static void createScissorLift()
{
const float runnerLength = 2f;
const float placementDistance = 1.8f;
const float cosAng = (placementDistance) / (runnerLength);
float angle = PxAcos(cosAng);
float sinAng = PxSin(angle);
PxQuat leftRot = new(-angle, new PxVec3(1f, 0f, 0f));
PxQuat rightRot = new(angle, new PxVec3(1f, 0f, 0f));
//(1) Create base...
PxArticulationLink * @base = gArticulation->createLink(null, new PxTransform(new PxVec3(0f, 0.25f, 0f)));
const PxShapeFlags defaultShapeFlags = PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE; //BIOQUIRK: Many missing defaults
PxRigidActorExt.createExclusiveShape(ref *@base, new PxBoxGeometry(0.5f, 0.25f, 1.5f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *@base, 3f);
//Now create the slider and fixed joints...
gArticulation->setSolverIterationCounts(32);
PxArticulationLink *leftRoot = gArticulation->createLink(@base, new PxTransform(new PxVec3(0f, 0.55f, -0.9f)));
PxRigidActorExt.createExclusiveShape(ref *leftRoot, new PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *leftRoot, 1f);
PxArticulationLink *rightRoot = gArticulation->createLink(@base, new PxTransform(new PxVec3(0f, 0.55f, 0.9f)));
PxRigidActorExt.createExclusiveShape(ref *rightRoot, new PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *rightRoot, 1f);
PxArticulationJointReducedCoordinate *joint = static_cast <PxArticulationJointReducedCoordinate>(leftRoot->getInboundJoint());
joint->setJointType(PxArticulationJointType.eFIX);
joint->setParentPose(new PxTransform(new PxVec3(0f, 0.25f, -0.9f)));
joint->setChildPose(new PxTransform(new PxVec3(0f, -0.05f, 0f)));
//Set up the drive joint...
gDriveJoint = static_cast <PxArticulationJointReducedCoordinate>(rightRoot->getInboundJoint());
gDriveJoint->setJointType(PxArticulationJointType.ePRISMATIC);
gDriveJoint->setMotion(PxArticulationAxis.eZ, PxArticulationMotions.eLIMITED);
gDriveJoint->setLimit(PxArticulationAxis.eZ, -1.4f, 0.2f);
gDriveJoint->setDrive(PxArticulationAxis.eZ, 100000f, 0f, float.MaxValue);
gDriveJoint->setParentPose(new PxTransform(new PxVec3(0f, 0.25f, 0.9f)));
gDriveJoint->setChildPose(new PxTransform(new PxVec3(0f, -0.05f, 0f)));
const uint linkHeight = 3;
PxArticulationLink *currLeft = leftRoot, currRight = rightRoot;
PxQuat rightParentRot = new(PxIdentity);
PxQuat leftParentRot = new(PxIdentity);
for (uint i = 0; i < linkHeight; ++i)
{
PxVec3 pos = new(0.5f, 0.55f + 0.1f * (1 + i), 0f);
PxArticulationLink *leftLink = gArticulation->createLink(currLeft, new PxTransform(pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i + 1), 0f)), leftRot)); //BIOQUIRK: Operator overload
PxRigidActorExt.createExclusiveShape(ref *leftLink, new PxBoxGeometry(0.05f, 0.05f, 1f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *leftLink, 1f);
PxVec3 leftAnchorLocation = pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i), -0.9f)); //BIOQUIRK: Operator overload
joint = static_cast <PxArticulationJointReducedCoordinate>(leftLink->getInboundJoint());
joint->setParentPose(new PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
joint->setChildPose(new PxTransform(new PxVec3(0f, 0f, -1f), rightRot));
joint->setJointType(PxArticulationJointType.eREVOLUTE);
leftParentRot = leftRot;
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eLIMITED);
joint->setLimit(PxArticulationAxis.eTWIST, -MathF.PI, angle);
PxArticulationLink *rightLink = gArticulation->createLink(currRight, new PxTransform(pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i + 1), 0f)), rightRot)); //BIOQUIRK: Operator overload
PxRigidActorExt.createExclusiveShape(ref *rightLink, new PxBoxGeometry(0.05f, 0.05f, 1f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *rightLink, 1f);
PxVec3 rightAnchorLocation = pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i), 0.9f)); //BIOQUIRK: Operator overload
joint = static_cast <PxArticulationJointReducedCoordinate>(rightLink->getInboundJoint());
joint->setJointType(PxArticulationJointType.eREVOLUTE);
joint->setParentPose(new PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
joint->setChildPose(new PxTransform(new PxVec3(0f, 0f, 1f), leftRot));
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eLIMITED);
joint->setLimit(PxArticulationAxis.eTWIST, -angle, MathF.PI);
rightParentRot = rightRot;
