// ===============================================================================////						   AGEIA PhysX SDK Sample Program//// Title: Boxes Sample// Description: This sample program shows how to create some simple dynamic objects//              with the AGEIA PhysX SDK.//// ===============================================================================#include <stdio.h>#include <glut.h>#include "NxPhysics.h"#include "ErrorStream.h"#include "PerfRenderer.h"#include "Utilities.h"#include "SamplesVRDSettings.h"// Physicsstatic NxPhysicsSDK*	gPhysicsSDK = NULL;static NxScene*			gScene = NULL;static PerfRenderer    gPerfRenderer;// Renderingstatic NxVec3	gEye(50.0f, 50.0f, 50.0f);static NxVec3	gDir(-0.6f,-0.2f,-0.7f);static NxVec3	gViewY;static int		gMouseX = 0;static int		gMouseY = 0;static bool InitNx(){	// Initialize PhysicsSDK	NxPhysicsSDKDesc desc;	NxSDKCreateError errorCode = NXCE_NO_ERROR;	gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, NULL, new ErrorStream(), desc, &errorCode);	if(gPhysicsSDK == NULL) 	{		printf("\nSDK create error (%d - %s).\nUnable to initialize the PhysX SDK, exiting the sample.\n\n", errorCode, getNxSDKCreateError(errorCode));		return false;	}#if SAMPLES_USE_VRD	// The settings for the VRD host and port are found in SampleCommonCode/SamplesVRDSettings.h	if (gPhysicsSDK->getFoundationSDK().getRemoteDebugger())		gPhysicsSDK->getFoundationSDK().getRemoteDebugger()->connect(SAMPLES_VRD_HOST, SAMPLES_VRD_PORT, SAMPLES_VRD_EVENTMASK);#endif	gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.05f);	// Create a scene	NxSceneDesc sceneDesc;	sceneDesc.gravity				= NxVec3(0.0f, -9.81f, 0.0f);	gScene = gPhysicsSDK->createScene(sceneDesc);	if(gScene == NULL) 	{		printf("\nError: Unable to create a PhysX scene, exiting the sample.\n\n");		return false;	}	// Set default material	NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);	defaultMaterial->setRestitution(0.0f);	defaultMaterial->setStaticFriction(0.5f);	defaultMaterial->setDynamicFriction(0.5f);	// Create ground plane	NxPlaneShapeDesc planeDesc;	NxActorDesc actorDesc;	actorDesc.shapes.pushBack(&planeDesc);	gScene->createActor(actorDesc);	return true;}static void ExitNx(){	if(gPhysicsSDK != NULL)	{		if(gScene != NULL) gPhysicsSDK->releaseScene(*gScene);		gScene = NULL;		NxReleasePhysicsSDK(gPhysicsSDK);		gPhysicsSDK = NULL;	}}static void CreateCube(const NxVec3& pos, int size=2, const NxVec3* initialVelocity=NULL){	if(gScene == NULL) return;		// Create body	NxBodyDesc bodyDesc;	bodyDesc.angularDamping	= 0.5f;	if(initialVelocity) bodyDesc.linearVelocity = *initialVelocity;	NxBoxShapeDesc boxDesc;	boxDesc.dimensions = NxVec3((float)size, (float)size, (float)size);	NxActorDesc actorDesc;	actorDesc.shapes.pushBack(&boxDesc);	actorDesc.body			= &bodyDesc;	actorDesc.density		= 10.0f;	actorDesc.globalPose.t  = pos;	gScene->createActor(actorDesc)->userData = (void*)size_t(size);	//printf("Total: %d actors\n", gScene->getNbActors());}static void CreateCubeFromEye(int size){	NxVec3 t = gEye;	NxVec3 vel = gDir;	vel.normalize();	vel*=200.0f;	CreateCube(t, size, &vel);}static void CreateStack(int size){	const float cubeSize = 2.0f;	const float spacing = -2.0f*gPhysicsSDK->getParameter(NX_SKIN_WIDTH);	NxVec3 pos(0.0f, cubeSize, 0.0f);	float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;	while(size)	{		for(int i=0;i<size;i++)		{			pos.x = offset + (float)i * (cubeSize * 2.0f + spacing);			CreateCube(pos, (int)cubeSize);		}		offset += cubeSize;		pos.y += (cubeSize * 2.0f + spacing);		size--;	}}static void CreateTower(int size){	const float cubeSize = 2.0f;	const float spacing = 0.01f;	NxVec3 pos(0.0f, cubeSize, 0.0f);	while(size)	{		CreateCube(pos, (int)cubeSize);		pos.y += (cubeSize * 2.0f + spacing);		size--;	}}static void KeyboardCallback(unsigned char key, int x, int y){	switch(key)	{		case 27:				exit(0); 			break;		case '0':				gPerfRenderer.toggleEnable(); 			break;		case ' ':				CreateCube(NxVec3(0.0f, 20.0f, 0.0f),1); 			break;		case 's':		case 'S':			CreateStack(10); 			break;		case 'b':			case 'B':				CreateStack(30); 			break;		case 't':		case 'T':			CreateTower(30);			break;		case 'w':		case 'W':			