compile with physx 4

physics/Engine.cpp

@@ -29,7 +29,12 @@ Engine* Engine::instance()
 Engine::Engine()
     : _cooking(NULL), _cudaManager(NULL), _pvdTransport(NULL), _pvd(NULL)
 {
+#if (PX_PHYSICS_VERSION_MAJOR > 3)
+    PxFoundation* foundation = PxCreateFoundation(PX_PHYSICS_VERSION, defaultAllocator, errorHandler);
+#else
     PxFoundation* foundation = PxCreateFoundation(PX_FOUNDATION_VERSION, defaultAllocator, errorHandler);
+#endif
+
     if (!foundation)
     {
         OSG_WARN << "Unable to initialize PhysX foundation." << std::endl;
@@ -127,6 +132,7 @@ bool Engine::addActor(const std::string& s, PxRigidActor* actor, const PxFilterD
         return false;
 }
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
 bool Engine::addActor(const std::string& s, physx::PxParticleBase* ps, const physx::PxFilterData& filter)
 {
     if (addActor(s, ps))
@@ -137,6 +143,7 @@ bool Engine::addActor(const std::string& s, physx::PxParticleBase* ps, const phy
     else
         return false;
 }
+#endif
 
 bool Engine::removeActor(const std::string& s, PxActor* actor)
 {

physics/Engine.h

@@ -5,9 +5,10 @@
 #include <PxPhysicsAPI.h>
 #include <extensions/PxExtensionsAPI.h>
 #include <vector>
+#include <string>
 #include <map>
 
-#if PX_PHYSICS_VERSION_MAJOR==3 && PX_PHYSICS_VERSION_MINOR==4
+#if PX_PHYSICS_VERSION_MAJOR==3 && PX_PHYSICS_VERSION_MINOR==4 || PX_PHYSICS_VERSION_MAJOR > 3
     //
 #else
 #   error "Unsupport PhysX version"
@@ -43,7 +44,9 @@ namespace osgPhysics
         /** Add actor object to specified scene */
         bool addActor(const std::string& scene, physx::PxActor* actor);
         bool addActor(const std::string& scene, physx::PxRigidActor* actor, const physx::PxFilterData& filter);
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
         bool addActor(const std::string& scene, physx::PxParticleBase* ps, const physx::PxFilterData& filter);
+#endif
         bool removeActor(const std::string& scene, physx::PxActor* actor);
 
         typedef std::vector<physx::PxActor*> ActorList;

physics/ParticleUpdater.cpp

@@ -4,6 +4,7 @@
 #include <algorithm>
 #include <iostream>
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
 #include <intrin.h>
 #pragma intrinsic(_BitScanForward)
 #pragma intrinsic(_BitScanReverse)
@@ -420,5 +421,5 @@ void NativeParticleOperator::operateParticles(osgParticle::ParticleSystem* ps, d
         // FIXME: are unhandled particles all dead?
     }
 }
-
+#endif
 #endif

physics/ParticleUpdater.h

@@ -11,6 +11,7 @@
 #include <osg/Referenced>
 #include "Engine.h"
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
 namespace osgPhysics
 {
 
@@ -187,5 +188,5 @@ namespace osgPhysics
 #endif
 
 }
-
+#endif
 #endif

physics/PhysicsUtil.cpp

@@ -224,7 +224,9 @@ namespace osgPhysics
         heightFieldDesc.nbColumns = numColumns;
         heightFieldDesc.nbRows = numRows;
         heightFieldDesc.format = PxHeightFieldFormat::eS16_TM;
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
         heightFieldDesc.thickness = thickness;
+#endif
 
         PxHeightFieldSample* samplesData = (PxHeightFieldSample*)malloc(
             sizeof(PxHeightFieldSample) * numColumns * numRows);
@@ -322,6 +324,7 @@ namespace osgPhysics
         return createTriangleMesh(verts, indices);
     }
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
     PxClothFabric* createClothFabric(const std::vector<PxVec3>& verts, const std::vector<PxU32>& indices,
         const osg::Vec3& gravity)
     {
@@ -336,7 +339,7 @@ namespace osgPhysics
         PxVec3 g(gravity[0], gravity[1], gravity[2]);
         return PxClothFabricCreate(*SDK_OBJ, meshDesc, g);
     }
-
+#endif
     PxScene* createScene(const osg::Vec3& gravity, const PxSimulationFilterShader& filter,
         physx::PxSceneFlags flags, unsigned int numThreads, bool useGPU)
     {
@@ -348,10 +351,19 @@ namespace osgPhysics
         if (useGPU)
         {
             PxCudaContextManager* cudaManager = Engine::instance()->getOrCreateCudaContextManager();
+#if (PX_PHYSICS_VERSION_MAJOR > 3)
+            if (cudaManager) sceneDesc.cudaContextManager = cudaManager;
+#else
             if (cudaManager) sceneDesc.gpuDispatcher = cudaManager->getGpuDispatcher();
+#endif
+
         }
 
+#if (PX_PHYSICS_VERSION_MAJOR > 3)
+        if (!sceneDesc.cudaContextManager && !sceneDesc.cpuDispatcher)
+#else
         if (!sceneDesc.gpuDispatcher && !sceneDesc.cpuDispatcher)
+#endif
         {
             PxDefaultCpuDispatcher* defCpuDispatcher = PxDefaultCpuDispatcherCreate(numThreads);
             if (!defCpuDispatcher)

physics/PhysicsUtil.h

@@ -25,12 +25,20 @@ namespace osgPhysics
     /** Cook and create new convex mesh */
     extern physx::PxConvexMesh* createConvexMesh(
         const std::vector<physx::PxVec3>& verts,
-        physx::PxConvexFlags flags = physx::PxConvexFlag::eCOMPUTE_CONVEX | physx::PxConvexFlag::eINFLATE_CONVEX);
+        physx::PxConvexFlags flags = physx::PxConvexFlag::eCOMPUTE_CONVEX
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
+        | physx::PxConvexFlag::eINFLATE_CONVEX
+#endif
+    );
 
