611 lines
23 KiB
C++
611 lines
23 KiB
C++
//
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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 demonstrates the use of articulations.
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// ****************************************************************************
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#include <ctype.h>
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#include <vector>
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#include "PxPhysicsAPI.h"
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#include "../snippetutils/SnippetUtils.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#define USE_REDUCED_COORDINATE_ARTICULATION 1
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#define CREATE_SCISSOR_LIFT 1
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#if CREATE_SCISSOR_LIFT
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bool gCreateLiftScene = true;
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#else
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bool gCreateLiftScene = false;
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#endif
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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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#if USE_REDUCED_COORDINATE_ARTICULATION
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PxArticulationReducedCoordinate* gArticulation = NULL;
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PxArticulationJointReducedCoordinate* gDriveJoint = NULL;
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#else
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PxArticulation* gArticulation = NULL;
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#endif
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#if USE_REDUCED_COORDINATE_ARTICULATION
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PxFilterFlags scissorFilter(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(constantBlock);
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PX_UNUSED(constantBlockSize);
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if (filterData0.word2 != 0 && filterData0.word2 == filterData1.word2)
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return PxFilterFlag::eKILL;
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pairFlags |= PxPairFlag::eCONTACT_DEFAULT;
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return PxFilterFlag::eDEFAULT;
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}
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void createScissorLift()
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{
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const PxReal runnerLength = 2.f;
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const PxReal placementDistance = 1.8f;
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const PxReal cosAng = (placementDistance) / (runnerLength);
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const PxReal angle = PxAcos(cosAng);
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const PxReal sinAng = PxSin(angle);
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const PxQuat leftRot(-angle, PxVec3(1.f, 0.f, 0.f));
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const PxQuat rightRot(angle, PxVec3(1.f, 0.f, 0.f));
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//(1) Create base...
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PxArticulationLink* base = gArticulation->createLink(NULL, PxTransform(PxVec3(0.f, 0.25f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*base, PxBoxGeometry(0.5f, 0.25f, 1.5f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*base, 3.f);
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//Now create the slider and fixed joints...
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gArticulation->setSolverIterationCounts(32);
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PxArticulationLink* leftRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, -0.9f)));
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PxRigidActorExt::createExclusiveShape(*leftRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftRoot, 1.f);
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PxArticulationLink* rightRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, 0.9f)));
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PxRigidActorExt::createExclusiveShape(*rightRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightRoot, 1.f);
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PxArticulationJointReducedCoordinate* joint = static_cast<PxArticulationJointReducedCoordinate*>(leftRoot->getInboundJoint());
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joint->setJointType(PxArticulationJointType::eFIX);
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, -0.9f)));
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joint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
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//Set up the drive joint...
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gDriveJoint = static_cast<PxArticulationJointReducedCoordinate*>(rightRoot->getInboundJoint());
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gDriveJoint->setJointType(PxArticulationJointType::ePRISMATIC);
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gDriveJoint->setMotion(PxArticulationAxis::eZ, PxArticulationMotion::eLIMITED);
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gDriveJoint->setLimit(PxArticulationAxis::eZ, -1.4f, 0.2f);
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gDriveJoint->setDrive(PxArticulationAxis::eZ, 100000.f, 0.f, PX_MAX_F32);
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gDriveJoint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, 0.9f)));
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gDriveJoint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
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const PxU32 linkHeight = 3;
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PxArticulationLink* currLeft = leftRoot, *currRight = rightRoot;
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PxQuat rightParentRot(PxIdentity);
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PxQuat leftParentRot(PxIdentity);
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for (PxU32 i = 0; i < linkHeight; ++i)
