Init
This commit is contained in:
@ -0,0 +1,504 @@
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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
|
||||
// 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.
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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 how to use contact modification and sweeps to allow wheels to
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// collide and react more naturally with the scene. In particular, the snippet shows how to
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// use contact modification and ccd contact modification to select or ignore rigid body contact
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// points between a shape representing a wheel and any other shape in the scene. The snippet
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// also demonstrates the use of suspension sweeps instead of suspension raycasts.
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// The snippet creates various static capsules with different radii, a ground plane, and a
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// vehicle. The capsules are configured to be drivable surfaces. Additionally, the
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// capsule and wheel shapes are configured with simulation filter data so that
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// they
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// (i) collide with each other with discrete collision detection
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// (ii) collide with each other with continuous collision detection (CCD)
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//(iii) trigger a contact modification callback
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// (iv) trigger a ccd contact modification callback
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// The contact modification callback is implemented with the class WheelContactModifyCallback.
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// The function WheelContactModifyCallback::onContactModify identifies shape pairs that contain
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// a wheel. Contact points for the shape pair are ignored or accepted with the SDK function
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// PxVehicleModifyWheelContacts. CCD contact modification is implemented with the class
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// WheelCCDContactModifyCallback. The function WheelCCDContactModifyCallback::onContactModify
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// performs exactly the same role as WheelContactModifyCallback::onContactModify
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// The threshold values POINT_REJECT_ANGLE and NORMAL_REJECT_ANGLE can be tuned
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// to modify the conditions under which wheel contact points are ignored or accepted.
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// It is a good idea to record and playback with pvd (PhysX Visual Debugger).
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// ****************************************************************************
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#include "PxPhysicsAPI.h"
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#include <ctype.h>
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#include "vehicle/PxVehicleUtil.h"
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#include "../snippetvehiclecommon/SnippetVehicleSceneQuery.h"
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#include "../snippetvehiclecommon/SnippetVehicleFilterShader.h"
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#include "../snippetvehiclecommon/SnippetVehicleTireFriction.h"
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#include "../snippetvehiclecommon/SnippetVehicleCreate.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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using namespace snippetvehicle;
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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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PxCooking* gCooking = NULL;
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PxMaterial* gMaterial = NULL;
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PxPvd* gPvd = NULL;
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VehicleSceneQueryData* gVehicleSceneQueryData = NULL;
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PxBatchQuery* gBatchQuery = NULL;
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PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;
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#define NUM_VEHICLES 2
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PxRigidStatic* gGroundPlane = NULL;
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PxVehicleDrive4W* gVehicle4W[NUM_VEHICLES] = { NULL, NULL };
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ActorUserData gActorUserData[NUM_VEHICLES];
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ShapeUserData gShapeUserDatas[NUM_VEHICLES][PX_MAX_NB_WHEELS];
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const PxF32 xCoordVehicleStarts[NUM_VEHICLES] = { 0.0f, 20.0f };
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//Angle thresholds used to categorize contacts as suspension contacts or rigid body contacts.
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#define POINT_REJECT_ANGLE PxPi/4.0f
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#define NORMAL_REJECT_ANGLE PxPi/4.0f
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//Contact modification values.
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#define WHEEL_TANGENT_VELOCITY_MULTIPLIER 0.1f
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#define MAX_IMPULSE PX_MAX_F32
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//PhysX Vehicles support blocking and non-blocking sweeps.
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//Experiment with this define to switch between the two regimes.
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#define BLOCKING_SWEEPS 0
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//Define the maximum acceleration for dynamic bodies under the wheel.
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#define MAX_ACCELERATION 50.0f
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//Blocking sweeps require sweep hit buffers for just 1 hit per wheel.
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//Non-blocking sweeps require more hits per wheel because they return all touches on the swept shape.
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#if BLOCKING_SWEEPS
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PxU16 gNbQueryHitsPerWheel = 1;
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#else
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PxU16 gNbQueryHitsPerWheel = 8;
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#endif
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//The class WheelContactModifyCallback identifies and modifies rigid body contacts
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//that involve a wheel. Contacts that can be identified and managed by the suspension
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//system are ignored. Any contacts that remain are modified to account for the rotation
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//speed of the wheel around the rolling axis.
