Init
This commit is contained in:
@ -0,0 +1,347 @@
|
||||
//
|
||||
// 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.
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||||
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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// ****************************************************************************
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// This snippet illustrates the use of simple contact reports and contact modification.
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//
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// It defines a filter shader function that requests contact modification and
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// touch reports for all pairs, and a contact callback function that saves
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// the contact points. It configures the scene to use this filter and callback,
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// and prints the number of contact reports each frame. If rendering, it renders
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// each contact as a line whose length and direction are defined by the contact
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// impulse.
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// This test sets up a situation that would be unstable without contact modification
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// due to very large mass ratios. This test uses local mass modification to make
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// the configuration stable. It also demonstrates how to interpret contact impulses
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// when local mass modification is used.
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// Local mass modification can be disabled with the MODIFY_MASS_PROPERTIES #define
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// to demonstrate the instability if it was not used.
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//
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// ****************************************************************************
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#include <vector>
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#include "PxPhysicsAPI.h"
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#include "../snippetutils/SnippetUtils.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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using namespace physx;
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#define MODIFY_MASS_PROPERTIES 1
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PxDefaultAllocator gAllocator;
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PxDefaultErrorCallback gErrorCallback;
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PxFoundation* gFoundation = NULL;
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PxPhysics* gPhysics = NULL;
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PxDefaultCpuDispatcher* gDispatcher = NULL;
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PxScene* gScene = NULL;
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PxMaterial* gMaterial = NULL;
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PxPvd* gPvd = NULL;
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std::vector<PxVec3> gContactPositions;
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std::vector<PxVec3> gContactImpulses;
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std::vector<PxVec3> gContactLinearImpulses[2];
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std::vector<PxVec3> gContactAngularImpulses[2];
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PxFilterFlags contactReportFilterShader(PxFilterObjectAttributes attributes0, PxFilterData filterData0,
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PxFilterObjectAttributes attributes1, PxFilterData filterData1,
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PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
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{
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PX_UNUSED(attributes0);
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PX_UNUSED(attributes1);
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PX_UNUSED(filterData0);
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PX_UNUSED(filterData1);
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PX_UNUSED(constantBlockSize);
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PX_UNUSED(constantBlock);
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// all initial and persisting reports for everything, with per-point data
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pairFlags = PxPairFlag::eSOLVE_CONTACT | PxPairFlag::eDETECT_DISCRETE_CONTACT
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| PxPairFlag::eNOTIFY_TOUCH_FOUND
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| PxPairFlag::eNOTIFY_TOUCH_PERSISTS
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| PxPairFlag::eNOTIFY_CONTACT_POINTS
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| PxPairFlag::eMODIFY_CONTACTS;
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return PxFilterFlag::eDEFAULT;
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}
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class ContactModifyCallback: public PxContactModifyCallback
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{
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void onContactModify(PxContactModifyPair* const pairs, PxU32 count)
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{
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#if MODIFY_MASS_PROPERTIES
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//We define a maximum mass ratio that we will accept in this test, which is a ratio of 2
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const PxReal maxMassRatio = 2.f;
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for(PxU32 i = 0; i < count; i++)
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{
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const PxRigidDynamic* dynamic0 = pairs[i].actor[0]->is<PxRigidDynamic>();
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const PxRigidDynamic* dynamic1 = pairs[i].actor[1]->is<PxRigidDynamic>();
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if(dynamic0 != NULL && dynamic1 != NULL)
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{
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//We only want to perform local mass modification between 2 dynamic bodies because we intend on
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//normalizing the mass ratios between the pair within a tolerable range
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PxReal mass0 = dynamic0->getMass();
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PxReal mass1 = dynamic1->getMass();
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if(mass0 > mass1)
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{
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//dynamic0 is heavier than dynamic1 so we will locally increase the mass of dynamic1
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//to be half the mass of dynamic0.
