C++ PxRigidDynamic::setCMassLocalPose方法代码示例

PxRigidDynamic* PxCloneDynamic(PxPhysics& physicsSDK, 
							   const PxTransform& transform,
							   const PxRigidDynamic& from)
{
	PxRigidDynamic* to = physicsSDK.createRigidDynamic(transform);
	if(!to)
		return NULL;

	copyStaticProperties(*to, from);

	to->setRigidDynamicFlags(from.getRigidDynamicFlags());

	to->setMass(from.getMass());
	to->setMassSpaceInertiaTensor(from.getMassSpaceInertiaTensor());
	to->setCMassLocalPose(from.getCMassLocalPose());

	to->setLinearVelocity(from.getLinearVelocity());
	to->setAngularVelocity(from.getAngularVelocity());

	to->setLinearDamping(from.getAngularDamping());
	to->setAngularDamping(from.getAngularDamping());

	to->setMaxAngularVelocity(from.getMaxAngularVelocity());

	PxU32 posIters, velIters;
	from.getSolverIterationCounts(posIters, velIters);
	to->setSolverIterationCounts(posIters, velIters);

	to->setSleepThreshold(from.getSleepThreshold());

	to->setContactReportThreshold(from.getContactReportThreshold());

	return to;
}

void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
	PX_CHECK_AND_RETURN(scale > 0,
		"PxScaleRigidActor requires that the scale parameter is greater than zero");

	Ps::InlineArray<PxShape*, 64> shapes;
	shapes.resize(actor.getNbShapes());
	actor.getShapes(shapes.begin(), shapes.size());

	for(PxU32 i=0;i<shapes.size();i++)
	{
		shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));		
		PxGeometryHolder h = shapes[i]->getGeometry();

		switch(h.getType())
		{
		case PxGeometryType::eSPHERE:	
			h.sphere().radius *= scale;			
			break;
		case PxGeometryType::ePLANE:
			break;
		case PxGeometryType::eCAPSULE:
			h.capsule().halfHeight *= scale;
			h.capsule().radius *= scale;
			break;
		case PxGeometryType::eBOX:
			h.box().halfExtents *= scale;
			break;
		case PxGeometryType::eCONVEXMESH:
			h.convexMesh().scale.scale *= scale;
			break;
		case PxGeometryType::eTRIANGLEMESH:
			h.triangleMesh().scale.scale *= scale;
			break;
		case PxGeometryType::eHEIGHTFIELD:
			h.heightField().heightScale *= scale;
			h.heightField().rowScale *= scale;
			h.heightField().columnScale *= scale;
			break;
		case PxGeometryType::eINVALID:
		case PxGeometryType::eGEOMETRY_COUNT:
		default:
			PX_ASSERT(0);
		}
		shapes[i]->setGeometry(h.any());
	}

	if(!scaleMassProps)
		return;

	PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
	if(!dynamic)
		return;

	PxReal scale3 = scale*scale*scale;
	dynamic->setMass(dynamic->getMass()*scale3);
	dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
	dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}

PxRigidDynamic* Vehicle::createVehicleActor(const PxVehicleChassisData& chassisData,
	PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels,
	PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, PxPhysics& physics, PxVec3 initPos)
{
	//We need a rigid body actor for the vehicle.
	//Don't forget to add the actor to the scene after setting up the associated vehicle.
	PxRigidDynamic* vehActor = physics.createRigidDynamic(PxTransform(initPos));
	vehActor->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);

	//Wheel and chassis simulation filter data.
	PxFilterData wheelSimFilterData;
	wheelSimFilterData.word0 = COLLISION_FLAG_WHEEL;
	wheelSimFilterData.word1 = COLLISION_FLAG_WHEEL_AGAINST;
	PxFilterData chassisSimFilterData;
	chassisSimFilterData.word0 = COLLISION_FLAG_CHASSIS;
	chassisSimFilterData.word1 = COLLISION_FLAG_CHASSIS_AGAINST;

	//Wheel and chassis query filter data.
	//Optional: cars don't drive on other cars.
	PxFilterData wheelQryFilterData;
	wheelQryFilterData.word0 = FilterGroup::eWHEEL;
	setupNonDrivableSurface(wheelQryFilterData);
	PxFilterData chassisQryFilterData;
	chassisQryFilterData.word0 = FilterGroup::eVEHICLE;

	setupNonDrivableSurface(chassisQryFilterData);