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class WheelContactModifyCallback : public PxContactModifyCallback
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{
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public:
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WheelContactModifyCallback()
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: PxContactModifyCallback()
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{
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}
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~WheelContactModifyCallback(){}
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void onContactModify(PxContactModifyPair* const pairs, PxU32 count)
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{
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for(PxU32 i = 0; i < count ; i++)
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{
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const PxRigidActor** actors = pairs[i].actor;
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const PxShape** shapes = pairs[i].shape;
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//Search for actors that represent vehicles and shapes that represent wheels.
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for(PxU32 j = 0; j < 2; j++)
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{
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const PxActor* actor = actors[j];
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if(actor->userData && (static_cast<ActorUserData*>(actor->userData))->vehicle)
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{
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const PxVehicleWheels* vehicle = (static_cast<ActorUserData*>(actor->userData))->vehicle;
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PX_ASSERT(vehicle->getRigidDynamicActor() == actors[j]);
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const PxShape* shape = shapes[j];
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if(shape->userData && (static_cast<ShapeUserData*>(shape->userData))->isWheel)
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{
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const PxU32 wheelId = (static_cast<ShapeUserData*>(shape->userData))->wheelId;
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PX_ASSERT(wheelId < vehicle->mWheelsSimData.getNbWheels());
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//Modify wheel contacts.
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PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, pairs[i]);
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}
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}
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}
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}
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}
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private:
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};
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WheelContactModifyCallback gWheelContactModifyCallback;
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//The class WheelCCDContactModifyCallback identifies and modifies ccd contacts
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//that involve a wheel. Contacts that can be identified and managed by the suspension
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//system are ignored. Any contacts that remain are modified to account for the rotation
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//speed of the wheel around the rolling axis.
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class WheelCCDContactModifyCallback : public PxCCDContactModifyCallback
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{
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public:
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WheelCCDContactModifyCallback()
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: PxCCDContactModifyCallback()
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{
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}
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~WheelCCDContactModifyCallback(){}
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void onCCDContactModify(PxContactModifyPair* const pairs, PxU32 count)
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{
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for(PxU32 i = 0; i < count ; i++)
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{
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const PxRigidActor** actors = pairs[i].actor;
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const PxShape** shapes = pairs[i].shape;
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//Search for actors that represent vehicles and shapes that represent wheels.
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for(PxU32 j = 0; j < 2; j++)
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{
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const PxActor* actor = actors[j];
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if(actor->userData && (static_cast<ActorUserData*>(actor->userData))->vehicle)
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{
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const PxVehicleWheels* vehicle = (static_cast<ActorUserData*>(actor->userData))->vehicle;
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PX_ASSERT(vehicle->getRigidDynamicActor() == actors[j]);
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const PxShape* shape = shapes[j];
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if(shape->userData && (static_cast<ShapeUserData*>(shape->userData))->isWheel)
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{
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const PxU32 wheelId = (static_cast<ShapeUserData*>(shape->userData))->wheelId;
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PX_ASSERT(wheelId < vehicle->mWheelsSimData.getNbWheels());
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//Modify wheel contacts.
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PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, pairs[i]);
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}
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}
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}
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}
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}
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};
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WheelCCDContactModifyCallback gWheelCCDContactModifyCallback;
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VehicleDesc initVehicleDesc(const PxFilterData& chassisSimFilterData, const PxFilterData& wheelSimFilterData, const PxU32 vehicleId)
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{
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//Set up the chassis mass, dimensions, moment of inertia, and center of mass offset.
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//The moment of inertia is just the moment of inertia of a cuboid but modified for easier steering.
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//Center of mass offset is 0.65m above the base of the chassis and 0.25m towards the front.
