Function buildBridge

physx/samples/samplebridges/SampleBridges.cpp:180–309

PT: TODO: share this function with original code in Visual Tests?

// PT: TODO: share this function with original code in Visual Tests?
static void buildBridge(PxScene& scene, PxPhysics& physics, PxMaterial& material, std::vector<PxRigidActor*>& actors, std::vector<PxJoint*>& joints, const PxTransform& tr, PxReal scale, BridgeJoint type)
{
	const PxVec3 offset(0,0,0);

	const PxReal groundLength = 5.0f;
	const PxReal groundHeight = 5.0f;

	// create ground under character
	if(1)
	{
		PxTransform	boxPose = tr * PxTransform(PxVec3(0.0f, -groundHeight, -10.0f-groundLength)*scale, PxQuat(PxIdentity));
		boxPose.p += offset;

		const PxVec3 boxSize = PxVec3(1.0f, groundHeight, groundLength) * scale;
		PxRigidActor* box = createBox(scene, physics, boxPose, boxSize, 0.0f, material, NULL, 0);
		actors.push_back(box);
	}

	// create bridge...
	if(1)
	{
		const PxReal plankWidth		= 1.0f;
		const PxReal plankHeight	= 0.02f;
		const PxReal plankDepth		= 0.5f;
		const PxReal plankDensity	= 0.03f;
//		const PxReal plankDensity	= 0.3f;
		PxRigidDynamic* lastPlank	= 0;

		for(PxReal z = -10.0f+plankDepth; z<10.0f; z+= plankDepth*2)
		{
			const PxVec3 boxSize = PxVec3(plankWidth, plankHeight, plankDepth) * scale;

			PxTransform boxPose = tr * PxTransform(PxVec3(0,-plankHeight,z)*scale);

			PxRigidDynamic* plank = createBox(scene, physics, boxPose, boxSize, plankDensity, material, NULL, 0)->is<PxRigidDynamic>();
			if(plank)
			{
#ifdef CCT_ON_BRIDGES
				plank->setName(gPlankName);
#endif
				actors.push_back(plank);

				//plank->setSolverIterationCounts(1, 1);
//				plank->setSolverIterationCounts(255, 255);
//				plank->setSolverIterationCounts(10, 10);
				plank->setSolverIterationCounts(8, 8);
				plank->setLinearDamping(1.0f);
				plank->setAngularDamping(1.0f);
//				plank->putToSleep();

				if(!lastPlank)
				{
					// plank = first plank...
					plank->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
				}
				else
				{
					// joint together plank and lastPlank...