Init
This commit is contained in:
252
physx/samples/samplebase/RaycastCCD.cpp
Normal file
252
physx/samples/samplebase/RaycastCCD.cpp
Normal file
@ -0,0 +1,252 @@
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without
|
||||
// modification, are permitted provided that the following conditions
|
||||
// are met:
|
||||
// * Redistributions of source code must retain the above copyright
|
||||
// notice, this list of conditions and the following disclaimer.
|
||||
// * Redistributions in binary form must reproduce the above copyright
|
||||
// notice, this list of conditions and the following disclaimer in the
|
||||
// documentation and/or other materials provided with the distribution.
|
||||
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||||
// contributors may be used to endorse or promote products derived
|
||||
// from this software without specific prior written permission.
|
||||
//
|
||||
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||||
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||||
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||||
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||||
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||||
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
//
|
||||
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
|
||||
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||||
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||||
|
||||
#include "RaycastCCD.h"
|
||||
|
||||
#include "geometry/PxBoxGeometry.h"
|
||||
#include "geometry/PxSphereGeometry.h"
|
||||
#include "geometry/PxCapsuleGeometry.h"
|
||||
#include "geometry/PxConvexMeshGeometry.h"
|
||||
#include "geometry/PxConvexMesh.h"
|
||||
#include "PxQueryReport.h"
|
||||
#include "PxScene.h"
|
||||
#include "PxRigidDynamic.h"
|
||||
#include "extensions/PxShapeExt.h"
|
||||
#include <stdio.h>
|
||||
|
||||
//#define RAYCAST_CCD_PRINT_DEBUG
|
||||
|
||||
PxVec3 getShapeCenter(PxRigidActor* actor, PxShape* shape, const PxVec3& localOffset)
|
||||
{
|
||||
PxVec3 offset = localOffset;
|
||||
|
||||
switch(shape->getGeometryType())
|
||||
{
|
||||
case PxGeometryType::eCONVEXMESH:
|
||||
{
|
||||
PxConvexMeshGeometry geometry;
|
||||
bool status = shape->getConvexMeshGeometry(geometry);
|
||||
PX_UNUSED(status);
|
||||
PX_ASSERT(status);
|
||||
|
||||
PxReal mass;
|
||||
PxMat33 localInertia;
|
||||
PxVec3 localCenterOfMass;
|
||||
geometry.convexMesh->getMassInformation(mass, localInertia, localCenterOfMass);
|
||||
|
||||
offset += localCenterOfMass;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
const PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
|
||||
return pose.transform(offset);
|
||||
}
|
||||
|
||||
static PxReal computeInternalRadius(PxRigidActor* actor, PxShape* shape, const PxVec3& dir, /*PxVec3& offset,*/ const PxVec3& centerOffset)
|
||||
{
|
||||
const PxBounds3 bounds = PxShapeExt::getWorldBounds(*shape, *actor);
|
||||
const PxReal diagonal = (bounds.maximum - bounds.minimum).magnitude();
|
||||
const PxReal offsetFromOrigin = diagonal * 2.0f;
|
||||
|
||||
PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
|
||||
|
||||
PxReal internalRadius = 0.0f;
|
||||
const PxReal length = offsetFromOrigin*2.0f;
|
||||
|
||||
// PT: we do a switch here anyway since the code is not *exactly* the same all the time
|
||||
{
|
||||
switch(shape->getGeometryType())
|
||||
{
|
||||
case PxGeometryType::eBOX:
|
||||
case PxGeometryType::eCAPSULE:
|
||||
{
|
||||
pose.p = PxVec3(0);
|
||||
const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;
|
||||
|
||||
PxRaycastHit hit;
|
||||
|
||||
const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL;
|
||||
PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
|
||||
PX_UNUSED(nbHits);
|
||||
PX_ASSERT(nbHits);
|
||||
|
||||
internalRadius = offsetFromOrigin - hit.distance;
|
||||
// offset = PxVec3(0.0f);
|
||||
}
|
||||
break;
|
||||
|
||||
case PxGeometryType::eSPHERE:
|
||||
{
|
||||
PxSphereGeometry geometry;
|
||||
bool status = shape->getSphereGeometry(geometry);
|
||||
PX_UNUSED(status);
|
||||
PX_ASSERT(status);
|
||||
|
||||
internalRadius = geometry.radius;
|
||||
// offset = PxVec3(0.0f);
|
||||
}
|
||||
break;
|
||||
|
||||
case PxGeometryType::eCONVEXMESH:
|
||||
{
|
||||
/*PxVec3 saved = pose.p;
|
||||
pose.p = PxVec3(0);
|
||||
|
||||
// pose.p = geometry.convexMesh->getCenterOfMass();
|
||||
// const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;
|
||||