PxD6Joint *d6joint = PxD6JointCreate(ref *gPhysics, leftLink, new PxTransform(PxIdentity), rightLink, new PxTransform(PxIdentity));
d6joint->setMotion(PxD6Axis.eTWIST, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING2, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING1, PxD6Motion.eFREE);
currLeft = rightLink;
currRight = leftLink;
}
PxArticulationLink *leftTop = gArticulation->createLink(currLeft, currLeft->getGlobalPose().transform(new PxTransform(new PxVec3(-0.5f, 0f, -1.0f), leftParentRot)));
PxRigidActorExt.createExclusiveShape(ref *leftTop, new PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *leftTop, 1f);
PxArticulationLink *rightTop = gArticulation->createLink(currRight, currRight->getGlobalPose().transform(new PxTransform(new PxVec3(-0.5f, 0f, 1.0f), rightParentRot)));
PxRigidActorExt.createExclusiveShape(ref *rightTop, new PxCapsuleGeometry(0.05f, 0.8f), *gMaterial, defaultShapeFlags);
//PxRigidActorExt.createExclusiveShape(ref *rightTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *rightTop, 1f);
joint = static_cast <PxArticulationJointReducedCoordinate>(leftTop->getInboundJoint());
joint->setParentPose(new PxTransform(new PxVec3(0f, 0f, -1f), currLeft->getGlobalPose().q.getConjugate()));
joint->setChildPose(new PxTransform(new PxVec3(0.5f, 0f, 0f), leftTop->getGlobalPose().q.getConjugate()));
joint->setJointType(PxArticulationJointType.eREVOLUTE);
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
//joint->setDrive(PxArticulationAxis.eTWIST, 0f, 10f, float.MaxValue);
joint = static_cast <PxArticulationJointReducedCoordinate>(rightTop->getInboundJoint());
joint->setParentPose(new PxTransform(new PxVec3(0f, 0f, 1f), currRight->getGlobalPose().q.getConjugate()));
joint->setChildPose(new PxTransform(new PxVec3(0.5f, 0f, 0f), rightTop->getGlobalPose().q.getConjugate()));
joint->setJointType(PxArticulationJointType.eREVOLUTE);
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
//joint->setDrive(PxArticulationAxis.eTWIST, 0f, 10f, float.MaxValue);
currLeft = leftRoot;
currRight = rightRoot;
rightParentRot = new PxQuat(PxIdentity);
leftParentRot = new PxQuat(PxIdentity);
for (uint i = 0; i < linkHeight; ++i)
{
PxVec3 pos = new(-0.5f, 0.55f + 0.1f * (1 + i), 0f);
PxArticulationLink *leftLink = gArticulation->createLink(currLeft, new PxTransform(pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i + 1), 0f)), leftRot)); //BIOQURK: Operator overload
PxRigidActorExt.createExclusiveShape(ref *leftLink, new PxBoxGeometry(0.05f, 0.05f, 1f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *leftLink, 1f);
PxVec3 leftAnchorLocation = pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i), -0.9f)); //BIOQUIRK: Operator overload
joint = static_cast <PxArticulationJointReducedCoordinate>(leftLink->getInboundJoint());
joint->setJointType(PxArticulationJointType.eREVOLUTE);
joint->setParentPose(new PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
joint->setChildPose(new PxTransform(new PxVec3(0f, 0f, -1f), rightRot));
leftParentRot = leftRot;
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eLIMITED);
joint->setLimit(PxArticulationAxis.eTWIST, -float.MaxValue, angle);
PxArticulationLink *rightLink = gArticulation->createLink(currRight, new PxTransform(pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i + 1), 0f)), rightRot)); //BIOQUIRK: Operator overload
PxRigidActorExt.createExclusiveShape(ref *rightLink, new PxBoxGeometry(0.05f, 0.05f, 1f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *rightLink, 1f);
PxVec3 rightAnchorLocation = pos.operator_Plus(new PxVec3(0f, sinAng * (2 * i), 0.9f)); //BIOQUIRK: Operator overload
/*joint = PxD6JointCreate(ref *getPhysics(), currRight, new PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation)),
* rightLink, new PxTransform(new PxVec3(0f, 0f, 1f)));*/
joint = static_cast <PxArticulationJointReducedCoordinate>(rightLink->getInboundJoint());
joint->setParentPose(new PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
joint->setJointType(PxArticulationJointType.eREVOLUTE);
joint->setChildPose(new PxTransform(new PxVec3(0f, 0f, 1f), leftRot));
joint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eLIMITED);
joint->setLimit(PxArticulationAxis.eTWIST, -angle, float.MaxValue);
rightParentRot = rightRot;
