PhysX SDK 3.3 matrix problem

Gaming and Visualization Technologies APIs Physics Modeling (closed)
1

I’m getting weird results during visualisation of physx data:

Some cubes ale ‘levitating’, all shapes aren’t close to each other - in pvd it looks alright:

Here’s code which render each _shape:

virtual void render() {		
	physx::PxU32 nShapes = rigid_->getNbShapes();
	physx::PxShape** shapes = new physx::PxShape*[nShapes];
	rigid_->getShapes(shapes, nShapes);
	while (nShapes--) {
		DrawShape(shapes[nShapes]);
	}
	delete [] shapes;
}

virtual void DrawShape(physx::PxShape* shape) {
	physx::PxTransform pT = physx::PxShapeExt::getGlobalPose(*shape, *rigid_);
	physx::PxMat44 m = physx::PxMat44(pT);
	float mat[16];
	getColumnMajor(m, mat);
	glPushMatrix();
	glMultMatrixf(mat);
	// shape here eg:
	glutSolidSphere(1,20,20);

	glPopMatrix();
}

All ogl matrix looks ok, I’ can’t figure you why plane is rotated, objects are not close as it is in pvd(levitation) - any ideas?

2

I’ve figured out why cubes where levitating:

PxBoxGeometry(1,1,1)

It creates box with height, length and width of 2 (it creates shape from center, see @docs), So doesn’t mean that:

(..)
PxBoxGeometry(1,1,1)
(..)
// bad 
glutSolidCube(1);
// good 
glutSolidCube(2);