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PxReal ratio = mass0/mass1;
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if(ratio > maxMassRatio)
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{
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PxReal invMassScale = maxMassRatio/ratio;
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pairs[i].contacts.setInvMassScale1(invMassScale);
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pairs[i].contacts.setInvInertiaScale1(invMassScale);
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}
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}
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else
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{
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//dynamic1 is heavier than dynamic0 so we will locally increase the mass of dynamic0
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//to be half the mass of dynamic1.
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PxReal ratio = mass1/mass0;
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if(ratio > maxMassRatio)
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{
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PxReal invMassScale = maxMassRatio/ratio;
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pairs[i].contacts.setInvMassScale0(invMassScale);
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pairs[i].contacts.setInvInertiaScale0(invMassScale);
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}
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}
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}
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}
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#endif
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}
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};
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ContactModifyCallback gContactModifyCallback;
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PxU32 extractContactsWithMassScale(const PxContactPair& pair, PxContactPairPoint* userBuffer, PxU32 bufferSize, PxReal& invMassScale0, PxReal& invMassScale1)
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{
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const PxU8* contactStream = pair.contactPoints;
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const PxU8* patchStream = pair.contactPatches;
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const PxU32* faceIndices = pair.getInternalFaceIndices();
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PxU32 nbContacts = 0;
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if(pair.contactCount && bufferSize)
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{
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PxContactStreamIterator iter(patchStream, contactStream, faceIndices, pair.patchCount, pair.contactCount);
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const PxReal* impulses = reinterpret_cast<const PxReal*>(pair.contactImpulses);
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PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
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PxU32 hasImpulses = (pair.flags & PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
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invMassScale0 = iter.getInvMassScale0();
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invMassScale1 = iter.getInvMassScale1();
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while(iter.hasNextPatch())
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{
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iter.nextPatch();
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while(iter.hasNextContact())
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{
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iter.nextContact();
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PxContactPairPoint& dst = userBuffer[nbContacts];
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dst.position = iter.getContactPoint();
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dst.separation = iter.getSeparation();
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dst.normal = iter.getContactNormal();
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||||
if (!flippedContacts)
|
||||
{
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dst.internalFaceIndex0 = iter.getFaceIndex0();
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dst.internalFaceIndex1 = iter.getFaceIndex1();
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||||
}
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||||
else
|
||||
{
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||||
dst.internalFaceIndex0 = iter.getFaceIndex1();
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dst.internalFaceIndex1 = iter.getFaceIndex0();
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}
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if (hasImpulses)
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||||
{
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PxReal impulse = impulses[nbContacts];
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dst.impulse = dst.normal * impulse;
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}
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else
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dst.impulse = PxVec3(0.0f);
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++nbContacts;
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if(nbContacts == bufferSize)
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return nbContacts;
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||||
}
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||||
}
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||||
}
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||||
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return nbContacts;
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}
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||||
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||||
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||||
class ContactReportCallback: public PxSimulationEventCallback
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||||
{
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||||
void onConstraintBreak(PxConstraintInfo* constraints, PxU32 count) { PX_UNUSED(constraints); PX_UNUSED(count); }
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void onWake(PxActor** actors, PxU32 count) { PX_UNUSED(actors); PX_UNUSED(count); }
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void onSleep(PxActor** actors, PxU32 count) { PX_UNUSED(actors); PX_UNUSED(count); }
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void onTrigger(PxTriggerPair* pairs, PxU32 count) { PX_UNUSED(pairs); PX_UNUSED(count); }
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void onAdvance(const PxRigidBody*const*, const PxTransform*, const PxU32) {}
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void onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs)
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{
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||||
PX_UNUSED((pairHeader));
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std::vector<PxContactPairPoint> contactPoints;
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for(PxU32 i=0;i<nbPairs;i++)
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{
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PxU32 contactCount = pairs[i].contactCount;
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if(contactCount)
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{
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contactPoints.resize(contactCount);
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PxReal invMassScale[2];
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extractContactsWithMassScale(pairs[i], &contactPoints[0], contactCount, invMassScale[0], invMassScale[1]);
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for(PxU32 j=0;j<contactCount;j++)
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{
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gContactPositions.push_back(contactPoints[j].position);
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//Push back reported contact impulses
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gContactImpulses.push_back(contactPoints[j].impulse);
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||||
//Compute the effective linear/angular impulses for each body.