     /** Cook and create new convex mesh from node */
     extern physx::PxConvexMesh* createConvexMesh(
         osg::Node& node,
-        physx::PxConvexFlags flags = physx::PxConvexFlag::eCOMPUTE_CONVEX | physx::PxConvexFlag::eINFLATE_CONVEX);
+        physx::PxConvexFlags flags = physx::PxConvexFlag::eCOMPUTE_CONVEX
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
+        | physx::PxConvexFlag::eINFLATE_CONVEX
+#endif
+    );
 
     /** Cook and create new height field, where lowerTriangleData & upperTriangleData contain material index data
         and hole flag of the lower/upper triangle of each height field cell
@@ -53,9 +61,11 @@ namespace osgPhysics
     extern physx::PxTriangleMesh* createTriangleMesh(osg::Node& node);
 
     /** Cook and create new physics cloth fabric */
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
     extern physx::PxClothFabric* createClothFabric(const std::vector<physx::PxVec3>& verts,
         const std::vector<physx::PxU32>& indices,
         const osg::Vec3& gravity);
+#endif
 
     /** Create a physics scene */
     extern physx::PxScene* createScene(const osg::Vec3& gravity,

physics/Vehicle.cpp

@@ -262,7 +262,14 @@ physx::PxRigidDynamic* WheeledVehicle::createActorAndFilters(
     PxMaterial* defMaterial = VehicleManager::instance()->getSurfaceMaterial(VehicleManager::SURFACE_TARMAC);
     for (int i = 0; i < numWheels; ++i)
     {
+
+#if (PX_PHYSICS_VERSION_MAJOR > 3)
+        _wheelShapes[i] = PxRigidActorExt::createExclusiveShape(*actor, *(wheelGeometries[i]), wheelMtl ? *wheelMtl : *defMaterial);
+        actor->attachShape(*_wheelShapes[i]);
+#else
         _wheelShapes[i] = actor->createShape(*(wheelGeometries[i]), wheelMtl ? *wheelMtl : *defMaterial);
+#endif
+
         _wheelShapes[i]->setLocalPose(PxTransform(PxIdentity));
 
         // Create a query filter data for the car to ensure that cars do not attempt to drive on themselves
@@ -271,7 +278,12 @@ physx::PxRigidDynamic* WheeledVehicle::createActorAndFilters(
     }
 
     // Must first create wheels and then chassis because PhysX will treat the first shape as the wheel
+#if (PX_PHYSICS_VERSION_MAJOR > 3)
+    _chassisShape = PxRigidActorExt::createExclusiveShape(*actor, PxConvexMeshGeometry(chassis.mesh), chassisMtl ? *chassisMtl : *defMaterial);
+    actor->attachShape(*_chassisShape);
+#else
     _chassisShape = actor->createShape(PxConvexMeshGeometry(chassis.mesh), chassisMtl ? *chassisMtl : *defMaterial);
+#endif
     _chassisShape->setLocalPose(PxTransform(PxIdentity));
     VehicleManager::createFilter(VehicleManager::FILTER_UNDRIVABLE_SURFACE, _chassisShape);
     VehicleManager::createFilter(VehicleManager::FILTER_CHASSIS, _chassisShape);

physics/VehicleManager.cpp

@@ -171,6 +171,7 @@ bool VehicleManager::addActor(const std::string& scene, PxActor* actor,
     }
     else if (actor)
     {
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
         PxParticleBase* particleBase = actor->is<PxParticleBase>();
         if (particleBase)
         {
@@ -179,6 +180,7 @@ bool VehicleManager::addActor(const std::string& scene, PxActor* actor,
             filter.word1 = COLLISION_FLAG_OBSTACLE_AGAINST;
             particleBase->setSimulationFilterData(filter);
         }
+#endif
     }
     return osgPhysics::Engine::instance()->addActor(scene, actor);
 }

tests/physics_vehicle_test.cpp

@@ -182,6 +182,7 @@ osg::Group* createCar(osgPhysicsUtils::InputManager* manager, osgPhysics::Update
     return car.release();
 }
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
 osgParticle::ParticleSystem* createParticleSystem(osg::Group* parent)
 {
     // Set up the particle appearance
@@ -241,6 +242,7 @@ osgParticle::ParticleSystem* createParticleSystem(osg::Group* parent)
     parent->addChild(geode.get());
     return ps.get();
 }
+#endif
 
 int main(int argc, char** argv)
 {
@@ -289,17 +291,21 @@ int main(int argc, char** argv)
     osg::ref_ptr<osg::MatrixTransform> particleGroup = new osg::MatrixTransform;
     particleGroup->setMatrix(osg::Matrix::translate(initialPosition + osg::Z_AXIS * 5.0f));
 
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
     osgParticle::ParticleSystem* ps = createParticleSystem(particleGroup.get());
     osg::ref_ptr<osgParticle::ParticleSystemUpdater> particleUpdater = new osgParticle::ParticleSystemUpdater;
     particleUpdater->addParticleSystem(ps);
+#endif
 
     // Build the scene graph
     osg::ref_ptr<osg::Group> root = new osg::Group;
     root->addUpdateCallback(physicsUpdater.get());
     root->addChild(terrain.get());
     root->addChild(vehicle.get());
     root->addChild(ball.get());
+#if !(PX_PHYSICS_VERSION_MAJOR > 3)
     root->addChild(particleUpdater.get());
+#endif
     root->addChild(particleGroup.get());
 
     // Start the viewer