protected override void LoadPhysics(PhysX.Scene scene)
{
var material = scene.Physics.CreateMaterial(0.7f, 0.7f, 0.1f);
var sphereA = scene.Physics.CreateRigidDynamic();
sphereA.CreateShape(new SphereGeometry(1), material);
sphereA.GlobalPose = Matrix4x4.CreateTranslation(0, 30, 0);
scene.AddActor(sphereA);
//
var sphereB = scene.Physics.CreateRigidDynamic();
sphereB.CreateShape(new SphereGeometry(1), material);
sphereB.GlobalPose = Matrix4x4.CreateTranslation(0, 40, 0);
scene.AddActor(sphereB);
//
var sphereC = scene.Physics.CreateRigidDynamic();
sphereC.CreateShape(new SphereGeometry(1), material);
sphereC.GlobalPose = Matrix4x4.CreateTranslation(0, 50, 0);
scene.AddActor(sphereC);
_sphereC = sphereC;
//
var revoluteABJoint = scene.CreateJoint <RevoluteJoint>(sphereA, Matrix4x4.Identity, sphereB, Matrix4x4.Identity);
revoluteABJoint.SetGlobalFrame(new Vector3(0, 35, 0), new Vector3(0, 0, 1));
revoluteABJoint.ConstraintFlags = ConstraintFlag.Visualization;
var revoluteBCJoint = scene.CreateJoint <RevoluteJoint>(sphereB, Matrix4x4.Identity, sphereC, Matrix4x4.Identity);
revoluteBCJoint.SetGlobalFrame(new Vector3(0, 45, 0), new Vector3(0, 0, 1));
revoluteBCJoint.ConstraintFlags = ConstraintFlag.Visualization;
var revoluteAJoint = scene.CreateJoint <RevoluteJoint>(sphereA, Matrix4x4.Identity, null, Matrix4x4.Identity);
revoluteAJoint.SetGlobalFrame(new Vector3(0, 30, 0), new Vector3(0, 0, 1));
revoluteAJoint.ConstraintFlags = ConstraintFlag.Visualization;
}
public static void InitSDK()
{
Foundation fd = new Foundation(new ECB());
pvd = new Pvd(fd);
py = new PhysX.Physics(fd, true, pvd);
SceneD = new SceneDesc
{
Gravity = new System.Numerics.Vector3(0, 0, 0)
};
Scene = py.CreateScene(SceneD);
Scene.SetVisualizationParameter(VisualizationParameter.Scale, 2.0f);
Scene.SetVisualizationParameter(VisualizationParameter.CollisionShapes, true);
Scene.SetVisualizationParameter(VisualizationParameter.ActorAxes, true);
py.Pvd.Connect("localhost");
// Scene.Gravity = new System.Numerics.Vector3(0, 0, 0);
//PhysX.Material dm = Scene.get
}
public PhysxPhysicsSystem(World world) : base(world)
{
// Setup PhysX infra here
this.physxFoundation = new PxFoundation(new ConsoleErrorCallback());
this.physxScale = new PxTolerancesScale()
{
Length = 0.1f,
Speed = 98.1f
};
#if DEBUG
pvd = new Pvd(this.physxFoundation);
pvd.Connect("localhost", 5425, TimeSpan.FromSeconds(2), InstrumentationFlag.Debug);
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale, false, pvd);
#else
this.physxPhysics = new PxPhysics(this.physxFoundation, this.physxScale);
#endif
this.defaultMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0.1f);
this.characterControlMat = this.physxPhysics.CreateMaterial(0.5f, 0.5f, 0f);
this.characterControlMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat = this.physxPhysics.CreateMaterial(0f, 0f, 0f);
this.frictionlessMat.RestitutionCombineMode = CombineMode.Minimum;
this.frictionlessMat.Flags = MaterialFlags.DisableFriction;
var sceneDesc = new SceneDesc(this.physxScale)
{
BroadPhaseType = BroadPhaseType.SweepAndPrune,
Gravity = world.Gravity,
Flags = SceneFlag.EnableStabilization,
SolverType = SolverType.TGS,
FilterShader = new DefaultFilterShader(),
BounceThresholdVelocity = 0.2f * world.Gravity.Length()
};
this.physxScene = this.physxPhysics.CreateScene(sceneDesc);
#if DEBUG
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactPoint, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactNormal, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactForce, true);
this.physxScene.SetVisualizationParameter(VisualizationParameter.ContactError, true);
var pvdClient = this.physxScene.GetPvdSceneClient();
pvdClient.SetScenePvdFlags(SceneVisualizationFlags.TransmitContacts | SceneVisualizationFlags.TransmitConstraints | SceneVisualizationFlags.TransmitSceneQueries);
#endif
var cookingParams = new CookingParams()
{
Scale = this.physxScale,
AreaTestEpsilon = 0.001f,
MidphaseDesc = new MidphaseDesc()
{
Bvh33Desc = new Bvh33MidphaseDesc()
{
MeshCookingHint = MeshCookingHint.SimulationPerformance
}
},
BuildTriangleAdjacencies = true,
MeshCookingHint = MeshCookingHint.SimulationPerformance,
MeshWeldTolerance = 0.001f
};
this.cooker = this.physxPhysics.CreateCooking(cookingParams);
this.controllerManager = this.physxScene.CreateControllerManager();
var contactProv = new ContactModifyProxy();
this.contactProvider = contactProv;
this.physxScene.ContactModifyCallback = contactProv;
this.simCallback = new SimulationCallback();
this.physxScene.SetSimulationEventCallback(simCallback);
}
