private PhysX.RigidStatic CreateGround(PhysX.Scene scene)
{
var hfGeom = this.CreateHfGeom(scene);
return(this.CreateGround(scene, hfGeom));
//return CreateTriangle(scene);
}
private PhysX.RigidDynamic CreateBox(PhysX.Scene scene, int offset)
{
const float HEIGHT = 20.0f;
var rigid = scene.Physics.CreateRigidDynamic();
var shape = rigid.CreateShape(new PhysX.BoxGeometry(1.0f, 1.0f, 1.0f), material);
rigid.GlobalPose = PhysX.Math.Matrix.Translation(130f, 130f, HEIGHT + offset);
return(rigid);
}
private PhysX.RigidStatic CreateGround(PhysX.Scene scene, PhysX.HeightFieldGeometry hfGeom)
{
var hfActor = scene.Physics.CreateRigidStatic();
hfActor.CreateShape(hfGeom, material);
hfActor.GlobalPose = PhysX.Math.Matrix.RotationYawPitchRoll(0f, (float)Math.PI / 2, 0f) * PhysX.Math.Matrix.Translation(0f, 256 - 1, 0f);
return(hfActor);
//return CreateTriangle(scene);
}
public PhysX.RigidStatic CreateTriangle(PhysX.Scene scene)
{
List <PhysX.Math.Vector3> Vertices = new List <PhysX.Math.Vector3>();
List <int> Indices = new List <int>();
PhysX.TriangleMeshDesc TriangleMeshDesc = new PhysX.TriangleMeshDesc()
{
Triangles = new int[12] {
0, 1, 2, 0, 3, 1, 3, 4, 1, 3, 5, 4
},
Points = new PhysX.Math.Vector3[6] {
new PhysX.Math.Vector3 {
X = 0, Y = 0, Z = 0
},
new PhysX.Math.Vector3 {
X = 1, Y = 1, Z = 0
},
new PhysX.Math.Vector3 {
X = 0, Y = 1, Z = 0
},
new PhysX.Math.Vector3 {
X = 1, Y = 0, Z = 0
},
new PhysX.Math.Vector3 {
X = 2, Y = 1, Z = 0
},
new PhysX.Math.Vector3 {
X = 2, Y = 0, Z = 0
},
}
};
MemoryStream ms = new MemoryStream();
PhysX.Cooking cook = scene.Physics.CreateCooking();
cook.CookTriangleMesh(TriangleMeshDesc, ms);
cook.Dispose();
ms.Position = 0;
PhysX.TriangleMesh triangleMesh = scene.Physics.CreateTriangleMesh(ms);
PhysX.TriangleMeshGeometry triangleMeshShapeDesc = new PhysX.TriangleMeshGeometry(triangleMesh);
//PhysX.Math.Matrix.RotationYawPitchRoll(0f, (float)Math.PI / 2, 0f) * PhysX.Math.Matrix.Translation(0f, 0f, 0f)
var hfActor = scene.Physics.CreateRigidStatic();
hfActor.CreateShape(triangleMeshShapeDesc, scene.Physics.CreateMaterial(0.75f, 0.75f, 0.1f));
return(hfActor);
}
private PhysX.RigidDynamic CreateSphere(PhysX.Scene scene, int offset)
{
const float HEIGHT = 20.0f;
var rigid = scene.Physics.CreateRigidDynamic();
var shape = rigid.CreateShape(new PhysX.SphereGeometry(1.0f), material);
rigid.GlobalPose = PhysX.Math.Matrix.Translation(128f, 128f, HEIGHT + offset);
rigid.AngularDamping = 0.2f;
rigid.LinearDamping = 0.2f;
return(rigid);
}
private PhysX.HeightFieldGeometry CreateHfGeom(PhysX.Scene scene)
{
const int rows = 256, columns = 256;
var samples = CreateSampleGrid(rows, columns);
var heightFieldDesc = new PhysX.HeightFieldDesc()
{
NumberOfRows = rows,
NumberOfColumns = columns,
Samples = samples
};
PhysX.HeightField heightField = scene.Physics.CreateHeightField(heightFieldDesc);
PhysX.HeightFieldGeometry hfGeom = new PhysX.HeightFieldGeometry(heightField, 0, 1.0f, 1.0f, 1.0f);
return(hfGeom);
}
public MeshingStage(PhysX.Scene scene, OpenSim.Region.Physics.Manager.IMesher mesher, TerrainMesher terrainMesher)
{