PxD6Joint *d6joint = PxD6JointCreate(ref *gPhysics, leftLink, new PxTransform(PxIdentity), rightLink, new PxTransform(PxIdentity));
d6joint->setMotion(PxD6Axis.eTWIST, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING1, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING2, PxD6Motion.eFREE);
currLeft = rightLink;
currRight = leftLink;
}
{
PxD6Joint *d6joint = PxD6JointCreate(ref *gPhysics, currLeft, new PxTransform(new PxVec3(0f, 0f, -1f)), leftTop, new PxTransform(new PxVec3(-0.5f, 0f, 0f)));
d6joint->setMotion(PxD6Axis.eTWIST, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING1, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING2, PxD6Motion.eFREE);
d6joint = PxD6JointCreate(ref *gPhysics, currRight, new PxTransform(new PxVec3(0f, 0f, 1f)), rightTop, new PxTransform(new PxVec3(-0.5f, 0f, 0f)));
d6joint->setMotion(PxD6Axis.eTWIST, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING1, PxD6Motion.eFREE);
d6joint->setMotion(PxD6Axis.eSWING2, PxD6Motion.eFREE);
}
PxTransform topPose = new(new PxVec3(0f, leftTop->getGlobalPose().p.y + 0.15f, 0f));
PxArticulationLink *top = gArticulation->createLink(leftTop, topPose);
PxRigidActorExt.createExclusiveShape(ref *top, new PxBoxGeometry(0.5f, 0.1f, 1.5f), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *top, 1f);
joint = static_cast <PxArticulationJointReducedCoordinate>(top->getInboundJoint());
joint->setJointType(PxArticulationJointType.eFIX);
joint->setParentPose(new PxTransform(new PxVec3(0f, 0.0f, 0f)));
joint->setChildPose(new PxTransform(new PxVec3(0f, -0.15f, -0.9f)));
gScene->addArticulation(ref *gArticulation);
for (uint i = 0; i < gArticulation->getNbLinks(); ++i)
{
PxArticulationLink *link;
gArticulation->getLinks(&link, 1, i);
link->setLinearDamping(0.2f);
link->setAngularDamping(0.2f);
link->setMaxAngularVelocity(20f);
link->setMaxLinearVelocity(100f);
if (link != top)
{
for (uint b = 0; b < link->getNbShapes(); ++b)
{
PxShape *shape;
link->getShapes(&shape, 1, b);
shape->setSimulationFilterData(new PxFilterData(0, 0, 1, 0));
}
}
}
PxVec3 halfExt = new(0.25f);
const float density = 0.5f;
PxRigidDynamic *box0 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(-0.25f, 5f, 0.5f)));
PxRigidActorExt.createExclusiveShape(ref *box0, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box0, density);
gScene->addActor(ref *box0);
PxRigidDynamic *box1 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(0.25f, 5f, 0.5f)));
PxRigidActorExt.createExclusiveShape(ref *box1, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box1, density);
gScene->addActor(ref *box1);
PxRigidDynamic *box2 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(-0.25f, 4.5f, 0.5f)));
PxRigidActorExt.createExclusiveShape(ref *box2, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box2, density);
gScene->addActor(ref *box2);
PxRigidDynamic *box3 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(0.25f, 4.5f, 0.5f)));
PxRigidActorExt.createExclusiveShape(ref *box3, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box3, density);
gScene->addActor(ref *box3);
PxRigidDynamic *box4 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(-0.25f, 5f, 0f)));
PxRigidActorExt.createExclusiveShape(ref *box4, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box4, density);
gScene->addActor(ref *box4);
PxRigidDynamic *box5 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(0.25f, 5f, 0f)));
PxRigidActorExt.createExclusiveShape(ref *box5, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box5, density);
gScene->addActor(ref *box5);
PxRigidDynamic *box6 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(-0.25f, 4.5f, 0f)));
PxRigidActorExt.createExclusiveShape(ref *box6, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box6, density);
gScene->addActor(ref *box6);
PxRigidDynamic *box7 = gPhysics->createRigidDynamic(new PxTransform(new PxVec3(0.25f, 4.5f, 0f)));
PxRigidActorExt.createExclusiveShape(ref *box7, new PxBoxGeometry(halfExt), *gMaterial, defaultShapeFlags);
PxRigidBodyExt.updateMassAndInertia(ref *box7, density);
gScene->addActor(ref *box7);
}
static void createLongChain()
{
const float scale = 0.25f;
const float radius = 0.5f * scale;
const float halfHeight = 1.0f * scale;
const uint nbCapsules = 40;
const float capsuleMass = 1.0f;
