Init
This commit is contained in:
236
physx/snippets/snippetstepper/SnippetStepper.cpp
Normal file
236
physx/snippets/snippetstepper/SnippetStepper.cpp
Normal file
@ -0,0 +1,236 @@
|
||||
//
|
||||
// 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.
|
||||
|
||||
// ****************************************************************************
|
||||
// This snippet illustrates kinematic actor updates in a substepped simulation.
|
||||
//
|
||||
// It uses chained continuation tasks that call fetchResults and run simulation steps.
|
||||
// The scene consists of a kinematic platform interacting with a dynamic
|
||||
// sphere. The kinematic actor's target pose is updated before every substep.
|
||||
// ****************************************************************************
|
||||
|
||||
#include <new>
|
||||
|
||||
#include "PxPhysicsAPI.h"
|
||||
|
||||
#include "../snippetcommon/SnippetPrint.h"
|
||||
#include "../snippetcommon/SnippetPVD.h"
|
||||
#include "../snippetutils/SnippetUtils.h"
|
||||
|
||||
using namespace physx;
|
||||
using namespace SnippetUtils;
|
||||
|
||||
// The usual PhysX resources.
|
||||
PxDefaultAllocator gAllocator;
|
||||
PxDefaultErrorCallback gErrorCallback;
|
||||
|
||||
PxFoundation* gFoundation = NULL;
|
||||
PxPhysics* gPhysics = NULL;
|
||||
PxMaterial* gMaterial = NULL;
|
||||
|
||||
PxDefaultCpuDispatcher* gDispatcher = NULL;
|
||||
PxScene* gScene = NULL;
|
||||
PxRigidDynamic* gKinematic = NULL;
|
||||
|
||||
// A very simple substepping policy: just take 2 60Hz substeps per step.
|
||||
static const PxReal SUBSTEP_LENGTH = 1.0f/60.0f;
|
||||
static const PxU32 NUM_STEPS = 1000;
|
||||
static const PxI32 NUM_SUBSTEPS = 2;
|
||||
PxPvd* gPvd = NULL;
|
||||
// Context for keeping track of the stepper state.
|
||||
struct StepContext
|
||||
{
|
||||
class SubstepCompletionTask* taskPool;
|
||||
Sync* completionSync;
|
||||
PxI32 nbSubstepsFinished;
|
||||
volatile PxI32 nbTasksDestroyed;
|
||||
} gStepContext;
|
||||
|
||||
// Completion task for running a substep.
|
||||
|
||||
// The following sequencing is guaranteed:
|
||||
// * the section of the run() method up to the removeReference() in startNextSubstep() will execute prior
|
||||
// to the run() method of the task submitted by startNextSubstep()
|
||||
// * the run() method of a task will run before its release() method
|
||||
//
|
||||
// Any work done by a task after releasing the next task (via removeReference()) could end up running in
|
||||
// parallel with that task, if simulate() completes sufficiently quickly or there is a context switch. In order
|
||||
// to prevent races, it is therefore recommended that a completion task do no work after releasing the next.
|
||||
|
||||
class SubstepCompletionTask : public PxLightCpuTask
|
||||
{
|
||||
public:
|
||||
SubstepCompletionTask()
|
||||
{
|
||||
mTm = gScene->getTaskManager();
|
||||
}
|
||||
|
||||
void run()
|
||||
{
|
||||
void startNextSubstep();
|
||||
|
||||
gScene->fetchResults(true);
|
||||
if(++gStepContext.nbSubstepsFinished < NUM_SUBSTEPS)
|
||||
startNextSubstep();
|
||||
}
|
||||
|
||||
void release()
|
||||
{
|
||||
this->~SubstepCompletionTask();
|
||||
|
||||
// If we're done with all the substeps , synchronize with the main thread. In a real application
|
||||
// we would most likely run dependent tasks instead.
|
||||
|
||||
// We can only signal completion once all substepping resources are cleaned up.
|
||||
// Release() calls may run concurrently or out of order, so we use an atomic counter.
|
||||
|
||||
if(atomicIncrement(&gStepContext.nbTasksDestroyed) == NUM_SUBSTEPS)
|
||||
syncSet(gStepContext.completionSync);
|
||||
}
|
||||
|
||||
const char* getName() const { return "Substep Completion Task"; }
|
||||
};
|
||||
|
||||
|
||||
// Update the sim inputs and start the next PhysX substep.
|
||||
|
||||
void startNextSubstep()
|
||||
{
|
||||
// Compute new target pose for the kinematic at the end of the substep.
