Init
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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 in combination
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// with continuous collision detection (CCD). Furthermore, extra contact report
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// data will be requested.
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//
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// The snippet defines a filter shader function that enables CCD and requests
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// touch reports for all pairs, and a contact callback function that saves the
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// contact points and the actor positions at time of impact.
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// It configures the scene to use this filter and callback, enables CCD and
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// prints the number of contact points found. 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 (the line points in the opposite direction of the impulse). In
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// addition, the path of the fast moving dynamic object is drawn with lines.
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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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PxCooking* gCooking = 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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PxTriangleMesh* gTriangleMesh = NULL;
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PxRigidStatic* gTriangleMeshActor = NULL;
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PxRigidDynamic* gSphereActor = NULL;
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PxPvd* gPvd = NULL;
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PxU32 gSimStepCount = 0;
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std::vector<PxVec3> gContactPositions;
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std::vector<PxVec3> gContactImpulses;
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std::vector<PxVec3> gContactSphereActorPositions;
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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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//
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// Enable CCD for the pair, request contact reports for initial and CCD contacts.
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// Additionally, provide information per contact point and provide the actor
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// pose at the time of contact.
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//
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pairFlags = PxPairFlag::eCONTACT_DEFAULT
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| PxPairFlag::eDETECT_CCD_CONTACT
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| PxPairFlag::eNOTIFY_TOUCH_CCD
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| PxPairFlag::eNOTIFY_TOUCH_FOUND
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| PxPairFlag::eNOTIFY_CONTACT_POINTS
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| PxPairFlag::eCONTACT_EVENT_POSE;
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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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std::vector<PxContactPairPoint> contactPoints;
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PxTransform spherePose(PxIdentity);
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PxU32 nextPairIndex = 0xffffffff;
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PxContactPairExtraDataIterator iter(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
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bool hasItemSet = iter.nextItemSet();
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if (hasItemSet)
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nextPairIndex = iter.contactPairIndex;
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for(PxU32 i=0; i < nbPairs; i++)
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{
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//
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// Get the pose of the dynamic object at time of impact.
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//
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if (nextPairIndex == i)
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{
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if (pairHeader.actors[0]->is<PxRigidDynamic>())
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spherePose = iter.eventPose->globalPose[0];
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else
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spherePose = iter.eventPose->globalPose[1];
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gContactSphereActorPositions.push_back(spherePose.p);
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hasItemSet = iter.nextItemSet();
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if (hasItemSet)
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nextPairIndex = iter.contactPairIndex;
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}
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//
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// Get the contact points for the pair.
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//
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const PxContactPair& cPair = pairs[i];
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if (cPair.events & (PxPairFlag::eNOTIFY_TOUCH_FOUND | PxPairFlag::eNOTIFY_TOUCH_CCD))
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{
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PxU32 contactCount = cPair.contactCount;
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contactPoints.resize(contactCount);
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cPair.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 initScene()
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{
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//
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// Create a static triangle mesh
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//
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PxVec3 vertices[] = { PxVec3(-8.0f, 0.0f, -3.0f),
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PxVec3(-8.0f, 0.0f, 3.0f),
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PxVec3(0.0f, 0.0f, 3.0f),
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PxVec3(0.0f, 0.0f, -3.0f),
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PxVec3(-8.0f, 10.0f, -3.0f),
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PxVec3(-8.0f, 10.0f, 3.0f),
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PxVec3(0.0f, 10.0f, 3.0f),
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PxVec3(0.0f, 10.0f, -3.0f),
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};
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PxU32 vertexCount = sizeof(vertices) / sizeof(vertices[0]);
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PxU32 triangleIndices[] = { 0, 1, 2,
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0, 2, 3,
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0, 5, 1,
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0, 4, 5,
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4, 6, 5,
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4, 7, 6
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};
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PxU32 triangleCount = (sizeof(triangleIndices) / sizeof(triangleIndices[0])) / 3;
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PxTriangleMeshDesc triangleMeshDesc;
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triangleMeshDesc.points.count = vertexCount;
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triangleMeshDesc.points.data = vertices;
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triangleMeshDesc.points.stride = sizeof(PxVec3);
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triangleMeshDesc.triangles.count = triangleCount;
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triangleMeshDesc.triangles.data = triangleIndices;
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triangleMeshDesc.triangles.stride = 3 * sizeof(PxU32);
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gTriangleMesh = gCooking->createTriangleMesh(triangleMeshDesc, gPhysics->getPhysicsInsertionCallback());
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if (!gTriangleMesh)
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return;
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gTriangleMeshActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f), PxQuat(PxHalfPi / 60.0f, PxVec3(0.0f, 1.0f, 0.0f))));
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if (!gTriangleMeshActor)
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return;
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PxTriangleMeshGeometry triGeom(gTriangleMesh);
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PxShape* triangleMeshShape = PxRigidActorExt::createExclusiveShape(*gTriangleMeshActor, triGeom, *gMaterial);
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if (!triangleMeshShape)
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return;
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gScene->addActor(*gTriangleMeshActor);
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//
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// Create a fast moving sphere that will hit and bounce off the static triangle mesh 3 times
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// in one simulation step.
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//
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PxTransform spherePose(PxVec3(0.0f, 5.0f, 1.0f));
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gContactSphereActorPositions.push_back(spherePose.p);
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gSphereActor = gPhysics->createRigidDynamic(spherePose);
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gSphereActor->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
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if (!gSphereActor)
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return;
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PxSphereGeometry sphereGeom(1.0f);
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PxShape* sphereShape = PxRigidActorExt::createExclusiveShape(*gSphereActor, sphereGeom, *gMaterial);
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if (!sphereShape)
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return;
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PxRigidBodyExt::updateMassAndInertia(*gSphereActor, 1.0f);
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PxReal velMagn = 900.0f;
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PxVec3 vel = PxVec3(-1.0f, -1.0f, 0.0f);
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vel.normalize();
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vel *= velMagn;
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gSphereActor->setLinearVelocity(vel);
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gScene->addActor(*gSphereActor);
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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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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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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, 0, 0);
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sceneDesc.filterShader = contactReportFilterShader;
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sceneDesc.simulationEventCallback = &gContactReportCallback;
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sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
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sceneDesc.ccdMaxPasses = 4;
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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, 1.0f);
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initScene();
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}
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void stepPhysics(bool /*interactive*/)
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{
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if (!gSimStepCount)
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{
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gScene->simulate(1.0f/60.0f);
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gScene->fetchResults(true);
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printf("%d contact points\n", PxU32(gContactPositions.size()));
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if (gSphereActor)
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gContactSphereActorPositions.push_back(gSphereActor->getGlobalPose().p);
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gSimStepCount = 1;
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}
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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PX_RELEASE(gSphereActor);
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PX_RELEASE(gTriangleMeshActor);
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PX_RELEASE(gTriangleMesh);
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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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PX_RELEASE(gCooking);
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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("SnippetContactReportCCD 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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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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