Init

2025-11-28 23:13:44 +05:30
commit a3a8e79709
7360 changed files with 1156074 additions and 0 deletions
--- a/physx/snippets/snippetcontactreport/SnippetContactReportRender.cpp
+++ b/physx/snippets/snippetcontactreport/SnippetContactReportRender.cpp
@ -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