public void CreateExclusiveShape_IsInActorsShapesProperty()
{
using (var physics = CreatePhysicsAndScene())
{
var material = physics.Physics.CreateMaterial(0.2f, 0.1f, 0.2f);
var rigid = physics.Physics.CreateRigidDynamic();
Assert.AreEqual(0, rigid.Shapes.Count);
var box = RigidActorExt.CreateExclusiveShape(rigid, new BoxGeometry(2, 3, 4), material);
Assert.AreEqual(1, rigid.Shapes.Count);
}
}
private void CreateGroundPlane()
{
var groundPlaneMaterial = this.Scene.Physics.CreateMaterial(0.1f, 0.1f, 0.1f);
var groundPlane = this.Scene.Physics.CreateRigidStatic();
groundPlane.Name = "Ground Plane";
groundPlane.GlobalPose = Matrix4x4.CreateFromAxisAngle(new System.Numerics.Vector3(0, 0, 1), (float)System.Math.PI / 2);
var planeGeom = new PlaneGeometry();
RigidActorExt.CreateExclusiveShape(groundPlane, planeGeom, groundPlaneMaterial, null);
this.Scene.AddActor(groundPlane);
}
public void CreateBox(Scene.Entity3D ent)
{
Scene.Bounds bb = ent.Bounds;
ID = PhysicsManager.py.CreateRigidDynamic();
BoxGeometry ge = new BoxGeometry(bb.W / 2, bb.H / 2, bb.D / 2);
// Shape = ID.CreateShape ( ge, Mat );
ID.LinearVelocity = new System.Numerics.Vector3(0, 0, 0);
Shape = RigidActorExt.CreateExclusiveShape(ID, ge, Mat);
//Pose = ID.GlobalPose;
var wm = ent.WorldNoScale;
float m11 = wm.M11;
float m12 = wm.M12;
float m13 = wm.M13;
float m14 = wm.M14;
float m21 = wm.M21;
float m22 = wm.M22;
float m23 = wm.M23;
float m24 = wm.M24;
float m31 = wm.M31;
float m32 = wm.M32;
float m33 = wm.M33;
float m34 = wm.M34;
float m41 = wm.M41;
float m42 = wm.M42;
float m43 = wm.M43;
float m44 = wm.M44;
System.Numerics.Matrix4x4 tm = new System.Numerics.Matrix4x4(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44);
ID.GlobalPose = tm;
ID.SetMassAndUpdateInertia(3);
Physics.PhysicsManager.Scene.AddActor(ID);
}
private void ShootSphere()
{
const float force = 5000;
var cameraPos = Camera.Position.AsPhysX();
var cameraDir = Camera.Direction.AsPhysX();
var material = this.Scene.Physics.CreateMaterial(0.1f, 0.5f, 0.5f);
var rigidActor = this.Scene.Physics.CreateRigidDynamic();
var sphereGeom = new SphereGeometry(2);
var boxShape = RigidActorExt.CreateExclusiveShape(rigidActor, sphereGeom, material, null);
rigidActor.GlobalPose = Matrix4x4.CreateTranslation(cameraPos);
rigidActor.SetMassAndUpdateInertia(100);
this.Scene.AddActor(rigidActor);
rigidActor.AddForceAtLocalPosition(cameraDir * force, new System.Numerics.Vector3(0, 0, 0), ForceMode.Impulse, true);
}
public void AddTrigger(TriggerGeometryComponent component)
{
var halfSize = component.Size / 2f;
var posPose = Matrix4x4.CreateTranslation(component.Transform.TransformationMatrix.Translation);
var rot = Matrix4x4.CreateFromQuaternion(component.Transform.Orientation);
var posCorrection = Matrix4x4.CreateTranslation(halfSize);
var body = this.physxPhysics.CreateRigidStatic(posCorrection * rot * posPose);
body.Name = component.Name;
Geometry volume = component.Shape switch
{
TriggerGeometryShape.Cuboid => new BoxGeometry(halfSize),
};
var shape = RigidActorExt.CreateExclusiveShape(body, volume, defaultMat, ShapeFlag.TriggerShape);
shape.SimulationFilterData = new FilterData((uint)OpenH2FilterData.TriggerVolume, 0, 0, 0);
body.UserData = component;
this.physxScene.AddActor(body);
}
public void CreateMesh(Scene.Entity3D ent)
{
System.Collections.Generic.List <OpenTK.Vector3> verts = ent.GetAllVerts();
System.Collections.Generic.List <int> tris = ent.GetAllTris();
System.Numerics.Vector3[] rvert = new System.Numerics.Vector3[verts.Count];
