public static PhysX.SoftBody TeapotSoftBody(Scene scene)
{
var doc = new XmlDocument();
doc.Load(@"Resources\Teapot.xml");
// Not how NxuStream are meant to used but what ever :S
var vertices = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
var tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));
var softBodyMeshDesc = new SoftBodyMeshDescription()
{
VertexCount = vertices.Length,
TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
};
softBodyMeshDesc.AllocateVertices <Vector3>(softBodyMeshDesc.VertexCount);
softBodyMeshDesc.AllocateTetrahedra <int>(softBodyMeshDesc.TetrahedraCount); // Note: T is an int. T is the type of each point
softBodyMeshDesc.VertexStream.SetData(vertices);
softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);
var memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
Cooking.CloseCooking();
memoryStream.Position = 0;
var softBodyMesh = scene.Core.CreateSoftBodyMesh(memoryStream);
var desc = new SoftBodyDescription()
{
GlobalPose = Matrix.Translation(-30, 20, -30),
SoftBodyMesh = softBodyMesh
};
desc.Flags |= SoftBodyFlag.Visualization;
desc.MeshData.AllocatePositions <Vector3>(vertices.Length);
desc.MeshData.AllocateIndices <int>(tetrahedraSingles.Length);
desc.MeshData.NumberOfVertices = vertices.Length;
desc.MeshData.NumberOfIndices = tetrahedraSingles.Length;
desc.MeshData.MaximumVertices = vertices.Length;
desc.MeshData.MaximumIndices = tetrahedraSingles.Length;
var softBody = scene.CreateSoftBody(desc);
return(softBody);
}
public static PhysX.SoftBody TeapotSoftBody(Scene scene)
{
var doc = new XmlDocument();
doc.Load(@"Resources\Teapot.xml");
// Not how NxuStream are meant to used but what ever :S
var vertices = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
var tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));
var softBodyMeshDesc = new SoftBodyMeshDescription()
{
VertexCount = vertices.Length,
TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
};
softBodyMeshDesc.AllocateVertices<Vector3>(softBodyMeshDesc.VertexCount);
softBodyMeshDesc.AllocateTetrahedra<int>(softBodyMeshDesc.TetrahedraCount); // Note: T is an int. T is the type of each point
softBodyMeshDesc.VertexStream.SetData(vertices);
softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);
var memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
Cooking.CloseCooking();
memoryStream.Position = 0;
var softBodyMesh = scene.Core.CreateSoftBodyMesh(memoryStream);
var desc = new SoftBodyDescription()
{
GlobalPose = Matrix.Translation(-30, 20, -30),
SoftBodyMesh = softBodyMesh
};
desc.Flags |= SoftBodyFlag.Visualization;
desc.MeshData.AllocatePositions<Vector3>(vertices.Length);
desc.MeshData.AllocateIndices<int>(tetrahedraSingles.Length);
desc.MeshData.NumberOfVertices = vertices.Length;
desc.MeshData.NumberOfIndices = tetrahedraSingles.Length;
desc.MeshData.MaximumVertices = vertices.Length;
desc.MeshData.MaximumIndices = tetrahedraSingles.Length;
var softBody = scene.CreateSoftBody(desc);
return softBody;
}
/// <summary>Simple examples of all the PhysX bits running together</summary>
private void LoadPhysics()
{
// The ground plane (if created) sould be the first actor
_groundActor = _scene.Actors.First();
_groundActor.Name = "Default Ground Plane";
//
#region Some Boxes
for (int x = 0; x < 5; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(100, 15 + 3 * x, 20),
Shapes = { boxShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
#region Cloth (Flag)
{
// Create a Grid of Points
VertexGrid grid = VertexGrid.CreateGrid(10, 10);
ClothMeshDescription clothMeshDesc = new ClothMeshDescription();
clothMeshDesc.AllocateVertices <Vector3>(grid.Points.Length);
clothMeshDesc.AllocateTriangles <int>(grid.Indices.Length / 3);
clothMeshDesc.VertexCount = grid.Points.Length;
clothMeshDesc.TriangleCount = grid.Indices.Length / 3;
clothMeshDesc.VerticesStream.SetData(grid.Points);
clothMeshDesc.TriangleStream.SetData(grid.Indices);
// We are using 32 bit integers, so make sure the 16 bit flag is removed.