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{
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const PxVec3 pos(0.5f, 0.55f + 0.1f*(1 + i), 0.f);
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PxArticulationLink* leftLink = gArticulation->createLink(currLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
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PxRigidActorExt::createExclusiveShape(*leftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftLink, 1.f);
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const PxVec3 leftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(leftLink->getInboundJoint());
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joint->setParentPose(PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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leftParentRot = leftRot;
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimit(PxArticulationAxis::eTWIST, -PxPi, angle);
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PxArticulationLink* rightLink = gArticulation->createLink(currRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
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PxRigidActorExt::createExclusiveShape(*rightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightLink, 1.f);
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const PxVec3 rightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(rightLink->getInboundJoint());
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setParentPose(PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimit(PxArticulationAxis::eTWIST, -angle, PxPi);
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rightParentRot = rightRot;
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PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, leftLink, PxTransform(PxIdentity), rightLink, PxTransform(PxIdentity));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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currLeft = rightLink;
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currRight = leftLink;
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}
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PxArticulationLink* leftTop = gArticulation->createLink(currLeft, currLeft->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, -1.0f), leftParentRot)));
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PxRigidActorExt::createExclusiveShape(*leftTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftTop, 1.f);
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PxArticulationLink* rightTop = gArticulation->createLink(currRight, currRight->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, 1.0f), rightParentRot)));
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PxRigidActorExt::createExclusiveShape(*rightTop, PxCapsuleGeometry(0.05f, 0.8f), *gMaterial);
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//PxRigidActorExt::createExclusiveShape(*rightTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightTop, 1.f);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(leftTop->getInboundJoint());
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, -1.f), currLeft->getGlobalPose().q.getConjugate()));
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joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), leftTop->getGlobalPose().q.getConjugate()));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
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//joint->setDrive(PxArticulationAxis::eTWIST, 0.f, 10.f, PX_MAX_F32);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(rightTop->getInboundJoint());
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, 1.f), currRight->getGlobalPose().q.getConjugate()));
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joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), rightTop->getGlobalPose().q.getConjugate()));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
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//joint->setDrive(PxArticulationAxis::eTWIST, 0.f, 10.f, PX_MAX_F32);
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currLeft = leftRoot;
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currRight = rightRoot;
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rightParentRot = PxQuat(PxIdentity);
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leftParentRot = PxQuat(PxIdentity);
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for (PxU32 i = 0; i < linkHeight; ++i)
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{
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const PxVec3 pos(-0.5f, 0.55f + 0.1f*(1 + i), 0.f);
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PxArticulationLink* leftLink = gArticulation->createLink(currLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
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PxRigidActorExt::createExclusiveShape(*leftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftLink, 1.f);
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const PxVec3 leftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(leftLink->getInboundJoint());
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setParentPose(PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
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leftParentRot = leftRot;
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimit(PxArticulationAxis::eTWIST, -PxPi, angle);
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PxArticulationLink* rightLink = gArticulation->createLink(currRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
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PxRigidActorExt::createExclusiveShape(*rightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightLink, 1.f);
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const PxVec3 rightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
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/*joint = PxD6JointCreate(getPhysics(), currRight, PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation)),
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rightLink, PxTransform(PxVec3(0.f, 0.f, 1.f)));*/
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joint = static_cast<PxArticulationJointReducedCoordinate*>(rightLink->getInboundJoint());
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joint->setParentPose(PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimit(PxArticulationAxis::eTWIST, -angle, PxPi);