_scene = scene;
_mesher = mesher;
_terrainMesher = terrainMesher;
PhysX.CookingParams cookParms = new PhysX.CookingParams
{
SkinWidth = 0.025f,
SuppressTriangleMeshRemapTable = true,
TargetPlatform = PhysX.Platform.PC
};
_cooking = _scene.Physics.CreateCooking(cookParms);
_singleConvexHullCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_acdHullCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_trimeshCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_runThread = new Thread(new ThreadStart(this.QueueProcessorLoop));
_runThread.Name = "MeshingStage";
_runThread.Start();
}
public override void Initialize(IMesher meshmerizer, Nini.Config.IConfigSource config, OpenMetaverse.UUID regionId)
{
_regionId = regionId;
_mesher = meshmerizer;
m_log.Info("[InWorldz.PhysxPhysics] Creating PhysX scene");
if (config.Configs["InWorldz.PhysxPhysics"] != null)
{
Settings.Instance.UseVisualDebugger = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_visual_debugger", false);
Settings.Instance.UseCCD = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_ccd", true);
Settings.Instance.Gravity = config.Configs["InWorldz.PhysxPhysics"].GetFloat("gravity", -9.8f);
Settings.Instance.ThrowOnSdkError = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("throw_on_sdk_error", false);
Settings.Instance.InstrumentMeshing = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("instrument_meshing", false);
}
else
{
Settings.Instance.UseVisualDebugger = false;
Settings.Instance.UseCCD = true;
Settings.Instance.Gravity = -9.8f;
Settings.Instance.ThrowOnSdkError = false;
Settings.Instance.InstrumentMeshing = false;
}
Nini.Config.IConfig startupcfg = config.Configs["Startup"];
if (startupcfg != null)
_gridmode = startupcfg.GetBoolean("gridmode", false);
if (_foundation == null)
{
_foundation = new PhysX.Foundation(s_ErrorCallback);
_physics = new PhysX.Physics(_foundation);
Material.BuiltinMaterialInit(_physics);
}
_sceneDesc = new PhysX.SceneDesc(null, Settings.Instance.UseCCD);
_sceneDesc.Gravity = new PhysX.Math.Vector3(0f, 0f, Settings.Instance.Gravity);
_simEventDelegator = new SimulationEventCallbackDelegator();
_simEventDelegator.OnContactCallback += this.OnContact;
_simEventDelegator.OnTriggerCallback += this.OnTrigger;
_sceneDesc.SimulationEventCallback = _simEventDelegator;
_scene = _physics.CreateScene(_sceneDesc);
Preload();
if (Settings.Instance.UseCCD)
{
_scene.SetFlag(PhysX.SceneFlag.SweptIntegration, true);
}
if (Settings.Instance.UseVisualDebugger && _physics.RemoteDebugger != null)
{
_physics.RemoteDebugger.Connect("localhost", null, null, PhysX.VisualDebugger.VisualDebuggerConnectionFlag.Debug, null);
}
_controllerManager = _scene.CreateControllerManager();
CreateDefaults();
_terrainMesher = new Meshing.TerrainMesher(_scene);
_terrainMgr = new TerrainManager(_scene, _terrainMesher, regionId);
_meshingStage = new Meshing.MeshingStage(_scene, meshmerizer, _terrainMesher);
_meshingStage.OnShapeNeedsFreeing += new Meshing.MeshingStage.ShapeNeedsFreeingDelegate(_meshingStage_OnShapeNeedsFreeing);
_kinematicManager = new KinematicManager();