// 32 bits are the default, so this isn't technically needed
clothMeshDesc.Flags &= ~MeshFlag.Indices16Bit;
// Write the cooked data to memory
MemoryStream memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookClothMesh(clothMeshDesc, memoryStream);
Cooking.CloseCooking();
// Need to reset the position of the stream to the beginning
memoryStream.Position = 0;
ClothMesh clothMesh = _core.CreateClothMesh(memoryStream);
//
ClothDescription clothDesc = new ClothDescription()
{
ClothMesh = clothMesh,
Flags = ClothFlag.Gravity | ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization,
GlobalPose =
Matrix.CreateFromYawPitchRoll(0, (float)Math.PI / 2.0f, (float)Math.PI / 2.0f) *
Matrix.CreateTranslation(0, 20, 0)
};
clothDesc.MeshData.AllocatePositions <Vector3>(grid.Points.Length);
clothDesc.MeshData.AllocateIndices <int>(grid.Indices.Length);
clothDesc.MeshData.MaximumVertices = grid.Points.Length;
clothDesc.MeshData.MaximumIndices = grid.Indices.Length;
clothDesc.MeshData.NumberOfVertices = grid.Points.Length;
clothDesc.MeshData.NumberOfIndices = grid.Indices.Length;
_flag = _scene.CreateCloth(clothDesc);
// Flag Pole
ActorDescription flagPoleActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(0, 10, 0),
Shapes = { new BoxShapeDescription(1.0f, 20.0f, 1.0f) }
};
Actor flagPoleActor = _scene.CreateActor(flagPoleActorDesc);
_flag.AttachToShape(flagPoleActor.Shapes[0], 0);
_flag.WindAcceleration = new Vector3(10, 10, 10);
_flag.BendingStiffness = 0.1f;
}
#endregion
#region Revolute Joint
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(75, 1.5f, 55),
Shapes = { boxShapeDescA }
};
Actor actorA = _scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(70, 1.5f, 55),
Shapes = { boxShapeDescB }
};
Actor actorB = _scene.CreateActor(actorDescB);
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription(20, 20.1f, true)
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, 55));
revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));
RevoluteJoint revoluteJoint = _scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
}
#endregion
#region Prismatic Joint with Limit
{
Actor actorA, actorB;
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
BodyDescription bodyDesc = new BodyDescription(10.0f);
bodyDesc.BodyFlags |= BodyFlag.Kinematic;
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
GlobalPose = Matrix.CreateTranslation(70, 25, 65),
Shapes = { boxShapeDesc }
};
actorA = _scene.CreateActor(actorDesc);
}
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(70, 15, 65),
Shapes = { boxShapeDesc }
};
actorB = _scene.CreateActor(actorDesc);
}
PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
};
prismaticJointDesc.SetGlobalAnchor(new Vector3(70, 20, 65));
prismaticJointDesc.SetGlobalAxis(new Vector3(0, 1, 0));
PrismaticJoint prismaticJoint = _scene.CreateJoint(prismaticJointDesc) as PrismaticJoint;
LimitPlane limitPlane = new LimitPlane(new Vector3(0, 1, 0), new Vector3(-30, 8, -30), 0);
prismaticJoint.AddLimitPlane(limitPlane);
}
#endregion
#region Fluid
{
const int maximumParticles = 1000;
FluidEmitterDescription fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose = Matrix.CreateTranslation(-40, 10, 50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
FluidDescription fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer <Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
Fluid fluid = _scene.CreateFluid(fluidDesc);
// Ledge
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateRotationX(0.5f) * Matrix.CreateTranslation(-40, 5, 52),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
// Drain
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-40, 0, 55),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
}
#endregion
#region Force Field
{
BoxForceFieldShapeDescription boxForceFieldShapeDesc = new BoxForceFieldShapeDescription()
{
Size = new Vector3(10, 10, 10)
};
ForceFieldLinearKernelDescription kernelDesc = new ForceFieldLinearKernelDescription()
{
Constant = new Vector3(0, 100.0f, 0)
};
ForceFieldLinearKernel kernel = _scene.CreateForceFieldLinearKernel(kernelDesc);
ForceFieldShapeGroupDescription shapeGroupDesc = new ForceFieldShapeGroupDescription()
{
Shapes = { boxForceFieldShapeDesc }
};
ForceFieldShapeGroup shapeGroup = _scene.CreateForceFieldShapeGroup(shapeGroupDesc);
BoxForceFieldShape boxForceFieldShape = shapeGroup.CreateShape(boxForceFieldShapeDesc) as BoxForceFieldShape;
boxForceFieldShape.Pose = Matrix.CreateTranslation(30, 5, 0);
ForceFieldDescription forceFieldDesc = new ForceFieldDescription()
{
Kernel = kernel,
ShapeGroups = { shapeGroup }
};
ForceField forceField = _scene.CreateForceField(forceFieldDesc);
}
#endregion
#region Heightfield
{
int rows = 25;
int columns = 25;
HeightFieldSample[] samples = new HeightFieldSample[rows * columns];
for (int r = 0; r < rows; r++)
{
for (int c = 0; c < columns; c++)
{
// Put a z and x curve together
double h = Math.Sin(c) * Math.Cos(r) * short.MaxValue;
HeightFieldSample sample = new HeightFieldSample();
sample.Height = (short)h;
sample.MaterialIndex0 = 0;
sample.MaterialIndex1 = 1;