	//Add all the wheel shapes to the actor.
	for (PxU32 i = 0; i < numWheels; i++)
	{
		PxConvexMeshGeometry geom(wheelConvexMeshes[i]);
		PxShape* wheelShape = vehActor->createShape(geom, *wheelMaterials[i]);
		wheelShape->setQueryFilterData(wheelQryFilterData);
		wheelShape->setSimulationFilterData(wheelSimFilterData);
		wheelShape->setLocalPose(PxTransform(PxIdentity));
	}

	//Add the chassis shapes to the actor.
	for (PxU32 i = 0; i < numChassisMeshes; i++)
	{
		PxShape* chassisShape = vehActor->createShape
			(PxConvexMeshGeometry(chassisConvexMeshes[i]), *chassisMaterials[i]);
		chassisShape->setQueryFilterData(chassisQryFilterData);
		chassisShape->setSimulationFilterData(chassisSimFilterData);
		chassisShape->setLocalPose(PxTransform(PxIdentity));
	}

	vehActor->setMass(chassisData.mMass);
	vehActor->setMassSpaceInertiaTensor(chassisData.mMOI);
	vehActor->setCMassLocalPose(PxTransform(chassisData.mCMOffset, PxQuat(PxIdentity)));

	return vehActor;
}

PxRigidDynamic* CloneDynamic(PxPhysics& physicsSDK, 
							   const PxTransform& transform,
							   const PxRigidDynamic& from,
							   NxMirrorScene::MirrorFilter &mirrorFilter)
{
	PxRigidDynamic* to = physicsSDK.createRigidDynamic(transform);
	if(!to)
		return NULL;

	if ( !copyStaticProperties(*to, from, mirrorFilter) )
	{
		to->release();
		to = NULL;
		return NULL;
	}

	to->setRigidDynamicFlags(from.getRigidDynamicFlags());

	to->setMass(from.getMass());
	to->setMassSpaceInertiaTensor(from.getMassSpaceInertiaTensor());
	to->setCMassLocalPose(from.getCMassLocalPose());

	if ( !(to->getRigidDynamicFlags() & PxRigidDynamicFlag::eKINEMATIC) )
	{
		to->setLinearVelocity(from.getLinearVelocity());
		to->setAngularVelocity(from.getAngularVelocity());
	}

	to->setLinearDamping(from.getAngularDamping());
	to->setAngularDamping(from.getAngularDamping());

	to->setMaxAngularVelocity(from.getMaxAngularVelocity());

	PxU32 posIters, velIters;
	from.getSolverIterationCounts(posIters, velIters);
	to->setSolverIterationCounts(posIters, velIters);

	to->setSleepThreshold(from.getSleepThreshold());

	to->setContactReportThreshold(from.getContactReportThreshold());

	return to;
}

//.........这里部分代码省略.........

			//Ackermann steer accuracy
			PxVehicleAckermannGeometryData ackermann;
			ackermann.mAccuracy		  = 0.1f;
			ackermann.mAxleSeparation = wheelCentreOffsets[ 0 ].z - wheelCentreOffsets[ nWheels - 1 ].z;	// Расстояние между центром передней оси и центром задней оси
			ackermann.mFrontWidth	  = wheelCentreOffsets[ 0 ].x - wheelCentreOffsets[ 1		    ].x;	// Расстояние между центральной точке два передних колеса
			ackermann.mRearWidth	  = wheelCentreOffsets[ nWheels - 2 ].x - wheelCentreOffsets[ nWheels - 1 ].x;	// Расстояние между центральной точке два задних колеса
			driveData.setAckermannGeometryData(ackermann);			
			
			PxTriangleMesh * pTriangleMesh = 0;
			D3DXVECTOR3      vPosition;

			if( GameObject * pRoller = GetDetail( WHEEL_LEFT_1ST ) )
			{
				if( pRoller->CreateTriangleMesh( pPhysX ) )
				{
					pRoller->Update( 0.f );					
					pTriangleMesh = pRoller->GetTriangleMesh();
					Position      = pRoller->GetPosition();
				}
			}

