def InitNx ( ) :
gDefaultGravity = physics.NxVec3(0.0,-9.8,0.0)
gCookingInitialized = False
# Initialize PhysicsSDK
# desc = physics.NxPhysicsSDKDesc()
# print "DESC", desc
gPhysicsSDK = physics.NxCreatePhysicsSDK(physics.NX_PHYSICS_SDK_VERSION())
print gPhysicsSDK
print "Getting master"
g = physics.getMasterPhysicsSDK()
print "Got Master"
print g
print dir(g)
print dir (gPhysicsSDK)
d = physics.NxPhysicsSDK ( )
print d
print dir(d)
if gPhysicsSDK == None :
print "\nSDK create error (%d - %s).\nUnable to initialize the PhysX SDK, exiting the sample.\n\n" % (errorCode,"test")
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().isConnected())
# gPhysicsSDK.getFoundationSDK().getRemoteDebugger().connect(SAMPLES_VRD_HOST, SAMPLES_VRD_PORT, SAMPLES_VRD_EVENTMASK)
# #endif
if not gCookingInitialized:
gCookingInitialized = True
if not physics.InitCooking():
print "\nError: Unable to initialize the cooking library, exiting the sample.\n\n"
return False
# Set the physics parameters
gPhysicsSDK.setParameter(physics.NX_SKIN_WIDTH, -0.01)
# Set the debug visualization parameters
gPhysicsSDK.setParameter(physics.NX_VISUALIZATION_SCALE, 1)
gPhysicsSDK.setParameter(physics.NX_VISUALIZE_COLLISION_SHAPES, 1)
gPhysicsSDK.setParameter(physics.NX_VISUALIZE_JOINT_LIMITS, 1)
gPhysicsSDK.setParameter(physics.NX_VISUALIZE_JOINT_LOCAL_AXES, 1)
# Create the scene
sceneDesc = physics.NxSceneDesc()
sceneDesc.gravity = gDefaultGravity
gScene = gPhysicsSDK.createScene(sceneDesc)
# Create the default material
m = physic.NxMaterialDesc ()
m.restitution = 0.5
m.staticFriction = 0.2
m.dynamicFriction = 0.2
mat = gScene.getMaterialFromIndex(0)
mat.loadFromDesc(m)
# switch(gSceneNr) {
# case 1 : SetupAnimalScene() break
# case 2 : SetupWheelScene() break
# case 3 : SetupPalmScene() break
# case 4 : SetupGrassScene() break
# case 5 : SetupRegularScene() break
# case 6 : SetupBunnyScene() break
# case 7 : SetupPumpkinScene() break
#
# # Insert new cases here
# }
#
# if (gSoftBodies.size() > 0)
# gSelectedSoftBody = gSoftBodies[0].getNxSoftBody()
# else
# gSelectedSoftBody = None
#
# if (gScene.getNbActors() > 0)
# gSelectedActor = *gScene.getActors()
# else
# gSelectedActor = None
#
# UpdateTime()
return True
def sphericalPolar(radio, pitch, yaw):
temp = physx.NxVec3()
temp.x=radio* physx.sinf(pitch)*physx.sinf(yaw)
temp.y=radio*physx.cosf(pitch)
temp.z=radio*physx.sinf(pitch)*physx.cosf(yaw)
return temp