int vi = 0;
foreach (OpenTK.Vector3 v in verts)
{
rvert[vi] = new System.Numerics.Vector3(v.X, v.Y, v.Z);
vi++;
}
int[] at = new int[tris.Count];
for (int i = 0; i < tris.Count; i++)
{
at[i] = tris[i];
}
TriangleMeshDesc tm = new TriangleMeshDesc()
{
Flags = 0,
Triangles = at,
Points = rvert
};
Cooking cook = PhysicsManager.py.CreateCooking();
MemoryStream str = new MemoryStream();
TriangleMeshCookingResult cookr = cook.CookTriangleMesh(tm, str);
str.Position = 0;
TriangleMesh trim = PhysicsManager.py.CreateTriangleMesh(str);
TriangleMeshGeometry trig = new TriangleMeshGeometry(trim);
RID = PhysicsManager.py.CreateRigidStatic();
Shape ns = RigidActorExt.CreateExclusiveShape(RID, trig, Mat);
//RID.CreateShape ( trig, Mat );
var wm = ent.WorldNoScale;
float m11 = wm.M11;
float m12 = wm.M12;
float m13 = wm.M13;
float m14 = wm.M14;
float m21 = wm.M21;
float m22 = wm.M22;
float m23 = wm.M23;
float m24 = wm.M24;
float m31 = wm.M31;
float m32 = wm.M32;
float m33 = wm.M33;
float m34 = wm.M34;
float m41 = wm.M41;
float m42 = wm.M42;
float m43 = wm.M43;
float m44 = wm.M44;
System.Numerics.Matrix4x4 tp = new System.Numerics.Matrix4x4(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44);
// RID.GlobalPose = System.Numerics.Matrix4x4.CreateRotationX(-(float)System.Math.PI / 2);
//RID.GlobalPosePosition = ent.LocalPos;
PhysicsManager.Scene.AddActor(RID);
}
private void AddCollider(RigidActor actor, ICollider collider)
{
if (collider is AggregateCollider agg)
{
foreach (var c in agg.ColliderComponents)
{
AddCollider(actor, c);
}
}
else if (collider is TriangleMeshCollider triCollider)
{
var desc = triCollider.GetDescriptor(GetMaterialIndices);
// Avoiding offline cook path for now because
// 1. Comments in Physx.Net imply memory leak using streams
// 2. I don't want to deal with disk caching cooks yet
var finalMesh = this.physxPhysics.CreateTriangleMesh(cooker, desc);
var meshGeom = new TriangleMeshGeometry(finalMesh);
RigidActorExt.CreateExclusiveShape(actor, meshGeom, globalMaterials, null);
}
else if (collider is TriangleModelCollider triModelCollider)
{
foreach (var mesh in triModelCollider.MeshColliders)
{
var desc = mesh.GetDescriptor(GetMaterialIndices);
// Avoiding offline cook path for now because
// 1. Comments in Physx.Net imply memory leak using streams
// 2. I don't want to deal with disk caching cooks yet
var finalMesh = this.physxPhysics.CreateTriangleMesh(cooker, desc);
var meshGeom = new TriangleMeshGeometry(finalMesh);
RigidActorExt.CreateExclusiveShape(actor, meshGeom, globalMaterials, null);
}
}
else if (collider is IVertexBasedCollider vertCollider)
{
var desc = new ConvexMeshDesc()
{
Flags = ConvexFlag.ComputeConvex
};
desc.SetPositions(vertCollider.GetTransformedVertices());
var mesh = this.physxPhysics.CreateConvexMesh(this.cooker, desc);
var geom = new ConvexMeshGeometry(mesh);
var mat = this.GetOrCreateMaterial(vertCollider.PhysicsMaterial);
// TODO: re-use shared shapes instead of creating exclusive
RigidActorExt.CreateExclusiveShape(actor, geom, mat);
}
else if (collider is ConvexModelCollider modelCollider)
{
foreach (var verts in modelCollider.Meshes)
{
var desc = new ConvexMeshDesc()
{
Flags = ConvexFlag.ComputeConvex
};
desc.SetPositions(verts);
var mesh = this.physxPhysics.CreateConvexMesh(this.cooker, desc);
var geom = new ConvexMeshGeometry(mesh);
var mat = this.GetOrCreateMaterial(modelCollider.PhysicsMaterial);
// TODO: re-use shared shapes instead of creating exclusive
