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//------------------------------------------------------------------------------ 
void 
TestPhysXApp::OnProcessInput()  
{  
 // TODO: add your input operation code here 
 if (this->inputServer->GetDefaultKeyboard()->KeyDown(Input::Key::Return))  
    {  
        NxBodyDesc bodyDesc;  
        bodyDesc.angularDamping = 0.5f;  
        NxBoxShapeDesc boxDesc;  
        boxDesc.dimensions = NxVec3(0.5f, 0.5f, 0.5f);  
        NxActorDesc actorDesc;  
        actorDesc.shapes.pushBack(&boxDesc);  
        actorDesc.body = &bodyDesc;  
        actorDesc.density = 10.0f;  
        actorDesc.globalPose.t = NxVec3(0.0f, 10.0f, 0.0f);  
 this->colors.Append(this->GetRandomColor());  
 this->nxScene->createActor(actorDesc)->userData = (void*)(this->colors.Size() - 1);  
    }  
    ViewerApplication::OnProcessInput();  
}  
//------------------------------------------------------------------------------ 
void 
TestPhysXApp::OnUpdateFrame()  
{  
 // simulation 
 float frameTime = (float)this->GetFrameTime();  
 this->nxScene->simulate(frameTime);  
 float curTime = (float) this->GetTime();  
 // draw ground 
 const float period = 3.0f;  
 float now = float(curTime - int(curTime / period) * period - period * 0.5f);  
    scalar s = n_abs(now / (period * 0.5f));  
    float4 color = float4::lerp(float4(1, 0, 0, 1), float4(0, 1, 0, 1), s);  
    matrix44 transform = matrix44::identity();  
    transform.translate(float4(0, -1, 0, 0));  
    transform.scale(float4(100, 1, 100, 1));  
    DebugShapeRenderer::Instance()->DrawBox(transform, color);  
 // draw boxes 
    NxActor** actors = this->nxScene->getActors();  
    SizeT numActors = this->nxScene->getNbActors();  
 for (IndexT i = 1; i < numActors; ++i)  
    {  
        NxActor* actor = actors[i];  
        actor->getGlobalPose().getColumnMajor44((float*)&transform);  
        IndexT colorIndex = (IndexT)actor->userData;  
        DebugShapeRenderer::Instance()->DrawBox(transform, this->colors[colorIndex]);  
    }  
    ViewerApplication::OnUpdateFrame();  
 // fetch simulation results 
 this->nxScene->flushStream();  
 this->nxScene->fetchResults(NX_RIGID_BODY_FINISHED, true);  
}  
//------------------------------------------------------------------------------ 
void 
TestPhysXApp::InitNx()  
{  
 // intialize sdk 
    NxPhysicsSDKDesc desc;  
 this->nxSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, NULL, NULL, desc);  
 this->nxSDK->setParameter(NX_SKIN_WIDTH, 0.05f);  
    n_assert(NULL != this->nxSDK);  
 // create scene 
    NxSceneDesc sceneDesc;  
    sceneDesc.gravity = NxVec3(0.0f, -9.8f, 0.0f);  
 this->nxScene = this->nxSDK->createScene(sceneDesc);  
    n_assert(NULL != this->nxScene);  
 // set default material 
    NxMaterial* defaultMaterial = this->nxScene->getMaterialFromIndex(0);  
    defaultMaterial->setRestitution(0.0f);  
    defaultMaterial->setStaticFriction(0.5f);  
    defaultMaterial->setDynamicFriction(0.5f);  
 // create ground plane 
    NxPlaneShapeDesc planeDesc;  
    NxActorDesc actorDesc;  
    actorDesc.shapes.pushBack(&planeDesc);  
 this->nxScene->createActor(actorDesc);  
}  
//------------------------------------------------------------------------------ 
float4  
TestPhysXApp::GetRandomColor() const 
{  
 float r = n_rand(0.0f, 1.0f);  
 float g = n_rand(0.0f, 1.0f);  
 float b = n_rand(0.0f, 1.0f);  
 return float4(r, g, b, 1.0f);  
}