//fire up our work loop
HeartbeatThread = Watchdog.StartThread(new ThreadStart(Heartbeat), "Physics Heartbeat",
ThreadPriority.Normal, false);
TimingThread = Watchdog.StartThread(new ThreadStart(DoTiming), string.Format("Physics Timing"),
ThreadPriority.Highest, false);
}
public TerrainMesher(PhysX.Scene parentScene)
{
_scene = parentScene;
_cooking = _scene.Physics.CreateCooking();
}
public override void Initialize(IMesher meshmerizer, Nini.Config.IConfigSource config, OpenMetaverse.UUID regionId)
{
_regionId = regionId;
_mesher = meshmerizer;
m_log.Info("[InWorldz.PhysxPhysics] Creating PhysX scene");
if (config.Configs["InWorldz.PhysxPhysics"] != null)
{
Settings.Instance.UseVisualDebugger = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_visual_debugger", false);
Settings.Instance.UseCCD = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("use_ccd", true);
Settings.Instance.Gravity = config.Configs["InWorldz.PhysxPhysics"].GetFloat("gravity", -9.8f);
Settings.Instance.ThrowOnSdkError = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("throw_on_sdk_error", false);
Settings.Instance.InstrumentMeshing = config.Configs["InWorldz.PhysxPhysics"].GetBoolean("instrument_meshing", false);
}
else
{
Settings.Instance.UseVisualDebugger = false;
Settings.Instance.UseCCD = true;
Settings.Instance.Gravity = -9.8f;
Settings.Instance.ThrowOnSdkError = false;
Settings.Instance.InstrumentMeshing = false;
}
Nini.Config.IConfig startupcfg = config.Configs["Startup"];
if (startupcfg != null)
{
_gridmode = startupcfg.GetBoolean("gridmode", false);
}
if (_foundation == null)
{
_foundation = new PhysX.Foundation(s_ErrorCallback);
_physics = new PhysX.Physics(_foundation);
Material.BuiltinMaterialInit(_physics);
}
_sceneDesc = new PhysX.SceneDesc(null, Settings.Instance.UseCCD);
_sceneDesc.Gravity = new PhysX.Math.Vector3(0f, 0f, Settings.Instance.Gravity);
_simEventDelegator = new SimulationEventCallbackDelegator();
_simEventDelegator.OnContactCallback += this.OnContact;
_simEventDelegator.OnTriggerCallback += this.OnTrigger;
_sceneDesc.SimulationEventCallback = _simEventDelegator;
_scene = _physics.CreateScene(_sceneDesc);
Preload();
if (Settings.Instance.UseCCD)
{
_scene.SetFlag(PhysX.SceneFlag.SweptIntegration, true);
}
if (Settings.Instance.UseVisualDebugger && _physics.RemoteDebugger != null)
{
_physics.RemoteDebugger.Connect("localhost", null, null, PhysX.VisualDebugger.VisualDebuggerConnectionFlag.Debug, null);
}
_controllerManager = _scene.CreateControllerManager();
CreateDefaults();
_terrainMesher = new Meshing.TerrainMesher(_scene);
_terrainMgr = new TerrainManager(_scene, _terrainMesher, regionId);
_meshingStage = new Meshing.MeshingStage(_scene, meshmerizer, _terrainMesher);
_meshingStage.OnShapeNeedsFreeing += new Meshing.MeshingStage.ShapeNeedsFreeingDelegate(_meshingStage_OnShapeNeedsFreeing);
_kinematicManager = new KinematicManager();
//fire up our work loop
HeartbeatThread = Watchdog.StartThread(new ThreadStart(Heartbeat), "Physics Heartbeat",
ThreadPriority.Normal, false);
