Method createObstacles

physx/samples/samplevehicle/SampleVehicle.cpp:1528–1715

}

void SampleVehicle::createObstacles()
{
	PxSceneWriteLock scopedLock(*mScene);
	//Create some giant pendula
	{
		PxTransform shapeTransforms[3]={PxTransform(PxIdentity),PxTransform(PxIdentity),PxTransform(PxIdentity)};
		PxMaterial* shapeMaterials[3]={NULL,NULL,NULL};
		PxGeometry* shapeGeometries[3]={NULL,NULL,NULL};
		PxShape* shapes[3]={NULL,NULL,NULL};

		gNumRevoluteJoints=0;

		for(PxU32 i=0;i<MAX_NUM_PENDULA;i++)
		{
			//Get the transform to position the next pendulum ball.
			const PxTransform& ballStartTransform=gPendulaBallStartTransforms[i];

			//Pendulum made of two shapes : a sphere for the ball and a cylinder for the shaft.
			//In the absence of a special material for pendula just use the tarmac material. 
			PxSphereGeometry geomBall(gPendulumBallRadius);
			shapeGeometries[0]=&geomBall;
			shapeTransforms[0]=PxTransform(PxIdentity);
			shapeMaterials[0]=mStandardMaterials[SURFACE_TYPE_TARMAC];
			PxConvexMeshGeometry geomShaft(createCylinderConvexMesh(gPendulumShaftLength, gPendulumShaftWidth, 8, getPhysics(), getCooking()));
			shapeGeometries[1]=&geomShaft;
			shapeTransforms[1]=PxTransform(PxVec3(0, 0.5f*gPendulumShaftLength, 0), PxQuat(PxHalfPi, PxVec3(0,0,1))),
			shapeMaterials[1]=mStandardMaterials[SURFACE_TYPE_TARMAC];

			//Ready to add the pendulum as a dynamic object.
			PxRigidDynamic* actor=addDynamicObstacle(ballStartTransform,gPendulumBallMass,2,shapeTransforms,shapeGeometries,shapeMaterials);

			//As an optimization we don't want pendulum to intersect with static geometry because the position and 
			//limits on joint rotation will ensure that this is already impossible.
			actor->getShapes(shapes,2);
			PxFilterData simFilterData=shapes[0]->getSimulationFilterData();
			simFilterData.word1 &= ~COLLISION_FLAG_GROUND;
			shapes[0]->setSimulationFilterData(simFilterData);
			shapes[1]->setSimulationFilterData(simFilterData);
			//As a further optimization lets set the pendulum shapes to be non-drivable surfaces.
			PxFilterData qryFilterData;
			SampleVehicleSetupNonDrivableShapeQueryFilterData(&qryFilterData);
			shapes[0]->setQueryFilterData(qryFilterData);
			shapes[1]->setQueryFilterData(qryFilterData);
			
			//Add static geometry to give the appearance that something is physically supporting the pendulum.
			//This supporting geometry is just a vertical bar and two horizontal bars.
			const PxF32 groundClearance=3.0f;
			PxConvexMeshGeometry geomHorizontalBar(createCylinderConvexMesh(gPendulumSuspensionStructureWidth, gPendulumShaftWidth, 8, getPhysics(), getCooking())); 
			PxConvexMeshGeometry geomVerticalBar(createCylinderConvexMesh(gPendulumShaftLength+groundClearance, gPendulumShaftWidth, 8, getPhysics(), getCooking()));
			shapeGeometries[0]=&geomHorizontalBar;
			shapeMaterials[0]=mStandardMaterials[SURFACE_TYPE_TARMAC];
			shapeTransforms[0]=PxTransform(PxVec3(0, gPendulumShaftLength, 0), PxQuat(PxIdentity));
			shapeGeometries[1]=&geomVerticalBar;
			shapeMaterials[1]=mStandardMaterials[SURFACE_TYPE_TARMAC];
			shapeTransforms[1]=PxTransform(PxVec3(0.5f*gPendulumSuspensionStructureWidth, 0.5f*(gPendulumShaftLength-groundClearance), 0), PxQuat(PxHalfPi, PxVec3(0,0,1)));
			shapeGeometries[2]=&geomVerticalBar;
			shapeMaterials[2]=mStandardMaterials[SURFACE_TYPE_TARMAC];
			shapeTransforms[2]=PxTransform(PxVec3(-0.5f*gPendulumSuspensionStructureWidth, 0.5f*(gPendulumShaftLength-groundClearance), 0), PxQuat(PxHalfPi, PxVec3(0,0,1)));