add convex mesh to PhysicsShape

engine/physics/Actor.cpp

@@ -25,22 +25,28 @@ OTHER DEALINGS IN THE SOFTWARE.
 */
 
 #include "Actor.h"
-#include "Vector3.h"
-#include "Quaternion.h"
-#include "Matrix4x4.h"
-#include "Unit.h"
+#include "Device.h"
 #include "Log.h"
+#include "Matrix4x4.h"
+#include "MeshResource.h"
 #include "PhysicsResource.h"
-#include "SceneGraph.h"
 #include "PxPhysicsAPI.h"
-
-#include "Device.h"
+#include "Quaternion.h"
 #include "ResourceManager.h"
+#include "SceneGraph.h"
+#include "Unit.h"
+#include "Vector3.h"
+#include "PxCooking.h"
+#include "PxDefaultStreams.h"
 
 
 using physx::PxActorFlag;
 using physx::PxActorType;
 using physx::PxBoxGeometry;
+using physx::PxCapsuleGeometry;
+using physx::PxConvexFlag;
+using physx::PxConvexMesh;
+using physx::PxConvexMeshDesc;
 using physx::PxD6Axis;
 using physx::PxD6Joint;
 using physx::PxD6JointCreate;
@@ -61,13 +67,18 @@ using physx::PxShapeFlag;
 using physx::PxSphereGeometry;
 using physx::PxTransform;
 using physx::PxU32;
+using physx::PxU16;
 using physx::PxVec3;
+using physx::PxDefaultMemoryOutputStream;
+using physx::PxDefaultMemoryInputData;
+using physx::PxConvexMeshGeometry;
 
 namespace crown
 {
 
 //-----------------------------------------------------------------------------
-Actor::Actor(const PhysicsResource* res, const PhysicsConfigResource* config, uint32_t index, PxPhysics* physics, PxScene* scene, SceneGraph& sg, int32_t node, const Vector3& pos, const Quaternion& rot)
+Actor::Actor(const PhysicsResource* res, const PhysicsConfigResource* config, uint32_t index, PxPhysics* physics, PxCooking* cooking,
+								PxScene* scene, SceneGraph& sg, int32_t node, const Vector3& pos, const Quaternion& rot)
 	: m_resource(res)
 	, m_config(config)
 	, m_index(index)
@@ -100,7 +111,7 @@ Actor::Actor(const PhysicsResource* res, const PhysicsConfigResource* config, ui
 
 	m_actor->userData = this;
 
-	create_shapes(res, config, physics);
+	create_shapes(res, config, physics, cooking);
 
 	// FIXME collisions works only if enable_collision() is called here first
 	// collision enabled by default
@@ -121,7 +132,7 @@ Actor::~Actor()
 }
 