TimingThread = Watchdog.StartThread(new ThreadStart(DoTiming), string.Format("Physics Timing"),
ThreadPriority.Highest, false);
}
public TerrainMesher(PhysX.Scene parentScene)
{
_scene = parentScene;
_cooking = _scene.Physics.CreateCooking();
}
public TerrainManager(PhysX.Scene scene, Meshing.TerrainMesher mesher, UUID regionId)
{
_scene = scene;
_terrainMesher = mesher;
_regionId = regionId;
}
public MeshingStage(PhysX.Scene scene, OpenSim.Region.Physics.Manager.IMesher mesher, TerrainMesher terrainMesher)
{
_scene = scene;
_mesher = mesher;
_terrainMesher = terrainMesher;
PhysX.CookingParams cookParms = new PhysX.CookingParams
{
SkinWidth = 0.025f,
SuppressTriangleMeshRemapTable = true,
TargetPlatform = PhysX.Platform.PC
};
_cooking = _scene.Physics.CreateCooking(cookParms);
_singleConvexHullCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_acdHullCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_trimeshCache.OnShapeNeedsFreeing += new ShapeCache.ShapeNeedsFreeingDelegate(_shapeCache_OnShapeNeedsFreeing);
_runThread = new Thread(new ThreadStart(this.QueueProcessorLoop));
_runThread.Name = "MeshingStage";
_runThread.Start();
}
private void button1_Click(object sender, EventArgs e)
{
PhysX.Physics phys = new PhysX.Physics();
PhysX.SceneDesc desc = new PhysX.SceneDesc();
desc.Gravity = new PhysX.Math.Vector3(0f, 0f, -9.8f);
PhysX.Scene scene = phys.CreateScene(desc);
material = scene.Physics.CreateMaterial(0.5f, 0.5f, 0.1f);
var conn = phys.ConnectToRemoteDebugger("localhost", null, null, null, PhysX.RemoteDebuggerConnectionFlags.Debug);
/*scene.SetVisualizationParameter(PhysX.VisualizationParameter.Scale, 1.0f);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.CollisionShapes, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLocalFrames, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.JointLimits, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ParticleSystemPosition, true);
* scene.SetVisualizationParameter(PhysX.VisualizationParameter.ActorAxes, true);*/
var hfGeom = this.CreateHfGeom(scene);
while (true)
{
PhysX.RigidDynamic sphere = CreateSphere(scene, 0);
sphere.Dispose();
PhysX.RigidStatic ground = CreateGround(scene, hfGeom);
ground.Dispose();
GC.Collect();
}
scene.AddActor(CreateGround(scene));
/*PhysX.RigidDynamic box1 = null;
* for (int i = 0; i < 10; i += 2)
* {
* PhysX.RigidDynamic mahBox = CreateBox(scene, i);
* scene.AddActor(mahBox);
*
* if (i == 0)
* {
* box1 = mahBox;
* ((PhysX.Actor)box1).Flags = PhysX.ActorFlag.DisableGravity;
* }
* }*/
for (int i = 0; i < 10; i += 2)
{
PhysX.RigidDynamic mahBox = CreateSphere(scene, i);
scene.AddActor(mahBox);
}
Stopwatch sw = new Stopwatch();
while (true)
{
sw.Start();
scene.Simulate(0.025f);
scene.FetchResults(true);
sw.Stop();
int sleep = 25 - (int)sw.ElapsedMilliseconds;
if (sleep < 0)
{
sleep = 0;
}
System.Threading.Thread.Sleep(sleep);
sw.Reset();
//label1.Text = DecomposeToPosition(mahBox.GlobalPose).ToString();
this.Update();
}
}
public TerrainManager(PhysX.Scene scene, Meshing.TerrainMesher mesher, UUID regionId)
{
_scene = scene;
_terrainMesher = mesher;
_regionId = regionId;
}