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||||
//Note that the local mass scaling permits separate scales for invMass and invInertia.
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||||
for(PxU32 k = 0; k < 2; ++k)
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||||
{
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||||
const PxRigidDynamic* dynamic = pairHeader.actors[k]->is<PxRigidDynamic>();
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||||
PxVec3 linImpulse(0.f), angImpulse(0.f);
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||||
if(dynamic != NULL)
|
||||
{
|
||||
PxRigidBodyExt::computeLinearAngularImpulse(*dynamic, dynamic->getGlobalPose(), contactPoints[j].position,
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||||
k == 0 ? contactPoints[j].impulse : -contactPoints[j].impulse, invMassScale[k], invMassScale[k], linImpulse, angImpulse);
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||||
}
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||||
gContactLinearImpulses[k].push_back(linImpulse);
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||||
gContactAngularImpulses[k].push_back(angImpulse);
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||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
ContactReportCallback gContactReportCallback;
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||||
|
||||
void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
|
||||
{
|
||||
PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
|
||||
for(PxU32 i=0; i<size;i++)
|
||||
{
|
||||
PxTransform localTm(PxVec3(0, PxReal(i*2+1), 0) * halfExtent);
|
||||
PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
|
||||
body->attachShape(*shape);
|
||||
PxRigidBodyExt::updateMassAndInertia(*body, (i+1)*(i+1)*(i+1)*10.0f);
|
||||
gScene->addActor(*body);
|
||||
}
|
||||
shape->release();
|
||||
}
|
||||
|
||||
void initPhysics(bool /*interactive*/)
|
||||
{
|
||||
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
||||
gPvd = PxCreatePvd(*gFoundation);
|
||||
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
||||
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
||||
|
||||
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
|
||||
PxInitExtensions(*gPhysics, gPvd);
|
||||
|
||||
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
||||
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
||||
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
||||
sceneDesc.cpuDispatcher = gDispatcher;
|
||||
sceneDesc.gravity = PxVec3(0, -9.81f, 0);
|
||||
sceneDesc.filterShader = contactReportFilterShader;
|
||||
sceneDesc.simulationEventCallback = &gContactReportCallback;
|
||||
sceneDesc.contactModifyCallback = &gContactModifyCallback;
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
||||
if(pvdClient)
|
||||
{
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
||||
}
|
||||
|
||||
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
|
||||
|
||||
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
|
||||
gScene->addActor(*groundPlane);
|
||||
createStack(PxTransform(PxVec3(0,0.0f,10.0f)), 5, 2.0f);
|
||||
}
|
||||
|
||||
void stepPhysics(bool /*interactive*/)
|
||||
{
|
||||
gContactPositions.clear();
|
||||
gContactImpulses.clear();
|
||||
|
||||
gScene->simulate(1.0f/60.0f);
|
||||
gScene->fetchResults(true);
|
||||
printf("%d contact reports\n", PxU32(gContactPositions.size()));
|
||||
}
|
||||
|
||||
void cleanupPhysics(bool /*interactive*/)
|
||||
{
|
||||
PX_RELEASE(gScene);
|
||||
PX_RELEASE(gDispatcher);
|
||||
PxCloseExtensions();
|
||||
PX_RELEASE(gPhysics);
|
||||
if(gPvd)
|
||||
{
|
||||
PxPvdTransport* transport = gPvd->getTransport();
|
||||
gPvd->release(); gPvd = NULL;
|
||||
PX_RELEASE(transport);
|
||||
}
|
||||
PX_RELEASE(gFoundation);
|
||||
|
||||
printf("SnippetContactModification done.\n");
|
||||
}
|
||||
|
||||
int snippetMain(int, const char*const*)
|
||||
{
|
||||
#ifdef RENDER_SNIPPET
|
||||
extern void renderLoop();
|
||||
renderLoop();
|
||||
#else
|
||||
initPhysics(false);
|
||||
for(PxU32 i=0; i<250; i++)
|
||||
stepPhysics(false);
|
||||
cleanupPhysics(false);
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -0,0 +1,135 @@
|
||||
//
|
||||
// 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.