sample.TessellationFlag = 0;
samples[r * columns + c] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns,
Samples = samples
};
HeightField heightField = _core.CreateHeightField(heightFieldDesc);
//
HeightFieldShapeDescription heightFieldShapeDesc = new HeightFieldShapeDescription()
{
HeightField = heightField,
HoleMaterial = 2,
// The max height of our samples is short.MaxValue and we want it to be 1
HeightScale = 1.0f / (float)short.MaxValue,
RowScale = 3,
ColumnScale = 3
};
heightFieldShapeDesc.LocalPosition = new Vector3(-0.5f * rows * 1 * heightFieldShapeDesc.RowScale, 0, -0.5f * columns * 1 * heightFieldShapeDesc.ColumnScale);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(100, 0, 0),
Shapes = { heightFieldShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
#region Convex Mesh
{
ModelMesh mesh = _torusModel.Meshes.First();
Matrix[] transforms = new Matrix[_torusModel.Bones.Count];
_torusModel.CopyAbsoluteBoneTransformsTo(transforms);
// Gets the vertices from the mesh
VertexPositionNormalTexture[] vertices = new VertexPositionNormalTexture[mesh.MeshParts[0].NumVertices];
mesh.VertexBuffer.GetData <VertexPositionNormalTexture>(vertices);
//
// Allocate memory for the points and triangles
var convexMeshDesc = new ConvexMeshDescription()
{
PointCount = vertices.Length
};
convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
convexMeshDesc.AllocatePoints <Vector3>(vertices.Length);
// Write in the points and triangles
// We only want the Position component of the vertex. Also scale down the mesh
foreach (VertexPositionNormalTexture vertex in vertices)
{
Vector3 position = Vector3.Transform(vertex.Position, Matrix.CreateScale(0.1f, 0.1f, 0.1f) * transforms[0]);
convexMeshDesc.PointsStream.Write(position);
}
//
// Cook to memory or to a file
MemoryStream stream = new MemoryStream();
//FileStream stream = new FileStream( @"Convex Mesh.cooked", FileMode.CreateNew );
Cooking.InitializeCooking(new ConsoleOutputStream());
Cooking.CookConvexMesh(convexMeshDesc, stream);
Cooking.CloseCooking();
stream.Position = 0;
ConvexMesh convexMesh = _core.CreateConvexMesh(stream);
ConvexShapeDescription convexShapeDesc = new ConvexShapeDescription(convexMesh);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(30, 30, 0)
};
actorDesc.Shapes.Add(convexShapeDesc);
_torusActor = _scene.CreateActor(actorDesc);
}
#endregion
#region SoftBody
if (false) // Enable to view soft bodies, they run slowly
{
XmlDocument doc = new XmlDocument();
doc.Load("Teapot.xml");
// Not how NxuStream are meant to used but what ever :S
Vector3[] vertices = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
int[] tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));
var softBodyMeshDesc = new SoftBodyMeshDescription()
{
VertexCount = vertices.Length,
TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
};
softBodyMeshDesc.AllocateVertices <Vector3>(softBodyMeshDesc.VertexCount);
softBodyMeshDesc.AllocateTetrahedra <int>(softBodyMeshDesc.TetrahedraCount); // Note: T is an int. T is the type of each point
softBodyMeshDesc.VertexStream.SetData(vertices);
softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);
MemoryStream memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
Cooking.CloseCooking();
memoryStream.Position = 0;
SoftBodyMesh softBodyMesh = _core.CreateSoftBodyMesh(memoryStream);
SoftBodyDescription desc = new SoftBodyDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 20, -30),
SoftBodyMesh = softBodyMesh
};
desc.Flags |= SoftBodyFlag.Visualization;
desc.MeshData.AllocatePositions <Vector3>(vertices.Length);
desc.MeshData.AllocateIndices <int>(tetrahedraSingles.Length);
SoftBody softBody = _scene.CreateSoftBody(desc);
}
#endregion
#region Reports
// Contact report
// When the capsule actor hits the ground make it bounce by using the conact report
{
CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription(1, 5);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 20, 0),
BodyDescription = new BodyDescription(10.0f),
Name = "Report Capsule",
Shapes = { capsuleShapeDesc }
};
_contactReportActor = _scene.CreateActor(actorDesc);
_scene.SetActorPairFlags(_contactReportActor, _groundActor, ContactPairFlag.All);
_scene.UserContactReport = new ContactReport(this);
}
// Trigger Reports
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(15, 8, 15);
boxShapeDesc.Flags |= (ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 4, 0),
Shapes = { boxShapeDesc }
};
_scene.CreateActor(actorDesc);
_scene.UserTriggerReport = new TriggerReport(this);
}
_scene.UserNotify = new Notify(this);
#endregion
#region Wheel
{
_basicVehicle = new Vehicle(this);
}
#endregion
#region Controller
{
ControllerManager manager = _scene.CreateControllerManager();
CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription(4, 3)
{
Callback = new ControllerHitReport()
};
CapsuleController capsuleController = manager.CreateController <CapsuleController>(capsuleControllerDesc);
capsuleController.Position = new Vector3(0, 1.5f + 2, -15);
capsuleController.Actor.Name = "BoxController";
capsuleController.SetCollisionEnabled(true);
}
#endregion
}