
protected override void LoadPhysics(Scene scene)
{
CCDSkeleton ccdSkeletonForBox;
// Create a CCD Skeleton
{
Vector3 size = new Vector3(5, 5, 5);
int[] indices =
{
0, 1, 3,
0, 3, 2,
3, 7, 6,
3, 6, 2,
1, 5, 7,
1, 7, 3,
4, 6, 7,
4, 7, 5,
1, 0, 4,
5, 1, 4,
4, 0, 2,
4, 2, 6
};
Vector3[] vertices =
{
new Vector3( size.X, -size.Y, -size.Z ),
new Vector3( size.X, -size.Y, size.Z ),
new Vector3( size.X, size.Y, -size.Z ),
new Vector3( size.X, size.Y, size.Z ),
new Vector3( -size.X, -size.Y, -size.Z ),
new Vector3( -size.X, -size.Y, size.Z ),
new Vector3( -size.X, size.Y, -size.Z ),
new Vector3( -size.X, size.Y, size.Z )
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.AllocateVertices<Vector3>(vertices.Length);
triangleMeshDesc.AllocateTriangles<int>(indices.Length);
triangleMeshDesc.VerticesStream.SetData(vertices);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.TriangleCount = indices.Length / 3;
ccdSkeletonForBox = scene.Core.CreateCCDSkeleton(triangleMeshDesc);
// Enable CCD and CCD Visualization
scene.Core.SetParameter(PhysicsParameter.ContinuousCollisionDetection, true);
scene.Core.SetParameter(PhysicsParameter.VisualizeContinuousCollisionDetectionTests, true);
}
// Create a large 2 polygon triangle mesh plane
// For CCD to work/be used many conditions must be met (check the docs for full list)
// One of those conditions is that one of the objects must be a triangle mesh or a convex mesh (for static-dynamic)
{
Vector3[] vertices =
{
new Vector3( -100, 5, -100 ),
new Vector3( -100, 5, 100 ),
new Vector3( 100, 5, -100 ),
new Vector3( 100, 5, 100 ),
};
int[] indices =
{
0, 1, 2,
1, 3, 2
};
TriangleMeshDescription triangleMeshDesc = new TriangleMeshDescription();
triangleMeshDesc.TriangleCount = indices.Length / 3;
triangleMeshDesc.VertexCount = vertices.Length;
triangleMeshDesc.AllocateTriangles<int>(triangleMeshDesc.TriangleCount);
triangleMeshDesc.AllocateVertices<Vector3>(triangleMeshDesc.VertexCount);
triangleMeshDesc.TriangleStream.SetData(indices);
triangleMeshDesc.VerticesStream.SetData(vertices);
TriangleMesh triangleMesh;
using (MemoryStream s = new MemoryStream())
{
Cooking.InitializeCooking();
Cooking.CookTriangleMesh(triangleMeshDesc, s);
Cooking.CloseCooking();
s.Position = 0;
triangleMesh = scene.Core.CreateTriangleMesh(s);
}
TriangleMeshShapeDescription triangleMeshShapeDesc = new TriangleMeshShapeDescription()
{
TriangleMesh = triangleMesh,
Flags = ShapeFlag.Visualization
};
ActorDescription actorDesc = new ActorDescription()
{
Shapes = { triangleMeshShapeDesc }
};
Actor actor = scene.CreateActor(actorDesc);
}
// Make 20 boxes fall down
for (int x = 0; x < 20; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
// Assign the CCD Skeleton to the shape
boxShapeDesc.CCDSkeleton = ccdSkeletonForBox;
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(0, 15 + 3 * x, 0),
Shapes = { boxShapeDesc }
};
Actor actor = scene.CreateActor(actorDesc);
}
}