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rightParentRot = rightRot;
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PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, leftLink, PxTransform(PxIdentity), rightLink, PxTransform(PxIdentity));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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currLeft = rightLink;
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currRight = leftLink;
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}
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PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, currLeft, PxTransform(PxVec3(0.f, 0.f, -1.f)), leftTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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d6joint = PxD6JointCreate(*gPhysics, currRight, PxTransform(PxVec3(0.f, 0.f, 1.f)), rightTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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const PxTransform topPose(PxVec3(0.f, leftTop->getGlobalPose().p.y + 0.15f, 0.f));
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PxArticulationLink* top = gArticulation->createLink(leftTop, topPose);
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PxRigidActorExt::createExclusiveShape(*top, PxBoxGeometry(0.5f, 0.1f, 1.5f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*top, 1.f);
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joint = static_cast<PxArticulationJointReducedCoordinate*>(top->getInboundJoint());
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joint->setJointType(PxArticulationJointType::eFIX);
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.0f, 0.f)));
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joint->setChildPose(PxTransform(PxVec3(0.f, -0.15f, -0.9f)));
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gScene->addArticulation(*gArticulation);
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for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
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{
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PxArticulationLink* link;
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gArticulation->getLinks(&link, 1, i);
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link->setLinearDamping(0.2f);
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link->setAngularDamping(0.2f);
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link->setMaxAngularVelocity(20.f);
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link->setMaxLinearVelocity(100.f);
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if (link != top)
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{
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for (PxU32 b = 0; b < link->getNbShapes(); ++b)
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{
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PxShape* shape;
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link->getShapes(&shape, 1, b);
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shape->setSimulationFilterData(PxFilterData(0, 0, 1, 0));
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}
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}
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}
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const PxVec3 halfExt(0.25f);
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const PxReal density(0.5f);
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PxRigidDynamic* box0 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 5.f, 0.5f)));
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PxRigidActorExt::createExclusiveShape(*box0, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box0, density);
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gScene->addActor(*box0);
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PxRigidDynamic* box1 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 5.f, 0.5f)));
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PxRigidActorExt::createExclusiveShape(*box1, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box1, density);
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gScene->addActor(*box1);
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PxRigidDynamic* box2 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 4.5f, 0.5f)));
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PxRigidActorExt::createExclusiveShape(*box2, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box2, density);
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gScene->addActor(*box2);
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PxRigidDynamic* box3 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 4.5f, 0.5f)));
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PxRigidActorExt::createExclusiveShape(*box3, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box3, density);
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gScene->addActor(*box3);
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PxRigidDynamic* box4 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 5.f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*box4, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box4, density);
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gScene->addActor(*box4);
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PxRigidDynamic* box5 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 5.f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*box5, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box5, density);
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gScene->addActor(*box5);
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PxRigidDynamic* box6 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 4.5f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*box6, PxBoxGeometry(halfExt), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box6, density);
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gScene->addActor(*box6);
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PxRigidDynamic* box7 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 4.5f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*box7, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box7, density);
|
|
|
|
gScene->addActor(*box7);
|
|
}
|
|
|
|
#endif
|
|
|
|
void createLongChain()
|
|
{
|
|
const float scale = 0.25f;
|
|
const float radius = 0.5f*scale;
|
|
const float halfHeight = 1.0f*scale;
|
|
const PxU32 nbCapsules = 40;
