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physx/snippets/snippetcontactreport/SnippetContactReport.cpp
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207
physx/snippets/snippetcontactreport/SnippetContactReport.cpp
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// 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.
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//
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// It defines a filter shader function that requests touch reports for
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// all pairs, and a contact callback function that saves the contact points.
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// It configures the scene to use this filter and callback, and prints the
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// number of contact reports each frame. If rendering, it renders each
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// contact as a line whose length and direction are defined by the contact
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// impulse.
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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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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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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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return PxFilterFlag::eDEFAULT;
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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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pairs[i].extractContacts(&contactPoints[0], contactCount);
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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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gContactImpulses.push_back(contactPoints[j].impulse);
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}
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}
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}
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}
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};
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ContactReportCallback gContactReportCallback;
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void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
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{
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
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for(PxU32 i=0; i<size;i++)
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{
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for(PxU32 j=0;j<size-i;j++)
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{
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PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
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PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
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body->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
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gScene->addActor(*body);
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}
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}
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shape->release();
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}
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void initPhysics(bool /*interactive*/)
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{
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gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
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gPvd = PxCreatePvd(*gFoundation);
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PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
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gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
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gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,gPvd);
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PxInitExtensions(*gPhysics,gPvd);
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PxU32 numCores = SnippetUtils::getNbPhysicalCores();
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gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.gravity = PxVec3(0, -9.81f, 0);
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sceneDesc.filterShader = contactReportFilterShader;
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sceneDesc.simulationEventCallback = &gContactReportCallback;
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gScene = gPhysics->createScene(sceneDesc);
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PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
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if(pvdClient)
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{
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
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}
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
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gScene->addActor(*groundPlane);
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createStack(PxTransform(PxVec3(0,3.0f,10.0f)), 5, 2.0f);
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}
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void stepPhysics(bool /*interactive*/)
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{
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gContactPositions.clear();
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gContactImpulses.clear();
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gScene->simulate(1.0f/60.0f);
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gScene->fetchResults(true);
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printf("%d contact reports\n", PxU32(gContactPositions.size()));
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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PX_RELEASE(gScene);
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PX_RELEASE(gDispatcher);
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PxCloseExtensions();
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PX_RELEASE(gPhysics);
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if(gPvd)
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{
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PxPvdTransport* transport = gPvd->getTransport();
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gPvd->release(); gPvd = NULL;
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PX_RELEASE(transport);
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}
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PX_RELEASE(gFoundation);
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printf("SnippetContactReport done.\n");
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}
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int snippetMain(int, const char*const*)
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{
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#ifdef RENDER_SNIPPET
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extern void renderLoop();
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renderLoop();
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#else
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initPhysics(false);
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for(PxU32 i=0; i<250; i++)
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stepPhysics(false);
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cleanupPhysics(false);
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#endif
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return 0;
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}
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@ -0,0 +1,135 @@
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// 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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#ifdef RENDER_SNIPPET
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#include <vector>
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#include "PxPhysicsAPI.h"
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#include "../snippetrender/SnippetRender.h"
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#include "../snippetrender/SnippetCamera.h"
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using namespace physx;
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extern void initPhysics(bool interactive);
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extern void stepPhysics(bool interactive);
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extern void cleanupPhysics(bool interactive);
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extern std::vector<PxVec3> gContactPositions;
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extern std::vector<PxVec3> gContactImpulses;
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std::vector<PxVec3> gContactVertices;
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namespace
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{
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Snippets::Camera* sCamera;
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void motionCallback(int x, int y)
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{
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sCamera->handleMotion(x, y);
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}
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void keyboardCallback(unsigned char key, int x, int y)
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{
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if(key==27)
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exit(0);
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sCamera->handleKey(key, x, y);
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}
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void mouseCallback(int button, int state, int x, int y)
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{
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sCamera->handleMouse(button, state, x, y);
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}
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void idleCallback()
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{
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glutPostRedisplay();
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}
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void renderCallback()
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{
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stepPhysics(true);
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Snippets::startRender(sCamera->getEye(), sCamera->getDir());
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PxScene* scene;
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PxGetPhysics().getScenes(&scene,1);
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PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
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if(nbActors)
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{
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std::vector<PxRigidActor*> actors(nbActors);
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scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
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Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
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}
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if(gContactPositions.size())
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{
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gContactVertices.clear();
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for(PxU32 i=0;i<gContactPositions.size();i++)
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{
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gContactVertices.push_back(gContactPositions[i]);
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gContactVertices.push_back(gContactPositions[i]+gContactImpulses[i]*0.1f);
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}
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glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
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glEnableClientState(GL_VERTEX_ARRAY);
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glVertexPointer(3, GL_FLOAT, 0, &gContactVertices[0]);
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glDrawArrays(GL_LINES, 0, GLint(gContactVertices.size()));
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glDisableClientState(GL_VERTEX_ARRAY);
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}
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Snippets::finishRender();
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}
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void exitCallback(void)
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{
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delete sCamera;
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cleanupPhysics(true);
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}
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}
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void renderLoop()
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{
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sCamera = new Snippets::Camera(PxVec3(50.0f, 50.0f, 50.0f), PxVec3(-0.6f,-0.2f,-0.7f));
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Snippets::setupDefaultWindow("PhysX Snippet ContactReport");
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Snippets::setupDefaultRenderState();
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glutIdleFunc(idleCallback);
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glutDisplayFunc(renderCallback);
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glutKeyboardFunc(keyboardCallback);
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glutMouseFunc(mouseCallback);
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glutMotionFunc(motionCallback);
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motionCallback(0,0);
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atexit(exitCallback);
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initPhysics(true);
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glutMainLoop();
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}
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#endif
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