|
||||
|
||||
static PxReal sTotalSeconds = 0.0f;
|
||||
sTotalSeconds += SUBSTEP_LENGTH;
|
||||
|
||||
const PxReal period = 4.0f;
|
||||
const PxReal amplitude = 10.0f;
|
||||
const PxReal angVel = PxTwoPi/period;
|
||||
|
||||
PxReal yPos = PxSin(angVel * sTotalSeconds) * amplitude;
|
||||
gKinematic->setKinematicTarget(PxTransform(0.0f, yPos, 0.0f));
|
||||
|
||||
// Create a completion task and set its reference count to 1. This way we can safely submit it to simulate()
|
||||
// and, even if we get context-switched and simulate() completes before we get back, the task's run()
|
||||
// method will not execute until we're ready.
|
||||
|
||||
SubstepCompletionTask* nextCompletion = new (gStepContext.taskPool+gStepContext.nbSubstepsFinished) SubstepCompletionTask();
|
||||
nextCompletion->addReference();
|
||||
|
||||
// Kick off the sim with the new completion task. Once this call returns, worker threads will update the PhysX
|
||||
// state in parallel with the rest of this function.
|
||||
|
||||
gScene->simulate(SUBSTEP_LENGTH, nextCompletion);
|
||||
|
||||
// We can do things here that can run in parallel with the simulation, but must happen before the next task's
|
||||
// run method executes. In this snippet, there's nothing to do...
|
||||
|
||||
// Finally, remove the reference that prevents the next completion task running.
|
||||
|
||||
nextCompletion->removeReference();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void runPhysics()
|
||||
{
|
||||
// Initialize the substepping context.
|
||||
syncReset(gStepContext.completionSync);
|
||||
gStepContext.nbSubstepsFinished = 0;
|
||||
gStepContext.nbTasksDestroyed = 0;
|
||||
|
||||
// Start the first substep, then wait for the last one to finish.
|
||||
startNextSubstep();
|
||||
syncWait(gStepContext.completionSync);
|
||||
}
|
||||
|
||||
void initPhysics()
|
||||
{
|
||||
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
||||
|
||||
gPvd = PxCreatePvd(*gFoundation);
|
||||
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
||||
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
||||
|
||||
gPhysics = PxCreateBasePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
|
||||
|
||||
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.2f);
|
||||
|
||||
PxSceneDesc desc(gPhysics->getTolerancesScale());
|
||||
desc.filterShader = PxDefaultSimulationFilterShader;
|
||||
desc.cpuDispatcher = gDispatcher = PxDefaultCpuDispatcherCreate(2);
|
||||
desc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
||||
gScene = gPhysics->createScene(desc);
|
||||
|
||||
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
||||
if(pvdClient)
|
||||
{
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
||||
}
|
||||
gKinematic = PxCreateKinematic(*gPhysics, PxTransform(PxIdentity), PxBoxGeometry(5.0f, 1.0f, 5.0f), *gMaterial, 1.0f);
|
||||
gScene->addActor(*gKinematic);
|
||||
|
||||
PxRigidDynamic* sphere = PxCreateDynamic(*gPhysics, PxTransform(0.0f, 5.0f, 0.0f), PxSphereGeometry(1.0f), *gMaterial, 1.0f);
|
||||
gScene->addActor(*sphere);
|
||||
}
|
||||
|
||||
void cleanupPhysics()
|
||||
{
|
||||
PX_RELEASE(gDispatcher);
|
||||
PX_RELEASE(gPhysics);
|
||||
|
||||
if(gPvd)
|
||||
{
|
||||
PxPvdTransport* transport = gPvd->getTransport();
|
||||
gPvd->release(); gPvd = NULL;
|
||||
PX_RELEASE(transport);
|
||||
}
|
||||
PX_RELEASE(gFoundation);
|
||||
}
|
||||
|
||||
int snippetMain(int, const char*const*)
|
||||
{
|
||||
initPhysics();
|
||||
|
||||
// Storage and synchronization for substepping.
|
||||
gStepContext.taskPool = reinterpret_cast<SubstepCompletionTask*>(malloc(NUM_SUBSTEPS * sizeof(SubstepCompletionTask)));
|
||||
gStepContext.completionSync = syncCreate();
|
||||
|
||||
for(PxU32 i=0; i<NUM_STEPS; i++)
|
||||
runPhysics();
|
||||
|
||||
syncRelease(gStepContext.completionSync);
|
||||
free(gStepContext.taskPool);
|
||||
|
||||
cleanupPhysics();
|
||||
|
||||
printf("SnippetStepper done.\n");
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user