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physx/snippets/snippetjoint/SnippetJoint.cpp
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204
physx/snippets/snippetjoint/SnippetJoint.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 simple use of joints in physx
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//
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// It creates a chain of objects joined by limited spherical joints, a chain
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// joined by fixed joints which is breakable, and a chain of damped D6 joints
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#include "../snippetutils/SnippetUtils.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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PxReal chainZ = 10.0f;
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PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0))
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
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dynamic->setAngularDamping(0.5f);
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dynamic->setLinearVelocity(velocity);
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gScene->addActor(*dynamic);
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return dynamic;
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}
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// spherical joint limited to an angle of at most pi/4 radians (45 degrees)
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PxJoint* createLimitedSpherical(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
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{
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PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, a0, t0, a1, t1);
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j->setLimitCone(PxJointLimitCone(PxPi/4, PxPi/4, 0.05f));
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j->setSphericalJointFlag(PxSphericalJointFlag::eLIMIT_ENABLED, true);
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return j;
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}
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// revolute joint limited to an angle of at most pi/4 radians (45 degrees)
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// fixed, breakable joint
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PxJoint* createBreakableFixed(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
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{
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PxFixedJoint* j = PxFixedJointCreate(*gPhysics, a0, t0, a1, t1);
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j->setBreakForce(1000, 100000);
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j->setConstraintFlag(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES, true);
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j->setConstraintFlag(PxConstraintFlag::eDISABLE_PREPROCESSING, true);
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return j;
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}
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// D6 joint with a spring maintaining its position
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PxJoint* createDampedD6(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
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{
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PxD6Joint* j = PxD6JointCreate(*gPhysics, a0, t0, a1, t1);
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j->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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j->setDrive(PxD6Drive::eSLERP, PxD6JointDrive(0, 1000, FLT_MAX, true));
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return j;
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}
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typedef PxJoint* (*JointCreateFunction)(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1);
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// create a chain rooted at the origin and extending along the x-axis, all transformed by the argument t.
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void createChain(const PxTransform& t, PxU32 length, const PxGeometry& g, PxReal separation, JointCreateFunction createJoint)
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{
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PxVec3 offset(separation/2, 0, 0);
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PxTransform localTm(offset);
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PxRigidDynamic* prev = NULL;
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for(PxU32 i=0;i<length;i++)
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{
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PxRigidDynamic* current = PxCreateDynamic(*gPhysics, t*localTm, g, *gMaterial, 1.0f);
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(*createJoint)(prev, prev ? PxTransform(offset) : t, current, PxTransform(-offset));
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gScene->addActor(*current);
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prev = current;
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localTm.p.x += separation;
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}
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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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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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gDispatcher = PxDefaultCpuDispatcherCreate(2);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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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_CONSTRAINTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, 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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createChain(PxTransform(PxVec3(0.0f, 20.0f, 0.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createLimitedSpherical);
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createChain(PxTransform(PxVec3(0.0f, 20.0f, -10.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createBreakableFixed);
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createChain(PxTransform(PxVec3(0.0f, 20.0f, -20.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createDampedD6);
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}
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void stepPhysics(bool /*interactive*/)
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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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}
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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("SnippetJoint done.\n");
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}
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void keyPress(unsigned char key, const PxTransform& camera)
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{
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switch(toupper(key))
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{
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case ' ': createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200); break;
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}
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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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static const PxU32 frameCount = 100;
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initPhysics(false);
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for(PxU32 i=0; i<frameCount; 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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120
physx/snippets/snippetjoint/SnippetJointRender.cpp
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120
physx/snippets/snippetjoint/SnippetJointRender.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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#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 void keyPress(unsigned char key, const PxTransform& camera);
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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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if(!sCamera->handleKey(key, x, y))
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keyPress(key, sCamera->getTransform());
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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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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 Joint");
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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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