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const PxF32 chassisMass = 1500.0f;
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const PxVec3 chassisDims(2.5f,2.0f,5.0f);
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const PxVec3 chassisMOI
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((chassisDims.y*chassisDims.y + chassisDims.z*chassisDims.z)*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.z*chassisDims.z)*0.8f*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.y*chassisDims.y)*chassisMass/12.0f);
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const PxVec3 chassisCMOffset(0.0f, -chassisDims.y*0.5f + 0.65f, 0.25f);
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//Set up the wheel mass, radius, width, moment of inertia, and number of wheels.
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//Moment of inertia is just the moment of inertia of a cylinder.
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const PxF32 wheelMass = 20.0f;
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const PxF32 wheelRadius = 0.5f;
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const PxF32 wheelWidth = 0.4f;
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const PxF32 wheelMOI = 0.5f*wheelMass*wheelRadius*wheelRadius;
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const PxU32 nbWheels = 4;
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VehicleDesc vehicleDesc;
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vehicleDesc.chassisMass = chassisMass;
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vehicleDesc.chassisDims = chassisDims;
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vehicleDesc.chassisMOI = chassisMOI;
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vehicleDesc.chassisCMOffset = chassisCMOffset;
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vehicleDesc.chassisMaterial = gMaterial;
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vehicleDesc.chassisSimFilterData = chassisSimFilterData;
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vehicleDesc.wheelMass = wheelMass;
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vehicleDesc.wheelRadius = wheelRadius;
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vehicleDesc.wheelWidth = wheelWidth;
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vehicleDesc.wheelMOI = wheelMOI;
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vehicleDesc.numWheels = nbWheels;
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vehicleDesc.wheelMaterial = gMaterial;
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vehicleDesc.wheelSimFilterData = wheelSimFilterData;
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vehicleDesc.actorUserData = &gActorUserData[vehicleId];
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vehicleDesc.shapeUserDatas = gShapeUserDatas[vehicleId];
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return vehicleDesc;
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}
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void initPhysics()
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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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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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PxU32 numWorkers = 1;
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gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = VehicleFilterShader; //Set the filter shader
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sceneDesc.contactModifyCallback = &gWheelContactModifyCallback; //Enable contact modification
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sceneDesc.ccdContactModifyCallback = &gWheelCCDContactModifyCallback; //Enable ccd contact modification
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sceneDesc.flags |= PxSceneFlag::eENABLE_CCD; //Enable ccd
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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(0.1f, 0.1f, 0.01f);
|
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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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/////////////////////////////////////////////
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PxInitVehicleSDK(*gPhysics);
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PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
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PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
|
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PxVehicleSetSweepHitRejectionAngles(POINT_REJECT_ANGLE, NORMAL_REJECT_ANGLE);
|
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PxVehicleSetMaxHitActorAcceleration(MAX_ACCELERATION);
|
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||||
//Create the batched scene queries for the suspension sweeps.
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//Use the post-filter shader to reject hit shapes that overlap the swept wheel at the start pose of the sweep.
|
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PxQueryHitType::Enum(*sceneQueryPreFilter)(PxFilterData, PxFilterData, const void*, PxU32, PxHitFlags&);
|
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PxQueryHitType::Enum(*sceneQueryPostFilter)(PxFilterData, PxFilterData, const void*, PxU32, const PxQueryHit&);
|
||||
#if BLOCKING_SWEEPS
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||||
sceneQueryPreFilter = &WheelSceneQueryPreFilterBlocking;
|
||||
sceneQueryPostFilter = &WheelSceneQueryPostFilterBlocking;
|
||||
#else
|
||||
sceneQueryPreFilter = &WheelSceneQueryPreFilterNonBlocking;
|
||||
sceneQueryPostFilter = &WheelSceneQueryPostFilterNonBlocking;
|
||||
#endif
|
||||
gVehicleSceneQueryData = VehicleSceneQueryData::allocate(NUM_VEHICLES, PX_MAX_NB_WHEELS, gNbQueryHitsPerWheel, NUM_VEHICLES, sceneQueryPreFilter, sceneQueryPostFilter, gAllocator);
|
||||
gBatchQuery = VehicleSceneQueryData::setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
|
||||
|
||||
//Create the friction table for each combination of tire and surface type.
|
||||
gFrictionPairs = createFrictionPairs(gMaterial);
|
||||
|
||||
//Create a plane to drive on.
