/**
* Initializes physics and creates a scene
*/
public static void initPhysics()
{
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, ref gAllocator.Value, ref gErrorCallback.Value);
gPvd = PxCreatePvd(ref *gFoundation);
PxPvdTransport *transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
gPvd->connect(ref *transport, PxPvdInstrumentationFlags.eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, ref *gFoundation, new PxTolerancesScale(), true, gPvd);
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, ref *gFoundation, new PxCookingParams(new PxTolerancesScale()));
PxInitExtensions(ref *gPhysics, gPvd);
uint numCores = SnippetUtils.getNbPhysicalCores();
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
PxSceneDesc sceneDesc = new(*gPhysics->getTolerancesScale());
sceneDesc.gravity = new PxVec3(0, -9.81f, 0);
sceneDesc.cpuDispatcher = (PxCpuDispatcher *)gDispatcher; //BIOQUIRK: Base cast
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient *pvdClient = gScene->getScenePvdClient();
if (pvdClient != null)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_SCENEQUERIES, true);
}
}
public static void initPhysics(bool interactive)
{
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, ref gAllocator.Value, ref gErrorCallback.Value);
gPvd = PxCreatePvd(ref *gFoundation);
PxPvdTransport *transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
gPvd->connect(ref *transport, PxPvdInstrumentationFlags.eALL);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, ref *gFoundation, new PxTolerancesScale(), true, gPvd);
PxInitExtensions(ref *gPhysics, gPvd);
PxSceneDesc sceneDesc = new(*gPhysics->getTolerancesScale());
sceneDesc.gravity = new PxVec3(0.0f, -9.81f, 0.0f);
uint numCores = SnippetUtils.getNbPhysicalCores();
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
sceneDesc.cpuDispatcher = (PxCpuDispatcher *)gDispatcher; //BIOQUIRK: Base cast
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
#if USE_REDUCED_COORDINATE_ARTICULATION
sceneDesc.solverType = PxSolverType.eTGS;
#if CREATE_SCISSOR_LIFT
sceneDesc.filterShader = &scissorFilter;
#endif
#endif
gScene = gPhysics->createScene(sceneDesc);
PxPvdSceneClient *pvdClient = gScene->getScenePvdClient();
if (pvdClient != null)
{
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONSTRAINTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_CONTACTS, true);
pvdClient->setScenePvdFlag(PxPvdSceneFlags.eTRANSMIT_SCENEQUERIES, true);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0f);
PxRigidStatic *groundPlane = PxCreatePlane(ref *gPhysics, new PxPlane(0, 1, 0, 0), ref *gMaterial);
gScene->addActor(ref *groundPlane);
#if USE_REDUCED_COORDINATE_ARTICULATION
gArticulation = gPhysics->createArticulationReducedCoordinate();
#else
gArticulation = gPhysics->createArticulation();
// Stabilization can create artefacts on jointed objects so we just disable it
gArticulation->setStabilizationThreshold(0.0f);
gArticulation->setMaxProjectionIterations(16);
gArticulation->setSeparationTolerance(0.001f);
#endif
#if USE_REDUCED_COORDINATE_ARTICULATION && CREATE_SCISSOR_LIFT
createScissorLift();
#else
createLongChain();
#endif
}