133 lines
4.5 KiB
C++
133 lines
4.5 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
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#include "SceneRagdollWashingMachine.h"
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#include "Convex.h"
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#include "PxSimpleFactory.h"
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#include "PxRigidStatic.h"
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#include "PxShape.h"
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#include "foundation/PxMathUtils.h"
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#include "foundation/PxMat44.h"
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#include <stdio.h>
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#include <GL/glut.h>
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#include "SimScene.h"
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#include "CompoundCreator.h"
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#include "Mesh.h"
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#include "TerrainMesh.h"
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#include "PhysXMacros.h"
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#include "MathUtils.h"
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#include "PxRigidBodyExt.h"
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#include "PxD6Joint.h"
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using namespace physx;
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using namespace physx::shdfnd;
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static PxReal speeds[] = { 3.141692f*0.125f, 3.141592f*0.25f, 3.141592f*0.75f, 3.141592f*0.5f, 3.141592f*0.25f };
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static PxReal spinDurations[] = { 10, 15, 5, 5, 10 };
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SceneRagdollWashingMachine::SceneRagdollWashingMachine(PxPhysics* pxPhysics, PxCooking *pxCooking, bool isGrb,
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Shader *defaultShader, const char *resourcePath, float slowMotionFactor) : SceneKapla(pxPhysics, pxCooking, isGrb, defaultShader, resourcePath, slowMotionFactor),
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mWashingMachine(NULL)
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{
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mChangeSpeedTime = 15.f;
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mSpeedState = 0;
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}
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void SceneRagdollWashingMachine::preSim(float dt)
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{
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mChangeSpeedTime -= dt;
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if (mChangeSpeedTime < 0.f)
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{
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mSpeedState = (mSpeedState + 1)%5;
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mChangeSpeedTime = spinDurations[mSpeedState];
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}
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PxQuat rotationPerFrame(speeds[mSpeedState]*dt, PxVec3(0,0,1));
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PxTransform trans = mWashingMachine->getGlobalPose();
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trans.q = trans.q * rotationPerFrame;
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mWashingMachine->setKinematicTarget(trans);
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SceneKapla::preSim(dt);
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}
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void SceneRagdollWashingMachine::onInit(PxScene* pxScene)
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{
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//(1) Create the washing machine :)
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SceneKapla::onInit(pxScene);
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ShaderMaterial mat;
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mat.init();
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PxVec3 dims(3.f, 1.f, 35.f);
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PxReal radius = 7.f;
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PxReal circumference = 2.f * radius * 3.141592f;
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//Now work out how many slabs you need to satisfy this...
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PxU32 nbSlabs = PxU32((circumference / dims.x)) + 5;
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PxVec3 offset(0, radius, 0);
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for (PxU32 a = 0; a < nbSlabs; ++a)
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{
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PxQuat rotation(a*2.f*3.141592 / PxReal(nbSlabs), PxVec3(0, 0, 1));
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PxTransform localTransform(rotation.rotate(offset), rotation);
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mSimScene->getCompoundCreator()->createBox(dims, &localTransform, a == 0);
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}
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PxTransform localTransform(PxVec3(0, radius - dims.x/2.f, 0.f), PxQuat(3.141592*0.5f, PxVec3(0, 0, 1)));
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mSimScene->getCompoundCreator()->createBox(dims, &localTransform, false);
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Compound* compound = createObject(PxTransform(PxVec3(0, radius+5.f, -dims.z)), PxVec3(0), PxVec3(0), false, mat,false);
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mWashingMachine = compound->getPxActor();
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mWashingMachine->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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for (PxU32 a = 0; a < 20; ++a)
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{
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for (PxU32 b = 0; b < 35; ++b)
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{
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createRagdoll(PxVec3(-radius + 2.f + a * 0.5f, radius+5.f, -dims.z*0.8f - b * 0.5f), PxVec3(0), mat);
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}
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}
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createGroundPlane(PxFilterData(), PxVec3(0, -2.f, 0));
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mSimScene->getCompoundCreator()->createBox(PxVec3(20.f, 20.f, 2.f));
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Compound* staticCompound = createObject(PxTransform(PxVec3(0.f, radius+5.f, -1.5f*dims.z)), PxVec3(0), PxVec3(0),false,mat,false);
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staticCompound->getPxActor()->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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} |