Init
This commit is contained in:
@ -0,0 +1,276 @@
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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 "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#include "../snippetutils/SnippetUtils.h"
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#include "PsAtomic.h"
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#include "task/PxTask.h"
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#define PARALLEL_CALLBACKS 1
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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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const PxI32 maxCount = 10000;
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PxI32 gSharedIndex = 0;
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PxVec3* gContactPositions;
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PxVec3* gContactImpulses;
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PxVec3* gContactVertices;
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class CallbackFinishTask : public PxLightCpuTask
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{
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SnippetUtils::Sync* mSync;
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public:
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CallbackFinishTask(){ mSync = SnippetUtils::syncCreate(); }
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virtual void release()
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{
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PxLightCpuTask::release();
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SnippetUtils::syncSet(mSync);
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}
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void reset() { SnippetUtils::syncReset(mSync); }
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void wait() { SnippetUtils::syncWait(mSync); }
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virtual void run() { /*Do nothing - release the sync in the release method for thread-safety*/}
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virtual const char* getName() const { return "CallbackFinishTask"; }
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}
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callbackFinishTask;
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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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//Maximum of 64 vertices can be produced by contact gen
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PxContactPairPoint contactPoints[64];
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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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pairs[i].extractContacts(&contactPoints[0], contactCount);
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PxI32 startIdx = physx::shdfnd::atomicAdd(&gSharedIndex, int32_t(contactCount));
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for (PxU32 j = 0; j<contactCount; j++)
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{
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gContactPositions[startIdx+j] = contactPoints[j].position;
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gContactImpulses[startIdx+j] = contactPoints[j].impulse;
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gContactVertices[2*(startIdx + j)] = contactPoints[j].position;
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gContactVertices[2*(startIdx + j) + 1] = contactPoints[j].position + contactPoints[j].impulse * 0.1f;
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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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gContactPositions = new PxVec3[maxCount];
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gContactImpulses = new PxVec3[maxCount];
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gContactVertices = new PxVec3[2*maxCount];
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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_CONSTRAINTS, 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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const PxU32 nbStacks = 50;
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for (PxU32 i = 0; i < nbStacks; ++i)
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{
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createStack(PxTransform(PxVec3(0, 3.0f, 10.f - 5.f*i)), 5, 2.0f);
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}
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}
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void stepPhysics(bool /*interactive*/)
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{
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gSharedIndex = 0;
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gScene->simulate(1.0f / 60.0f);
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#if !PARALLEL_CALLBACKS
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gScene->fetchResults(true);
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#else
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//Call fetchResultsStart. Get the set of pair headers
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const PxContactPairHeader* pairHeader;
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PxU32 nbContactPairs;
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gScene->fetchResultsStart(pairHeader, nbContactPairs, true);
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//Set up continuation task to be run after callbacks have been processed in parallel
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callbackFinishTask.setContinuation(*gScene->getTaskManager(), NULL);
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callbackFinishTask.reset();
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//process the callbacks
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gScene->processCallbacks(&callbackFinishTask);
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callbackFinishTask.removeReference();
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callbackFinishTask.wait();
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gScene->fetchResultsFinish();
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#endif
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printf("%d contact reports\n", PxU32(gSharedIndex));
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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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delete gContactPositions;
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delete gContactImpulses;
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delete gContactVertices;
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printf("SnippetSplitFetchResults 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 +1,131 @@
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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
|
||||
// are met:
|
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// * 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.
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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
|
||||
// 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.
|
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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 PxVec3* gContactPositions;
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extern PxVec3* gContactImpulses;
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extern PxI32 gSharedIndex;
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extern 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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PxI32 count = gSharedIndex;
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if (count)
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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(count*2));
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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 Split fetchResults");
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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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Reference in New Issue
Block a user