RigidActorExt.CreateExclusiveShape(actor, geom, mat);
}
}
}
// TODO: Currently, this system is responsible for creating and setting PhysicsImplementation properties
// -issue: PhysicsImplementations can't be passed/delegated before this system is initialized, as the props are unset
// -motive: DynamicMovementController wants to be able to setup callbacks before any physics events happen
public void AddCharacterController(MoverComponent component)
{
var config = component.Config;
var radius = 0.175f;
// TODO: reduce duplicated code
if (component.Mode == MoverComponent.MovementMode.Freecam)
{
var posPose = Matrix4x4.CreateTranslation(component.Transform.TransformationMatrix.Translation);
var rot = Matrix4x4.CreateRotationY(MathF.PI / -2f);
var body = this.physxPhysics.CreateRigidDynamic(rot * posPose);
body.MassSpaceInertiaTensor = new Vector3(0, 0, 0);
body.Mass = 175f;
body.UserData = component;
body.RigidBodyFlags = RigidBodyFlag.Kinematic;
var capsuleDesc = new CapsuleGeometry(radius, config.Height / 2f - radius);
var shape = RigidActorExt.CreateExclusiveShape(body, capsuleDesc, characterControlMat);
// TODO: centralize filter data construction
shape.SimulationFilterData = new FilterData((uint)(OpenH2FilterData.NoClip | OpenH2FilterData.PlayerCharacter), 0, 0, 0);
shape.ContactOffset = 0.001f;
shape.RestOffset = 0.0009f;
var bodyProxy = new RigidBodyProxy(body);
component.PhysicsImplementation = bodyProxy;
this.physxScene.AddActor(body);
}
if (component.Mode == MoverComponent.MovementMode.KinematicCharacterControl)
{
var desc = new CapsuleControllerDesc()
{
Height = config.Height - .02f - (2 * radius),
Position = component.Transform.Position,
Radius = radius,
MaxJumpHeight = 1f,
UpDirection = EngineGlobals.Up,
SlopeLimit = MathF.Cos(0.872665f), // cos(50 degrees)
StepOffset = 0.1f,
Material = defaultMat,
ContactOffset = 0.0001f,
ReportCallback = new CustomHitReport()
};
var controller = this.controllerManager.CreateController <CapsuleController>(desc);
controller.Actor.UserData = component;
component.PhysicsImplementation = new KinematicCharacterControllerProxy(controller);
this.ControllerMap.Add(component, controller);
}
else if (component.Mode == MoverComponent.MovementMode.DynamicCharacterControl)
{
var posPose = Matrix4x4.CreateTranslation(component.Transform.TransformationMatrix.Translation);
var rot = Matrix4x4.CreateRotationY(MathF.PI / -2f);
var body = this.physxPhysics.CreateRigidDynamic(rot * posPose);
body.MassSpaceInertiaTensor = new Vector3(0, 0, 0);
body.Mass = 175f;
body.UserData = component;
var capsuleDesc = new CapsuleGeometry(radius, config.Height / 2f - radius);
var shape = RigidActorExt.CreateExclusiveShape(body, capsuleDesc, characterControlMat);
// TODO: centralize filter data construction
shape.SimulationFilterData = new FilterData((uint)OpenH2FilterData.PlayerCharacter, 0, 0, 0);
shape.ContactOffset = 0.001f;
shape.RestOffset = 0.0009f;
var bodyProxy = new RigidBodyProxy(body);
component.PhysicsImplementation = bodyProxy;
this.physxScene.AddActor(body);
if (component.State is DynamicMovementController dynamicMover)
{
var contactInfo = ContactCallbackData.Normal;
this.contactProvider.RegisterContactCallback(body, contactInfo, dynamicMover.ContactFound);
}
}
}
/// <summary>
/// A convenience/backwards-compatability method.
/// </summary>
public static Shape CreateShape(this RigidActor actor, PhysX.Geometry geometry, Material material)
{
return(RigidActorExt.CreateExclusiveShape(actor, geometry, material));
}
