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

PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk, 
								  const PxTransform& transform, 
								  PxShape& shape,
								  PxReal density)
{
	PX_CHECK_AND_RETURN_NULL(transform.isValid(), "PxCreateKinematic: transform is not valid.");

	bool isDynGeom = isDynamicGeometry(shape.getGeometryType());
	if(isDynGeom && density <= 0.0f)
	    return NULL;

	PxRigidDynamic* actor = sdk.createRigidDynamic(transform);	
	if(actor)
	{
		actor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
		if(!isDynGeom)
			shape.setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);

		actor->attachShape(shape);

		if(isDynGeom)
			PxRigidBodyExt::updateMassAndInertia(*actor, density);
		else		
		{
			actor->setMass(1.f);
			actor->setMassSpaceInertiaTensor(PxVec3(1.f,1.f,1.f));
		}
	}

	return actor;
}

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;
}

// add some physics objects into the scene
void AddPhyObjects()
{
	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
	gScene->addActor(*groundPlane);

	PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
	PxTransform localTm(PxVec3(-3.0f, 5.0f, 0.f));
	PxRigidDynamic* body = gPhysics->createRigidDynamic(localTm);
	body->attachShape(*shape);
	PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
	gScene->addActor(*body);

	shape->release();

	shape = gPhysics->createShape(PxSphereGeometry(1.0f), *gMaterial);
	PxTransform localTmS(PxVec3(3.0f, 5.0f, 0.f));
	body = gPhysics->createRigidDynamic(localTmS);
	body->attachShape(*shape);
	PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
	gScene->addActor(*body);

	shape->release();

	PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, PxTransform(PxVec3(0, 20, 20)), PxSphereGeometry(1), *gMaterial, 10.0f);
	dynamic->setAngularDamping(0.5f);
	dynamic->setLinearVelocity(PxVec3(0, -5, -10));
	gScene->addActor(*dynamic);

	// add capsule into the scene
	shape = gPhysics->createShape(PxCapsuleGeometry(1.0f, 3.0f), *gMaterial);
	PxTransform localTmC(PxVec3(3.0f, 5.0f, -3.f));
	body = gPhysics->createRigidDynamic(localTmC);
	body->attachShape(*shape);
	PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
	gScene->addActor(*body);

	// add a static box as the trigger
	shape = gPhysics->createShape(PxBoxGeometry(1.0f, 1.0f, 1.0f), *gMaterial);
	PxTransform localTmTrigger(PxVec3(0.0f, 1.0f, -10.f));
	body = gPhysics->createRigidDynamic(localTmTrigger);
	shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
	shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
	body->attachShape(*shape);
	body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
	gScene->addActor(*body);

	shape->release();
}