CreateCubeFromEye(8);			break;		case 'q':		case 'Q':			{				NxActor** actors = gScene->getActors();				if(gScene->getNbActors() > 1){					gScene->releaseActor(*actors[gScene->getNbActors()-1]);				}			}			break;				case GLUT_KEY_UP:	case '8':	gEye += gDir*2.0f; break;		case GLUT_KEY_DOWN: case '2':	gEye -= gDir*2.0f; break;		case GLUT_KEY_LEFT:	case '4':	gEye -= gViewY*2.0f; break;		case GLUT_KEY_RIGHT: case '6':	gEye += gViewY*2.0f; break;	}}static void ArrowKeyCallback(int key, int x, int y){	KeyboardCallback(key,x,y);}static void MouseCallback(int button, int state, int x, int y){	gMouseX = x;	gMouseY = y;}static void MotionCallback(int x, int y){	int dx = gMouseX - x;	int dy = gMouseY - y;		gDir.normalize();	gViewY.cross(gDir, NxVec3(0,1,0));	NxQuat qx(NxPiF32 * dx * 20/ 180.0f, NxVec3(0,1,0));	qx.rotate(gDir);	NxQuat qy(NxPiF32 * dy * 20/ 180.0f, gViewY);	qy.rotate(gDir);	gMouseX = x;	gMouseY = y;}static void RenderCallback(){	if(gScene == NULL) return;		// Start simulation (non blocking)	gScene->simulate(1.0f/60.0f);	// Clear buffers	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);	// Setup projection matrix	glMatrixMode(GL_PROJECTION);	glLoadIdentity();	gluPerspective(60.0f, (float)glutGet(GLUT_WINDOW_WIDTH)/(float)glutGet(GLUT_WINDOW_HEIGHT), 1.0f, 10000.0f);	gluLookAt(gEye.x, gEye.y, gEye.z, gEye.x + gDir.x, gEye.y + gDir.y, gEye.z + gDir.z, 0.0f, 1.0f, 0.0f);	// Setup modelview matrix	glMatrixMode(GL_MODELVIEW);	glLoadIdentity();	// Render all actors	int nbActors = gScene->getNbActors();	NxActor** actors = gScene->getActors();	while(nbActors--)	{		NxActor* actor = *actors++;		if(!actor->userData) continue;		// Render actor		glPushMatrix();		float glMat[16];		actor->getGlobalPose().getColumnMajor44(glMat);		glMultMatrixf(glMat);		glColor4f(1.0f, 1.0f, 1.0f, 1.0f);		glutSolidCube(float(size_t(actor->userData))*2.0f);		glPopMatrix();		// Render shadow		glPushMatrix();		const static float shadowMat[]={ 1,0,0,0, 0,0,0,0, 0,0,1,0, 0,0,0,1 };		glMultMatrixf(shadowMat);		glMultMatrixf(glMat);		glDisable(GL_LIGHTING);		glColor4f(0.1f, 0.2f, 0.3f, 1.0f);		glutSolidCube(float(size_t(actor->userData))*2.0f);		glEnable(GL_LIGHTING);		glPopMatrix();	}	// Fetch simulation results	gScene->flushStream();	gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);		// Print profile results (if enabled)	gPerfRenderer.render(gScene->readProfileData(true), glutGet(GLUT_WINDOW_WIDTH), glutGet(GLUT_WINDOW_HEIGHT));	glutSwapBuffers();}static void ReshapeCallback(int width, int height){	glViewport(0, 0, width, height);}static void IdleCallback(){	glutPostRedisplay();}int main(int argc, char** argv){	// Initialize glut	printf("Use the arrow keys or 2, 4, 6 and 8 to move the camera.\n");	printf("Use the mouse to rotate the camera.\n");	printf("Press the keys w, t, s, b and space to create various things.\n");	printf("Press q to destroy the last thing created.\n");	printf("Press 0 to toggle the frame rate display.\n");	glutInit(&argc, argv);	glutInitWindowSize(512, 512);	glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);	int mainHandle = glutCreateWindow("SampleBoxes");	glutSetWindow(mainHandle);	glutDisplayFunc(RenderCallback);	glutReshapeFunc(ReshapeCallback);	glutIdleFunc(IdleCallback);	glutKeyboardFunc(KeyboardCallback);	glutSpecialFunc(ArrowKeyCallback);	glutMouseFunc(MouseCallback);	glutMotionFunc(MotionCallback);	MotionCallback(0,0);	atexit(ExitNx);	// Setup default render states	glClearColor(0.3f, 0.4f, 0.5f, 1.0);	glEnable(GL_DEPTH_TEST);	glEnable(GL_COLOR_MATERIAL);	// Setup lighting	glEnable(GL_LIGHTING);	float ambientColor[]	= { 0.0f, 0.1f, 0.2f, 0.0f };	float diffuseColor[]	= { 1.0f, 1.0f, 1.0f, 0.0f };			float specularColor[]	= { 0.0f, 0.0f, 0.0f, 0.0f };			float position[]		= { 100.0f, 100.0f, 400.0f, 1.0f };			glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);	glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor);	glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);	glLightfv(GL_LIGHT0, GL_POSITION, position);	glEnable(GL_LIGHT0);	// Initialize physics scene and start the application main loop if scene was created	if (InitNx())		glutMainLoop();	return 0;}