Method PhysicsSolver

src/PhysicsSolver.cpp:222–258

constructor which configures PhysX

//constructor which configures PhysX
PhysicsSolver::PhysicsSolver(){
    if (foundation == nullptr){
        foundation = PxCreateFoundation(PX_PHYSICS_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);
    }
    if (foundation == nullptr){
        cerr << "PhysX foundation failed!" << endl;
    }
    bool recordMemoryAllocations = true;
    if (pvd == nullptr) {
        pvd = PxCreatePvd(*foundation);
        PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
        pvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
        if (phys == nullptr) {
            phys = PxCreatePhysics(PX_PHYSICS_VERSION, *foundation, PxTolerancesScale(), recordMemoryAllocations, pvd);
        }
    }

    //create PhysX scene
    PxSceneDesc desc(phys->getTolerancesScale());
    desc.gravity = PxVec3(0.0f, -9.81f, 0.0f);

    //set the dispatcher (can be CPU or Multithreaded GPU)
    auto cpuDispatcher = PxDefaultCpuDispatcherCreate(std::thread::hardware_concurrency());
    if (!cpuDispatcher) {
        throw std::runtime_error("PhysX dispatcher failed to create ");
    }
    desc.cpuDispatcher = cpuDispatcher;

    desc.filterShader = SampleFilterShader;
    desc.simulationEventCallback = this;
    
    //create the scene
    scene = phys->createScene(desc);
    if (!scene) {
        throw std::runtime_error("PhysX scene failed to create");
    }
}