Still trying to get it working.

src/Systems/PhysicsSystem.cpp

@@ -1,4 +1,23 @@
 #include "PrecompiledHeader.h"
+#include <Common/Base/keycode.cxx>
+// We’re not using anything product specific yet. We undef these so we don’t get the usual
+// product initialization for the products.
+#undef HK_FEATURE_PRODUCT_AI
+//#undef HK_FEATURE_PRODUCT_ANIMATION
+#undef HK_FEATURE_PRODUCT_CLOTH
+#undef HK_FEATURE_PRODUCT_DESTRUCTION_2012
+#undef HK_FEATURE_PRODUCT_DESTRUCTION
+#undef HK_FEATURE_PRODUCT_BEHAVIOR
+#undef HK_FEATURE_PRODUCT_PHYSICS_2012
+//#undef HK_FEATURE_PRODUCT_PHYSICS
+// Also we’re not using any serialization/versioning so we don’t need any of these.
+#define HK_EXCLUDE_FEATURE_SerializeDeprecatedPre700
+#define HK_EXCLUDE_FEATURE_RegisterVersionPatches
+#define HK_EXCLUDE_FEATURE_RegisterReflectedClasses
+#define HK_EXCLUDE_FEATURE_MemoryTracker
+// This include generates an initialization function based on the products
+// and the excluded features.
+#include <Common/Base/Config/hkProductFeatures.cxx>
 #include "PhysicsSystem.h"
 #include "World.h"
 
@@ -7,11 +26,43 @@
 Systems::PhysicsSystem::PhysicsSystem(World* world) : System(world)
 {	
 
+	hkMemorySystem::FrameInfo finfo(500 * 1024);	// Allocate 500KB of Physics solver buffer
+	hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault(hkMallocAllocator::m_defaultMallocAllocator, finfo);
+	hkBaseSystem::init(memoryRouter, HavokErrorReport);
+
+	{
+		hkpWorldCinfo worldInfo;
+		worldInfo.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
+		worldInfo.m_gravity = hkVector4(0.0f, -9.8f, 0.0f);
+		worldInfo.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_FIX_ENTITY; // just fix the entity if the object falls off too far
+
+		// You must specify the size of the broad phase - objects should not be simulated outside this region
+		worldInfo.setBroadPhaseWorldSize(1000.0f);
+		m_PhysicsWorld = new hkpWorld(worldInfo);
+	}
+	// Register all collision agents, even though only box - box will be used in this particular example.
+	// It's important to register collision agents before adding any entities to the world.
+	hkpAgentRegisterUtil::registerAllAgents(m_PhysicsWorld->getCollisionDispatcher());
+	
+	//
+	// Initialize the visual debugger so we can connect remotely to the simulation
+	// The context must exist beyond the use of the VDB instance, and you can make
+	// whatever contexts you like for your own viewer types.
+	//
+	hkpPhysicsContext* context = new hkpPhysicsContext;
+	hkpPhysicsContext::registerAllPhysicsProcesses(); // all the physics viewers
+	context->addWorld(m_PhysicsWorld); // add the physics world so the viewers can see it
+	SetupVisualDebugger(context);
+
+	SetupPhysics(m_PhysicsWorld);
 }
 
 void Systems::PhysicsSystem::Update(double dt)
 {	
+	m_PhysicsWorld->stepDeltaTime(dt);
 
+	// Step the visual debugger
+	StepVisualDebugger();
 }
 
 void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID parent)
@@ -39,3 +90,81 @@ void Systems::PhysicsSystem::TearDownPhysicsState(EntityID entity, EntityID pare
 
 }
 
+void Systems::PhysicsSystem::SetupVisualDebugger(hkpPhysicsContext* worlds)
+{
+	// Setup the visual debugger
+	hkArray<hkProcessContext*> contexts;
+	contexts.pushBack(worlds);
+
+	m_VisualDebugger = new hkVisualDebugger(contexts);
+	m_VisualDebugger->serve();
+
+	// Allocate memory for internal profiling information
+	// You can discard this if you do not want Havok profiling information
+	hkMonitorStream& stream = hkMonitorStream::getInstance();
+	stream.resize(500 * 1024);	// 500K for timer info
+	stream.reset();
+
+}
+
+void Systems::PhysicsSystem::StepVisualDebugger()
+{
+	// Step the debugger
+	m_VisualDebugger->step();
+
+	// Reset internal profiling info for next frame
+	hkMonitorStream::getInstance().reset();
+}
+
+void HK_CALL Systems::PhysicsSystem::HavokErrorReport(const char* msg, void*)
+{
+	LOG_ERROR("%s", msg);
+}
+
+
+void Systems::PhysicsSystem::SetupPhysics(hkpWorld* physicsWorld)
+{
+	// Create the floor as a fixed box
+	{
+		hkpRigidBodyCinfo boxInfo;
+		hkVector4 boxSize(5.0f, 0.5f, 5.0f);
+		hkpBoxShape* boxShape = new hkpBoxShape(boxSize);
+		boxInfo.m_shape = boxShape;
+		boxInfo.m_motionType = hkpMotion::MOTION_FIXED;
+		boxInfo.m_position.set(0.0f, 0.0f, 0.0f);
+		boxInfo.m_restitution = 0.9f;
+
+		hkpRigidBody* floor = new hkpRigidBody(boxInfo);
+		boxShape->removeReference();
+
+		physicsWorld->addEntity(floor);
+		floor->removeReference();
+	}
+
+	// Create a moving sphere
+	{
+		hkReal sphereRadius = 0.5f;
+		hkpConvexShape* sphereShape = new hkpSphereShape(sphereRadius);
+
+		hkpRigidBodyCinfo sphereInfo;
+		sphereInfo.m_shape = sphereShape;
+		sphereInfo.m_position.set(0.0f, 5.0f, 0.0f);
+		sphereInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
+
+		// Compute mass properties
+		hkReal sphereMass = 10.0f;
+		hkMassProperties sphereMassProperties;
+		hkpInertiaTensorComputer::computeSphereVolumeMassProperties(sphereRadius, sphereMass, sphereMassProperties);
+		sphereInfo.m_inertiaTensor = sphereMassProperties.m_inertiaTensor;
+		sphereInfo.m_centerOfMass = sphereMassProperties.m_centerOfMass;
+		sphereInfo.m_mass = sphereMassProperties.m_mass;
+
+		// Create sphere RigidBody
+		hkpRigidBody* sphereRigidBody = new hkpRigidBody(sphereInfo);
+		sphereShape->removeReference();
+
+		physicsWorld->addEntity(sphereRigidBody);
+		g_ball = sphereRigidBody;
+		sphereRigidBody->removeReference();
+	}
+}