PhysXModule.h

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#pragma once

#ifdef USE_PHYSX

#include <NxPhysics.h>
#include "SweepSurfaceGeode.h"
#include <osg\PositionAttitudeTransform>
#include "Utils.h"
#include "Hoop.h"

#pragma comment(lib, "PhysXLoader.lib")

namespace APDYNAMICART
{

class PhysXModule
{

public:
    PhysXModule();
    ~PhysXModule();

    void releasePhysics();
    bool init();
    bool createScene();
    void getPhysicsResult();
    void startPhysics();
    void renderActors();
    NxActor** getActors();
    int getNumActors();
    bool addHoopActorToScene(HoopPtr hoop, EnvironmentObject* eo);
    void setStringJoints(HoopPtr first, HoopPtr second, Vec3ArrayPtr points);
    void setSphericalJoint(const osg::Vec3& point, HoopPtr hoop);
    void resetScene();
    void releaseActor(HoopPtr hoop);
protected:
    inline NxQuat toNxQuat( const osg::Quat &qRot );
    inline NxVec3 toNxVec3( const osg::Vec3& point );
    inline NxVec3 transformToLocalCoord( NxActor* actor, const NxVec3& point );

    NxPhysicsSDK* _physicsSDK;
    NxScene*      _scene;
    NxReal        _timeStep;
    //std::vector<NxActor*> _actors;
    std::vector<NxJoint*> _joints;

    std::map<HoopPtr, NxActor*> _actors;
};

NxQuat PhysXModule::toNxQuat( const osg::Quat &qRot )
{
    NxQuat result;
    result.x=qRot.x();
    result.y=qRot.y();
    result.z=qRot.z();
    result.w=qRot.w();

    return result;
}

NxVec3 PhysXModule::toNxVec3( const osg::Vec3& point )
{
    return point._v;
}

NxVec3 PhysXModule::transformToLocalCoord( NxActor* actor, const NxVec3& point )
{
    NxMat33 mat;
    actor->getGlobalPose().M.getInverse(mat);
    return mat * (point - actor->getGlobalPosition());
}

}
#endif