|
||||
PxFilterData groundPlaneSimFilterData(COLLISION_FLAG_GROUND, COLLISION_FLAG_GROUND_AGAINST, 0, 0);
|
||||
gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
|
||||
gScene->addActor(*gGroundPlane);
|
||||
|
||||
//Create several static obstacles for the first vehicle to drive on.
|
||||
// (i) collide only with wheel shapes
|
||||
// (ii) have continuous collision detection (CCD) enabled
|
||||
//(iii) have contact modification enabled
|
||||
// (iv) are configured to be drivable surfaces
|
||||
const PxF32 capsuleRadii[4] = {0.05f, 0.1f, 0.125f, 0.135f};
|
||||
const PxF32 capsuleZ[4] = {5.0f, 10.0f, 15.0f, 20.0f};
|
||||
for(PxU32 i = 0; i < 4; i++)
|
||||
{
|
||||
PxTransform t(PxVec3(xCoordVehicleStarts[0], capsuleRadii[i], capsuleZ[i]), PxQuat(PxIdentity));
|
||||
PxRigidStatic* rd = gPhysics->createRigidStatic(t);
|
||||
PxCapsuleGeometry capsuleGeom(capsuleRadii[i], 3.0f);
|
||||
PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, capsuleGeom, *gMaterial);
|
||||
PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_WHEEL, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
|
||||
shape->setSimulationFilterData(simFilterData);
|
||||
PxFilterData qryFilterData;
|
||||
setupDrivableSurface(qryFilterData);
|
||||
shape->setQueryFilterData(qryFilterData);
|
||||
gScene->addActor(*rd);
|
||||
}
|
||||
const PxF32 boxHalfHeights[1] = {1.0f};
|
||||
const PxF32 boxZ[1] = {30.0f};
|
||||
for(PxU32 i = 0; i < 1; i++)
|
||||
{
|
||||
PxTransform t(PxVec3(xCoordVehicleStarts[0], boxHalfHeights[i], boxZ[i]), PxQuat(PxIdentity));
|
||||
PxRigidStatic* rd = gPhysics->createRigidStatic(t);
|
||||
|
||||
PxBoxGeometry boxGeom(PxVec3(3.0f, boxHalfHeights[i], 3.0f));
|
||||
PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, boxGeom, *gMaterial);
|
||||
|
||||
PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_WHEEL, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
|
||||
shape->setSimulationFilterData(simFilterData);
|
||||
PxFilterData qryFilterData;
|
||||
setupDrivableSurface(qryFilterData);
|
||||
shape->setQueryFilterData(qryFilterData);
|
||||
|
||||
gScene->addActor(*rd);
|
||||
}
|
||||
|
||||
//Create a pile of dynamic objects for the second vehicle to drive on.
|
||||
// (i) collide only with wheel shapes
|
||||
// (ii) have continuous collision detection (CCD) enabled
|
||||
//(iii) have contact modification enabled
|
||||
// (iv) are configured to be drivable surfaces
|
||||
{
|
||||
for (PxU32 i = 0; i < 64; i++)
|
||||
{
|
||||
PxTransform t(PxVec3(xCoordVehicleStarts[1] + i*0.01f, 2.0f + i*0.25f, 20.0f + i*0.025f), PxQuat(PxPi*0.5f, PxVec3(0, 1, 0)));
|
||||
PxRigidDynamic* rd = gPhysics->createRigidDynamic(t);
|
||||
|
||||
PxBoxGeometry boxGeom(PxVec3(0.08f, 0.25f, 1.0f));
|
||||
PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, boxGeom, *gMaterial);
|
||||
|
||||
PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_OBSTACLE_AGAINST, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
|
||||
shape->setSimulationFilterData(simFilterData);
|
||||
PxFilterData qryFilterData;
|
||||
setupDrivableSurface(qryFilterData);
|
||||
shape->setQueryFilterData(qryFilterData);
|
||||
|
||||
PxRigidBodyExt::updateMassAndInertia(*rd, 30.0f);
|
||||
|
||||
gScene->addActor(*rd);
|
||||
}
|
||||
}
|
||||
|
||||
//Create two vehicles that will drive on the obstacles.