|
||||
|
||||
#ifdef RENDER_SNIPPET
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include "PxPhysicsAPI.h"
|
||||
#include "../snippetrender/SnippetRender.h"
|
||||
#include "../snippetrender/SnippetCamera.h"
|
||||
|
||||
using namespace physx;
|
||||
|
||||
extern void initPhysics(bool interactive);
|
||||
extern void stepPhysics(bool interactive);
|
||||
extern void cleanupPhysics(bool interactive);
|
||||
|
||||
extern std::vector<PxVec3> gContactPositions;
|
||||
extern std::vector<PxVec3> gContactImpulses;
|
||||
std::vector<PxVec3> gContactVertices;
|
||||
|
||||
namespace
|
||||
{
|
||||
Snippets::Camera* sCamera;
|
||||
|
||||
void motionCallback(int x, int y)
|
||||
{
|
||||
sCamera->handleMotion(x, y);
|
||||
}
|
||||
|
||||
void keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if(key==27)
|
||||
exit(0);
|
||||
|
||||
sCamera->handleKey(key, x, y);
|
||||
}
|
||||
|
||||
void mouseCallback(int button, int state, int x, int y)
|
||||
{
|
||||
sCamera->handleMouse(button, state, x, y);
|
||||
}
|
||||
|
||||
void idleCallback()
|
||||
{
|
||||
glutPostRedisplay();
|
||||
}
|
||||
|
||||
void renderCallback()
|
||||
{
|
||||
stepPhysics(true);
|
||||
|
||||
Snippets::startRender(sCamera->getEye(), sCamera->getDir());
|
||||
|
||||
PxScene* scene;
|
||||
PxGetPhysics().getScenes(&scene,1);
|
||||
PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
|
||||
if(nbActors)
|
||||
{
|
||||
std::vector<PxRigidActor*> actors(nbActors);
|
||||
scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
|
||||
Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
|
||||
}
|
||||
|
||||
if(gContactPositions.size())
|
||||
{
|
||||
gContactVertices.clear();
|
||||
for(PxU32 i=0;i<gContactPositions.size();i++)
|
||||
{
|
||||
gContactVertices.push_back(gContactPositions[i]);
|
||||
gContactVertices.push_back(gContactPositions[i]+gContactImpulses[i]*0.1f);
|
||||
}
|
||||
glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
|
||||
glEnableClientState(GL_VERTEX_ARRAY);
|
||||
glVertexPointer(3, GL_FLOAT, 0, &gContactVertices[0]);
|
||||
glDrawArrays(GL_LINES, 0, GLint(gContactVertices.size()));
|
||||
glDisableClientState(GL_VERTEX_ARRAY);
|
||||
}
|
||||
|
||||
Snippets::finishRender();
|
||||
}
|
||||
|
||||
void exitCallback(void)
|
||||
{
|
||||
delete sCamera;
|
||||
cleanupPhysics(true);
|
||||
}
|
||||
}
|
||||
|
||||
void renderLoop()
|
||||
{
|
||||
sCamera = new Snippets::Camera(PxVec3(50.0f, 50.0f, 50.0f), PxVec3(-0.6f,-0.2f,-0.7f));
|
||||
|
||||
Snippets::setupDefaultWindow("PhysX Snippet ContactReport");
|
||||
Snippets::setupDefaultRenderState();
|
||||
|
||||
glutIdleFunc(idleCallback);
|
||||
glutDisplayFunc(renderCallback);
|
||||
glutKeyboardFunc(keyboardCallback);
|
||||
glutMouseFunc(mouseCallback);
|
||||
glutMotionFunc(motionCallback);
|
||||
motionCallback(0,0);
|
||||
|
||||
atexit(exitCallback);
|
||||
|
||||
initPhysics(true);
|
||||
glutMainLoop();
|
||||
}
|
||||
#endif
|
||||
Reference in New Issue
Block a user