|
||||
// const PxVec3 localCenter = computeCenter(geometry.convexMesh);
|
||||
// const PxVec3 localCenter = geometry.convexMesh->getCenterOfMass();
|
||||
// const PxVec3 virtualOrigin = pose.rotate(localCenter) + dir * offsetFromOrigin;
|
||||
const PxVec3 localCenter = pose.rotate(geometry.convexMesh->getCenterOfMass());
|
||||
const PxVec3 virtualOrigin = localCenter + dir * offsetFromOrigin;
|
||||
|
||||
PxRaycastHit hit;
|
||||
PxU32 nbHits = Gu::raycast_convexMesh(geometry, pose, virtualOrigin, -dir, length, 0xffffffff, 1, &hit);
|
||||
PX_ASSERT(nbHits);
|
||||
internalRadius = offsetFromOrigin - hit.distance;
|
||||
|
||||
pose.p = localCenter;
|
||||
|
||||
PxVec3 shapeCenter = getShapeCenter(shape);
|
||||
offset = shapeCenter - saved;*/
|
||||
|
||||
|
||||
PxVec3 shapeCenter = getShapeCenter(actor, shape, centerOffset);
|
||||
shapeCenter -= pose.p;
|
||||
pose.p = PxVec3(0);
|
||||
|
||||
const PxVec3 virtualOrigin = shapeCenter + dir * offsetFromOrigin;
|
||||
PxRaycastHit hit;
|
||||
const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL;
|
||||
PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
|
||||
PX_UNUSED(nbHits);
|
||||
PX_ASSERT(nbHits);
|
||||
|
||||
internalRadius = offsetFromOrigin - hit.distance;
|
||||
// offset = shapeCenter;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
return internalRadius;
|
||||
}
|
||||
|
||||
static bool CCDRaycast(PxScene* scene, const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, PxRaycastHit& hit)
|
||||
{
|
||||
const PxHitFlags outputFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL;
|
||||
|
||||
PxQueryFilterData filterData;
|
||||
filterData.flags = PxQueryFlag::eSTATIC;
|
||||
|
||||
PxQueryFilterCallback* filterCall = NULL;
|
||||
|
||||
PxRaycastBuffer buf1;
|
||||
scene->raycast(origin, unitDir, distance, buf1, outputFlags, filterData, filterCall, NULL);
|
||||
hit = buf1.block;
|
||||
return buf1.hasBlock;
|
||||
}
|
||||
|
||||
static PxRigidDynamic* canDoCCD(PxRigidActor& actor, PxShape* shape)
|
||||
{
|
||||
PxRigidDynamic* dyna = actor.is<PxRigidDynamic>();
|
||||
if(!dyna)
|
||||
return NULL; // PT: no need to do it for statics
|
||||
|
||||
const PxU32 nbShapes = dyna->getNbShapes();
|
||||
if(nbShapes!=1)
|
||||
return NULL; // PT: only works with simple actors for now
|
||||
|
||||
if(dyna->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
|
||||
return NULL; // PT: no need to do it for kinematics
|
||||
|
||||
return dyna;
|
||||
}
|
||||
|
||||
bool doRaycastCCD(PxRigidActor* actor, PxShape* shape, PxTransform& newPose, PxVec3& newShapeCenter, const PxVec3& ccdWitness, const PxVec3& ccdWitnessOffset)
|
||||
{
|
||||
PxRigidDynamic* dyna = canDoCCD(*actor, shape);
|
||||
if(!dyna)
|
||||
return true;
|
||||
|
||||
bool updateCCDWitness = true;
|
||||
|
||||
const PxVec3 offset = newPose.p - newShapeCenter;
|
||||
const PxVec3& origin = ccdWitness;
|
||||
const PxVec3& dest = newShapeCenter;
|
||||
|
||||
PxVec3 dir = dest - origin;
|
||||
const PxReal length = dir.magnitude();
|
||||
if(length!=0.0f)
|
||||
{
|
||||
dir /= length;
|
||||
|
||||
// Compute internal radius
|
||||
const PxReal internalRadius = computeInternalRadius(actor, shape, dir, ccdWitnessOffset);
|
||||
|
||||
// Compute distance to impact
|
||||
PxRaycastHit hit;
|
||||
if(internalRadius!=0.0f && CCDRaycast(actor->getScene(), origin, dir, length, hit))
|
||||
{
|
||||
#ifdef RAYCAST_CCD_PRINT_DEBUG
|
||||
static int count=0;
|
||||
shdfnd::printFormatted("CCD hit %d\n", count++);
|
||||
#endif
|
||||
updateCCDWitness = false;
|
||||
const PxReal radiusLimit = internalRadius * 0.75f;
|
||||
if(hit.distance>radiusLimit)
|
||||
{
|
||||
newShapeCenter = origin + dir * (hit.distance - radiusLimit);
|
||||
#ifdef RAYCAST_CCD_PRINT_DEBUG
|
||||
shdfnd::printFormatted(" Path0: %f | %f\n", hit.distance, radiusLimit);
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
newShapeCenter = origin;
|
||||
#ifdef RAYCAST_CCD_PRINT_DEBUG
|
||||
shdfnd::printFormatted(" Path1: %f\n", hit.distance);
|
||||
#endif
|
||||
}
|
||||
|
||||
{
|
||||
newPose.p = offset + newShapeCenter;
|
||||
const PxTransform shapeLocalPose = shape->getLocalPose();
|
||||
const PxTransform inverseShapeLocalPose = shapeLocalPose.getInverse();
|
||||
PxTransform newGlobalPose = newPose * inverseShapeLocalPose;
|
||||
dyna->setGlobalPose(newGlobalPose);
|
||||
}
|
||||
}
|
||||
}
|
||||
return updateCCDWitness;
|
||||
}
|
||||
Reference in New Issue
Block a user