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);
PxSceneDesc sceneDesc = new(*gPhysics->getTolerancesScale());
sceneDesc.gravity = new PxVec3(0.0f, -9.81f, 0.0f);
gDispatcher = PxDefaultCpuDispatcherCreate(2);
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);
}
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
PxRigidStatic *groundPlane = PxCreatePlane(ref *gPhysics, new PxPlane(0, 1, 0, 0), ref *gMaterial);
gScene->addActor(ref *groundPlane);
createKinematics();
createDynamics();
}
/**
* 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);
}
}
/**
* Releases all physics objects, including memory blocks containing deserialized data
*/
public static void cleanupPhysics()
{
PX_RELEASE(ref gScene);
PX_RELEASE(ref gDispatcher);
PxCloseExtensions();
PX_RELEASE(ref gPhysics); // releases all objects
PX_RELEASE(ref gCooking);
if (gPvd != null)
{
PxPvdTransport *transport = gPvd->getTransport();
gPvd->release();
gPvd = null;
PX_RELEASE(ref transport);
}
// Now that the objects have been released, it's safe to release the space they occupy
for (uint i = 0; i < gMemBlockCount; i++)
{
NativeMemory.Free(gMemBlocks[i]);
}
gMemBlockCount = 0;
PX_RELEASE(ref gFoundation);
}
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
}
public static void cleanupPhysics()
{
gVehicleNoDrive->getRigidDynamicActor()->release();
gVehicleNoDrive->free();
PX_RELEASE(ref gGroundPlane);
PX_RELEASE(ref gBatchQuery);
gVehicleSceneQueryData->free(ref gAllocator.Value);
PX_RELEASE(ref gFrictionPairs);
PxCloseVehicleSDK();
PX_RELEASE(ref gMaterial);
PX_RELEASE(ref gCooking);
PX_RELEASE(ref gScene);
PX_RELEASE(ref gDispatcher);
PX_RELEASE(ref gPhysics);
if (gPvd != null)
{
PxPvdTransport *transport = gPvd->getTransport();
gPvd->release();
gPvd = null;
PX_RELEASE(ref transport);
}
PX_RELEASE(ref gFoundation);
Console.WriteLine("SnippetVehicleNoDrive done.");
}
public static void PX_RELEASE(ref PxPvdTransport *x)
{
if (x != null)
{
x->release();
x = null;
}
}
public static void cleanupPhysics(bool interactive)
{
gArticulation->release();
gScene->release();
gDispatcher->release();
gPhysics->release();
PxPvdTransport *transport = gPvd->getTransport();
gPvd->release();
transport->release();
PxCloseExtensions();
gFoundation->release();
Console.WriteLine("SnippetArticulation done.");
}
public static void cleanupPhysics(bool interactive)
{
#if OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG || OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG
//Close out remainder of previously running scene. If we don't do this, it will be implicitly done
//in gScene->release() but a warning will be issued.
gScene->fetchCollision(true);
gScene->advance();
gScene->fetchResults(true);
#endif
PX_RELEASE(ref gScene);
PX_RELEASE(ref gDispatcher);
PX_RELEASE(ref gPhysics);
if (gPvd != null)
{
PxPvdTransport *transport = gPvd->getTransport();
gPvd->release();
gPvd = null;
PX_RELEASE(ref transport);
}
PX_RELEASE(ref gFoundation);
Console.WriteLine("SnippetSplitSim done.");
}
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);
PxSceneDesc sceneDesc = new(*gPhysics->getTolerancesScale());
sceneDesc.gravity = new PxVec3(0.0f, -9.81f, 0.0f);
uint numWorkers = 1;
gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
sceneDesc.cpuDispatcher = (PxCpuDispatcher *)gDispatcher; //BIOQUIRK: Base cast
sceneDesc.filterShader = &VehicleFilterShader;
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, 0.6f);
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, ref *gFoundation, new PxCookingParams(new PxTolerancesScale()));
/////////////////////////////////////////////
PxInitVehicleSDK(ref *gPhysics);
PxVehicleSetBasisVectors(new PxVec3(0, 1, 0), new PxVec3(0, 0, 1));
PxVehicleSetUpdateMode(PxVehicleUpdateMode.eVELOCITY_CHANGE);
//Create the batched scene queries for the suspension raycasts.
gVehicleSceneQueryData = VehicleSceneQueryData.allocate(1, PX_MAX_NB_WHEELS, 1, 1, &WheelSceneQueryPreFilterBlocking, null, ref gAllocator.Value);
gBatchQuery = VehicleSceneQueryData.setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
//Create the friction table for each combination of tire and surface type.
gFrictionPairs = createFrictionPairs(gMaterial);
//Create a plane to drive on.
PxFilterData groundPlaneSimFilterData = new((uint)COLLISION_FLAG_GROUND, (uint)COLLISION_FLAG_GROUND_AGAINST, 0, 0);
gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
gScene->addActor(ref *gGroundPlane);
//Create a vehicle that will drive on the plane.
VehicleDesc vehicleDesc = initVehicleDesc();
gVehicleNoDrive = createVehicleNoDrive(vehicleDesc, gPhysics, gCooking);
PxTransform startTransform = new(new PxVec3(0, (vehicleDesc.chassisDims.y * 0.5f + vehicleDesc.wheelRadius + 1.0f), 0), new PxQuat(PxIdentity));
gVehicleNoDrive->getRigidDynamicActor()->setGlobalPose(startTransform);
gScene->addActor(ref *gVehicleNoDrive->getRigidDynamicActor());
//Set the vehicle to rest in first gear.
//Set the vehicle to use auto-gears.
gVehicleNoDrive->setToRestState();
gVehicleModeTimer = 0.0f;
gVehicleOrderProgress = 0;
startBrakeMode();
}