 //-----------------------------------------------------------------------------
-void Actor::create_shapes(const PhysicsResource* res, const PhysicsConfigResource* config, PxPhysics* physics)
+void Actor::create_shapes(const PhysicsResource* res, const PhysicsConfigResource* config, PxPhysics* physics, PxCooking* cooking)
 {
 	const PhysicsActor& actor = m_resource->actor(m_index);
 	uint32_t shape_index = m_resource->shape_index(m_index);
@@ -141,6 +152,11 @@ void Actor::create_shapes(const PhysicsResource* res, const PhysicsConfigResourc
 				px_shape = m_actor->createShape(PxSphereGeometry(shape.data_0), *mat);
 				break;
 			}
+			case PhysicsShapeType::CAPSULE:
+			{
+				px_shape = m_actor->createShape(PxCapsuleGeometry(shape.data_0, shape.data_1), *mat);
+				break;
+			}
 			case PhysicsShapeType::BOX:
 			{
 				px_shape = m_actor->createShape(PxBoxGeometry(shape.data_0, shape.data_1, shape.data_2), *mat);
@@ -148,10 +164,33 @@ void Actor::create_shapes(const PhysicsResource* res, const PhysicsConfigResourc
 			}
 			case PhysicsShapeType::PLANE:
 			{
-				// FIXME
 				px_shape = m_actor->createShape(PxPlaneGeometry(), *mat);
 				break;
 			}
+			case PhysicsShapeType::CONVEX_MESH:
+			{
+				MeshResource* resource = (MeshResource*) device()->resource_manager()->data(shape.resource);
+
+				PxConvexMeshDesc convex_mesh_desc;
+				convex_mesh_desc.points.count		= resource->num_vertices();
+				convex_mesh_desc.points.stride		= sizeof(PxVec3);
+				convex_mesh_desc.points.data		= (PxVec3*) resource->vertices();
+				convex_mesh_desc.triangles.count	= resource->num_indices();
+				convex_mesh_desc.triangles.stride	= 3 * sizeof(PxU16);
+				convex_mesh_desc.triangles.data 	= (PxU16*) resource->indices();
+				convex_mesh_desc.flags				= PxConvexFlag::eCOMPUTE_CONVEX;
+				convex_mesh_desc.vertexLimit		= MAX_PHYSX_VERTICES;
+
+				PxDefaultMemoryOutputStream buf;
+				if(!cooking->cookConvexMesh(convex_mesh_desc, buf))
+					CE_FATAL();
+				PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
+				PxConvexMesh* convex_mesh = physics->createConvexMesh(input);
+
+				px_shape = m_actor->createShape(PxConvexMeshGeometry(convex_mesh), *mat);
+
+				break;
+			}
 			default:
 			{
 				CE_FATAL("Oops, unknown shape type");
@@ -161,7 +200,7 @@ void Actor::create_shapes(const PhysicsResource* res, const PhysicsConfigResourc
 		if (shape_class.trigger)
 		{
 			px_shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
-			px_shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);		
+			px_shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
 		}
 
 		shape_index++;

engine/physics/Actor.h

@@ -36,15 +36,19 @@ OTHER DEALINGS IN THE SOFTWARE.
 #include "PxPhysics.h"
 #include "PxScene.h"
 #include "PxRigidActor.h"
+#include "PxCooking.h"
 
 using physx::PxRigidActor;
 using physx::PxMaterial;
 using physx::PxScene;
 using physx::PxPhysics;
+using physx::PxCooking;
 
 namespace crown
 {
 
+#define MAX_PHYSX_VERTICES 256
+
 struct PhysicsResource;
 struct PhysicsConfigResource;
 struct Quaternion;
@@ -54,7 +58,8 @@ class SceneGraph;
 
 struct Actor
 {
-						Actor(const PhysicsResource* res, const PhysicsConfigResource* config, uint32_t index, PxPhysics* physics, PxScene* scene, SceneGraph& sg, int32_t node, const Vector3& pos, const Quaternion& rot);
+						Actor(const PhysicsResource* res, const PhysicsConfigResource* config, uint32_t index, PxPhysics* physics, PxCooking* cooking,
+								PxScene* scene, SceneGraph& sg, int32_t node, const Vector3& pos, const Quaternion& rot);
 						~Actor();
 
 	void				enable_gravity();
@@ -99,7 +104,7 @@ struct Actor
 private:
 
 	void				update(const Matrix4x4& pose);
-	void				create_shapes(const PhysicsResource* res, const PhysicsConfigResource* config, PxPhysics* physics);
+	void				create_shapes(const PhysicsResource* res, const PhysicsConfigResource* config, PxPhysics* physics, PxCooking* cooking);
 	
 public:
 

engine/physics/PhysicsWorld.cpp

@@ -255,7 +255,7 @@ PhysicsWorld::~PhysicsWorld()
 ActorId	PhysicsWorld::create_actor(const PhysicsResource* res, const uint32_t index, SceneGraph& sg, int32_t node)
 {
 	PhysicsConfigResource* config = (PhysicsConfigResource*) device()->resource_manager()->lookup("physics_config", "global");
-	Actor* actor = CE_NEW(m_actors_pool, Actor)(res, config, index, physics_system::s_physics, m_scene, sg, node, Vector3::ZERO, Quaternion::IDENTITY);
+	Actor* actor = CE_NEW(m_actors_pool, Actor)(res, config, index, physics_system::s_physics, physics_system::s_cooking, m_scene, sg, node, Vector3::ZERO, Quaternion::IDENTITY);
 	return m_actors.create(actor);
 }