			// Нам нужно добавить колеса столкновения форм, их местный позы, материал для колес, и моделирование фильтра для колес
			PxTriangleMeshGeometry WheelGeom( pTriangleMesh );
			
			PxGeometry* wheelGeometries[ nWheels ] = {0};
			PxTransform wheelLocalPoses[ nWheels ];

			for( PxU32 i = 0; i < nWheels; ++i )
			{
				wheelGeometries[ i ] = &WheelGeom;
				wheelLocalPoses[ i ] = PxTransform::createIdentity();
			}
			
			PxMaterial* pMaterial = pPhysX->GetPhysics()->createMaterial( 0.5f, 0.5f, 0.1f );    //коэффициенты трения скольжения и покоя(Dynamic friction,Static friction), коэффициент упругости
			const PxMaterial& wheelMaterial	= *pMaterial;
			PxFilterData wheelCollFilterData;

			wheelCollFilterData.word0 = COLLISION_FLAG_WHEEL;
			wheelCollFilterData.word1 = COLLISION_FLAG_WHEEL_AGAINST;

			// Нам нужно добавить шасси столкновения форм, их местный позы, материала для шасси и моделирования фильтр для шасси.
			//PxBoxGeometry chassisConvexGeom( 1.5f, 0.3f, 4.f );
			PxBoxGeometry chassisConvexGeom( chassisDims.x/2, chassisDims.y/2, chassisDims.z/2 );

			const PxGeometry* chassisGeoms	    = &chassisConvexGeom;
			const PxTransform chassisLocalPoses = PxTransform::createIdentity();
			const PxMaterial& chassisMaterial	= *pMaterial;

			PxFilterData chassisCollFilterData;
			chassisCollFilterData.word0 = COLLISION_FLAG_CHASSIS;
			chassisCollFilterData.word1 = COLLISION_FLAG_CHASSIS_AGAINST;

			// Создание фильтра запроса данных для автомобилей, чтобы машины не пытайтесь ездить на себя.
			PxFilterData vehQryFilterData;			
			SampleVehicleSetupVehicleShapeQueryFilterData( &vehQryFilterData );

			PxRigidDynamic* vehActor = pPhysX->GetPhysics()->createRigidDynamic( PxTransform::createIdentity() );

			//Add all the wheel shapes to the actor.
			for( PxU32 i = 0; i < nWheels; ++i )
			{
				PxShape* wheelShape=vehActor->createShape( *wheelGeometries[ i ], wheelMaterial );
				wheelShape->setQueryFilterData( vehQryFilterData );
				wheelShape->setSimulationFilterData( wheelCollFilterData );
				wheelShape->setLocalPose( wheelLocalPoses[ i ] );
				wheelShape->setFlag( PxShapeFlag::eSIMULATION_SHAPE, true );
			}

			//Add the chassis shapes to the actor			
			PxShape* chassisShape = vehActor->createShape( *chassisGeoms, chassisMaterial );
			chassisShape->setQueryFilterData( vehQryFilterData );
			chassisShape->setSimulationFilterData( chassisCollFilterData );
			chassisShape->setLocalPose( PxTransform( physx::PxVec3( 0, 0, 0 ) ) );
			

			vehActor->setMass( chassisData.mMass );
			vehActor->setMassSpaceInertiaTensor( chassisData.mMOI );
			vehActor->setCMassLocalPose( PxTransform( chassisData.mCMOffset, PxQuat::createIdentity() ) );
			vehActor->setGlobalPose( PxTransform( physx::PxVec3( 0, 8, 0 ), PxQuat::createIdentity() ) );

			PxVehicleDriveTank* pTank = PxVehicleDriveTank::allocate( nWheels );
 			
 			pTank->setup( pPhysX->GetPhysics(), vehActor, *wheelsSimData, driveData, nWheels );			
			pPhysX->AddActorScene( vehActor );
			m_pActor = vehActor;
			pPhysX->AddTank( pTank );

			//Free the sim data because we don't need that any more.
			wheelsSimData->free();
			//pTank->setDriveModel( PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL );
			pTank->setToRestState();			
			pTank->mDriveDynData.setUseAutoGears( true );

			return true;
		}
	}

	return false;
}