PxVec3 initPos = new(0.0f, 24.0f, 0.0f);
PxVec3 pos = initPos;
PxShape *capsuleShape = gPhysics->createShape(new PxCapsuleGeometry(radius, halfHeight), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxArticulationLink *firstLink = null;
PxArticulationLink *parent = null;
const bool overlappingLinks = true; // Change this for another kind of rope
gArticulation->setSolverIterationCounts(16);
// Create rope
for (uint i = 0; i < nbCapsules; i++)
{
PxArticulationLink *link = gArticulation->createLink(parent, new PxTransform(pos));
if (firstLink == null)
{
firstLink = link;
}
link->attachShape(ref *capsuleShape);
PxRigidBodyExt.setMassAndUpdateInertia(ref *link, capsuleMass);
link->setLinearDamping(0.1f);
link->setAngularDamping(0.1f);
link->setMaxAngularVelocity(30f);
link->setMaxLinearVelocity(100f);
PxArticulationJointBase *joint = link->getInboundJoint();
if (joint != null) // Will be null for root link
{
#if USE_REDUCED_COORDINATE_ARTICULATION
PxArticulationJointReducedCoordinate *rcJoint = static_cast <PxArticulationJointReducedCoordinate>(joint);
rcJoint->setJointType(PxArticulationJointType.eSPHERICAL);
rcJoint->setMotion(PxArticulationAxis.eSWING2, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eSWING1, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
rcJoint->setFrictionCoefficient(1f);
rcJoint->setMaxJointVelocity(1000000f);
#endif
if (overlappingLinks)
{
joint->setParentPose(new PxTransform(new PxVec3(halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-halfHeight, 0.0f, 0.0f)));
}
else
{
joint->setParentPose(new PxTransform(new PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-radius - halfHeight, 0.0f, 0.0f)));
}
}
if (overlappingLinks)
{
pos.x += (radius + halfHeight * 2.0f);
}
else
{
pos.x += (radius + halfHeight) * 2.0f;
}
parent = link;
}
//Attach large & heavy box at the end of the rope
{
const float boxMass = 50.0f;
const float boxSize = 1.0f;
PxShape * boxShape = gPhysics->createShape(new PxBoxGeometry(boxSize, boxSize, boxSize), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
pos.x -= (radius + halfHeight) * 2.0f;
pos.x += (radius + halfHeight) + boxSize;
PxArticulationLink *link = gArticulation->createLink(parent, new PxTransform(pos));
link->setLinearDamping(0.1f);
link->setAngularDamping(0.1f);
link->setMaxAngularVelocity(30f);
link->setMaxLinearVelocity(100f);
link->attachShape(ref *boxShape);
PxRigidBodyExt.setMassAndUpdateInertia(ref *link, boxMass);
PxArticulationJointBase *joint = link->getInboundJoint();
#if USE_REDUCED_COORDINATE_ARTICULATION
PxArticulationJointReducedCoordinate *rcJoint = static_cast <PxArticulationJointReducedCoordinate>(joint);
rcJoint->setJointType(PxArticulationJointType.eSPHERICAL);
rcJoint->setMotion(PxArticulationAxis.eSWING2, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eSWING1, PxArticulationMotions.eFREE);
rcJoint->setMotion(PxArticulationAxis.eTWIST, PxArticulationMotions.eFREE);
rcJoint->setFrictionCoefficient(1f);
rcJoint->setMaxJointVelocity(1000000f);
#endif
if (joint != null) // Will be null for root link
{
joint->setParentPose(new PxTransform(new PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(new PxTransform(new PxVec3(-boxSize, 0.0f, 0.0f)));
}
}
gScene->addArticulation(ref *gArticulation);
#if USE_REDUCED_COORDINATE_ARTICULATION
gArticulation->setArticulationFlags(PxArticulationFlags.eFIX_BASE);
#else
// Attach articulation to static world
{
PxShape *anchorShape = gPhysics->createShape(new PxSphereGeometry(0.05f), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxRigidStatic *anchor = PxCreateStatic(ref *gPhysics, new PxTransform(initPos), ref *anchorShape);
gScene->addActor(ref *anchor);
PxSphericalJoint *j = PxSphericalJointCreate(ref *gPhysics, anchor, new PxTransform(new PxVec3(0.0f)), firstLink, new PxTransform(new PxVec3(0.0f)));
}
#endif
// Create obstacle
{
PxShape *boxShape = gPhysics->createShape(new PxBoxGeometry(1.0f, 0.1f, 2.0f), *gMaterial,
false, PxShapeFlags.eVISUALIZATION | PxShapeFlags.eSCENE_QUERY_SHAPE | PxShapeFlags.eSIMULATION_SHAPE); //BIOQUIRK: Missing defaults
PxRigidStatic *obstacle = PxCreateStatic(ref *gPhysics, new PxTransform(initPos.operator_Plus(new PxVec3(10.0f, -3.0f, 0.0f))), ref *boxShape); //BIOQUIRK: Overloaded operator
gScene->addActor(ref *obstacle);
}
}