|
||||
//The vehicles are configured with wheels that
|
||||
// (i) collide with obstacles
|
||||
// (ii) have continuous collision detection (CCD) enabled
|
||||
//(iii) have contact modification enabled
|
||||
//The vehicle chassis only collides with the ground to highlight the collision between the wheels and the obstacles.
|
||||
for (PxU32 i = 0; i < NUM_VEHICLES; i++)
|
||||
{
|
||||
PxFilterData chassisSimFilterData(COLLISION_FLAG_CHASSIS, COLLISION_FLAG_GROUND, 0, 0);
|
||||
PxFilterData wheelSimFilterData(COLLISION_FLAG_WHEEL, COLLISION_FLAG_WHEEL, PxPairFlag::eDETECT_CCD_CONTACT | PxPairFlag::eMODIFY_CONTACTS, 0);
|
||||
VehicleDesc vehicleDesc = initVehicleDesc(chassisSimFilterData, wheelSimFilterData, i);
|
||||
gVehicle4W[i] = createVehicle4W(vehicleDesc, gPhysics, gCooking);
|
||||
PxTransform startTransform(PxVec3(xCoordVehicleStarts[i], (vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
|
||||
gVehicle4W[i]->getRigidDynamicActor()->setGlobalPose(startTransform);
|
||||
gVehicle4W[i]->getRigidDynamicActor()->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
|
||||
gScene->addActor(*gVehicle4W[i]->getRigidDynamicActor());
|
||||
|
||||
//Set the vehicle to rest in first gear.
|
||||
//Set the vehicle to use auto-gears.
|
||||
gVehicle4W[i]->setToRestState();
|
||||
gVehicle4W[i]->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
|
||||
gVehicle4W[i]->mDriveDynData.setUseAutoGears(true);
|
||||
}
|
||||
}
|
||||
|
||||
void stepPhysics()
|
||||
{
|
||||
const PxF32 timestep = 1.0f/60.0f;
|
||||
|
||||
//Set the vehicles to accelerate forwards.
|
||||
for (PxU32 i = 0; i < 2; i++)
|
||||
{
|
||||
gVehicle4W[i]->mDriveDynData.setAnalogInput(PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL, 0.55f);
|
||||
}
|
||||
|
||||
//Scene update.
|
||||
gScene->simulate(timestep);
|
||||
gScene->fetchResults(true);
|
||||
|
||||
//Suspension sweeps (instead of raycasts).
|
||||
//Sweeps provide more information about the geometry under the wheel.
|
||||
PxVehicleWheels* vehicles[NUM_VEHICLES] = {gVehicle4W[0], gVehicle4W[1]};
|
||||
PxSweepQueryResult* sweepResults = gVehicleSceneQueryData->getSweepQueryResultBuffer(0);
|
||||
const PxU32 sweepResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
|
||||
PxVehicleSuspensionSweeps(gBatchQuery, NUM_VEHICLES, vehicles, sweepResultsSize, sweepResults, gNbQueryHitsPerWheel, NULL, 1.0f, 1.01f);
|
||||
|
||||
//Vehicle update.
|
||||
const PxVec3 grav = gScene->getGravity();
|
||||
PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS][NUM_VEHICLES];
|
||||
PxVehicleWheelQueryResult vehicleQueryResults[NUM_VEHICLES] =
|
||||
{
|
||||
{ wheelQueryResults[0], gVehicle4W[0]->mWheelsSimData.getNbWheels() },
|
||||
{ wheelQueryResults[1] , gVehicle4W[1]->mWheelsSimData.getNbWheels() },
|
||||
};
|
||||
PxVehicleUpdates(timestep, grav, *gFrictionPairs, NUM_VEHICLES, vehicles, vehicleQueryResults);
|
||||
}
|
||||
|
||||
void cleanupPhysics()
|
||||
{
|
||||
for (PxU32 i = 0; i < NUM_VEHICLES; i++)
|
||||
{
|
||||
gVehicle4W[i]->getRigidDynamicActor()->release();
|
||||
gVehicle4W[i]->free();
|
||||
}
|
||||
PX_RELEASE(gGroundPlane);
|
||||
PX_RELEASE(gBatchQuery);
|
||||
gVehicleSceneQueryData->free(gAllocator);
|
||||
PX_RELEASE(gFrictionPairs);
|
||||
PxCloseVehicleSDK();
|
||||
|
||||
PX_RELEASE(gMaterial);
|
||||
PX_RELEASE(gCooking);
|
||||
PX_RELEASE(gScene);
|
||||
PX_RELEASE(gDispatcher);
|
||||
PX_RELEASE(gPhysics);
|
||||
if(gPvd)
|
||||
{
|
||||
PxPvdTransport* transport = gPvd->getTransport();
|
||||
gPvd->release(); gPvd = NULL;
|
||||
PX_RELEASE(transport);
|
||||
}
|
||||
|
||||
PX_RELEASE(gFoundation);
|
||||
|
||||
printf("SnippetVehicleContactMod done.\n");
|
||||
}
|
||||
|
||||
void keyPress(unsigned char key, const PxTransform& camera)
|
||||
{
|
||||
PX_UNUSED(camera);
|
||||
PX_UNUSED(key);
|
||||
}
|
||||
|
||||
int snippetMain(int, const char*const*)
|
||||
{
|
||||
#ifdef RENDER_SNIPPET
|
||||
extern void renderLoop();
|
||||
renderLoop();
|
||||
#else
|
||||
initPhysics();
|
||||
PxU32 count = 0;
|
||||
PxU32 maxCount =1000;
|
||||
while(count < maxCount)
|
||||
{
|
||||
stepPhysics();
|
||||
count++;
|
||||
}
|
||||
cleanupPhysics();
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,120 @@
|
||||
//
|
||||
// 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();
|
||||
extern void stepPhysics();
|
||||
extern void cleanupPhysics();
|
||||
extern void keyPress(unsigned char key, const PxTransform& camera);
|
||||
|
||||
extern PxScene* gScene;
|
||||
|
||||
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);
|
||||
|
||||
if(!sCamera->handleKey(key, x, y))
|
||||
keyPress(key, sCamera->getTransform());
|
||||
}
|
||||
|
||||
void mouseCallback(int button, int state, int x, int y)
|
||||
{
|
||||
sCamera->handleMouse(button, state, x, y);
|
||||
}
|
||||
|
||||
void idleCallback()
|
||||
{
|
||||
glutPostRedisplay();
|
||||
}
|
||||
|
||||
void renderCallback()
|
||||
{
|
||||
stepPhysics();
|
||||
|
||||
Snippets::startRender(sCamera->getEye(), sCamera->getDir());
|
||||
|
||||
PxU32 nbActors = gScene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
|
||||
if(nbActors)
|
||||
{
|
||||
std::vector<PxRigidActor*> actors(nbActors);
|
||||
gScene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
|
||||
Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
|
||||
}
|
||||
|
||||
Snippets::finishRender();
|
||||
}
|
||||
|
||||
void exitCallback(void)
|
||||
{
|
||||
delete sCamera;
|
||||
cleanupPhysics();
|
||||
}
|
||||
}
|
||||
|
||||
void renderLoop()
|
||||
{
|
||||
sCamera = new Snippets::Camera(PxVec3(10.0f, 10.0f, 10.0f), PxVec3(-0.6f,-0.2f,-0.7f));
|
||||
|
||||
Snippets::setupDefaultWindow("PhysX Snippet Vehicle4W");
|
||||
Snippets::setupDefaultRenderState();
|
||||
|
||||
glutIdleFunc(idleCallback);
|
||||
glutDisplayFunc(renderCallback);
|
||||
glutKeyboardFunc(keyboardCallback);
|
||||
glutMouseFunc(mouseCallback);
|
||||
glutMotionFunc(motionCallback);
|
||||
motionCallback(0,0);
|
||||
|
||||
atexit(exitCallback);
|
||||
|
||||
initPhysics();
|
||||
glutMainLoop();
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user