|
|
const float capsuleMass = 1.0f;
|
|
|
|
const PxVec3 initPos(0.0f, 24.0f, 0.0f);
|
|
PxVec3 pos = initPos;
|
|
PxShape* capsuleShape = gPhysics->createShape(PxCapsuleGeometry(radius, halfHeight), *gMaterial);
|
|
PxArticulationLink* firstLink = NULL;
|
|
PxArticulationLink* parent = NULL;
|
|
|
|
const bool overlappingLinks = true; // Change this for another kind of rope
|
|
|
|
gArticulation->setSolverIterationCounts(16);
|
|
|
|
// Create rope
|
|
for (PxU32 i = 0; i<nbCapsules; i++)
|
|
{
|
|
PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
|
|
if (!firstLink)
|
|
firstLink = link;
|
|
|
|
link->attachShape(*capsuleShape);
|
|
PxRigidBodyExt::setMassAndUpdateInertia(*link, capsuleMass);
|
|
|
|
link->setLinearDamping(0.1f);
|
|
link->setAngularDamping(0.1f);
|
|
|
|
link->setMaxAngularVelocity(30.f);
|
|
link->setMaxLinearVelocity(100.f);
|
|
|
|
PxArticulationJointBase* joint = link->getInboundJoint();
|
|
|
|
if (joint) // Will be null for root link
|
|
{
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
PxArticulationJointReducedCoordinate* rcJoint = static_cast<PxArticulationJointReducedCoordinate*>(joint);
|
|
rcJoint->setJointType(PxArticulationJointType::eSPHERICAL);
|
|
rcJoint->setMotion(PxArticulationAxis::eSWING2, PxArticulationMotion::eFREE);
|
|
rcJoint->setMotion(PxArticulationAxis::eSWING1, PxArticulationMotion::eFREE);
|
|
rcJoint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
|
|
rcJoint->setFrictionCoefficient(1.f);
|
|
rcJoint->setMaxJointVelocity(1000000.f);
|
|
#endif
|
|
if (overlappingLinks)
|
|
{
|
|
joint->setParentPose(PxTransform(PxVec3(halfHeight, 0.0f, 0.0f)));
|
|
joint->setChildPose(PxTransform(PxVec3(-halfHeight, 0.0f, 0.0f)));
|
|
}
|
|
else
|
|
{
|
|
joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
|
|
joint->setChildPose(PxTransform(PxVec3(-radius - halfHeight, 0.0f, 0.0f)));
|
|
}
|
|
}
|
|
|
|
if (overlappingLinks)
|
|
pos.x += (radius + halfHeight*2.0f);
|
|
else
|
|
pos.x += (radius + halfHeight) * 2.0f;
|
|
parent = link;
|
|
}
|
|
|
|
//Attach large & heavy box at the end of the rope
|
|
{
|
|
const float boxMass = 50.0f;
|
|
const float boxSize = 1.0f;
|
|
PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(boxSize, boxSize, boxSize), *gMaterial);
|
|
|
|
pos.x -= (radius + halfHeight) * 2.0f;
|
|
pos.x += (radius + halfHeight) + boxSize;
|
|
|
|
PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
|
|
|
|
link->setLinearDamping(0.1f);
|
|
link->setAngularDamping(0.1f);
|
|
link->setMaxAngularVelocity(30.f);
|
|
link->setMaxLinearVelocity(100.f);
|
|
|
|
link->attachShape(*boxShape);
|
|
PxRigidBodyExt::setMassAndUpdateInertia(*link, boxMass);
|
|
|
|
PxArticulationJointBase* joint = link->getInboundJoint();
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
PxArticulationJointReducedCoordinate* rcJoint = static_cast<PxArticulationJointReducedCoordinate*>(joint);
|
|
rcJoint->setJointType(PxArticulationJointType::eSPHERICAL);
|
|
rcJoint->setMotion(PxArticulationAxis::eSWING2, PxArticulationMotion::eFREE);
|
|
rcJoint->setMotion(PxArticulationAxis::eSWING1, PxArticulationMotion::eFREE);
|
|
rcJoint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
|
|
rcJoint->setFrictionCoefficient(1.f);
|
|
rcJoint->setMaxJointVelocity(1000000.f);
|
|
#endif
|
|
if (joint) // Will be null for root link
|
|
{
|
|
joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
|
|
joint->setChildPose(PxTransform(PxVec3(-boxSize, 0.0f, 0.0f)));
|
|
}
|
|
}
|
|
gScene->addArticulation(*gArticulation);
|
|
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
gArticulation->setArticulationFlags(PxArticulationFlag::eFIX_BASE);
|
|
#else
|
|
// Attach articulation to static world
|
|
{
|
|
PxShape* anchorShape = gPhysics->createShape(PxSphereGeometry(0.05f), *gMaterial);
|
|
PxRigidStatic* anchor = PxCreateStatic(*gPhysics, PxTransform(initPos), *anchorShape);
|
|
gScene->addActor(*anchor);
|
|
PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, anchor, PxTransform(PxVec3(0.0f)), firstLink, PxTransform(PxVec3(0.0f)));
|
|
PX_UNUSED(j);
|
|
}
|
|
#endif
|
|
|
|
// Create obstacle
|
|
{
|
|
PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(1.0f, 0.1f, 2.0f), *gMaterial);
|
|
PxRigidStatic* obstacle = PxCreateStatic(*gPhysics, PxTransform(initPos + PxVec3(10.0f, -3.0f, 0.0f)), *boxShape);
|
|
gScene->addActor(*obstacle);
|
|
}
|
|
}
|
|
|
|
|
|
void initPhysics(bool /*interactive*/)
|
|
{
|
|
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
|
gPvd = PxCreatePvd(*gFoundation);
|
|
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
|
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
|
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
|
|
PxInitExtensions(*gPhysics, gPvd);
|
|
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
|
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
|
|
|
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
|
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
|
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
sceneDesc.solverType = PxSolverType::eTGS;
|
|
#if CREATE_SCISSOR_LIFT
|
|
sceneDesc.filterShader = scissorFilter;
|
|
#endif
|
|
|
|
#endif
|
|
|
|
gScene = gPhysics->createScene(sceneDesc);
|
|
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
|
if(pvdClient)
|
|
{
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
|
}
|
|
|
|
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.f);
|
|
|
|
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
|
|
gScene->addActor(*groundPlane);
|
|
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
gArticulation = gPhysics->createArticulationReducedCoordinate();
|
|
#else
|
|
gArticulation = gPhysics->createArticulation();
|
|
|
|
// Stabilization can create artefacts on jointed objects so we just disable it
|
|
gArticulation->setStabilizationThreshold(0.0f);
|
|
|
|
gArticulation->setMaxProjectionIterations(16);
|
|
gArticulation->setSeparationTolerance(0.001f);
|
|
#endif
|
|
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION & CREATE_SCISSOR_LIFT
|
|
createScissorLift();
|
|
#else
|
|
createLongChain();
|
|
#endif
|
|
}
|
|
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION
|
|
static bool gClosing = true;
|
|
#endif
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
const PxReal dt = 1.0f / 60.f;
|
|
#if USE_REDUCED_COORDINATE_ARTICULATION & CREATE_SCISSOR_LIFT
|
|
PxReal driveValue = gDriveJoint->getDriveTarget(PxArticulationAxis::eZ);
|
|
|
|
if (gClosing && driveValue < -1.2f)
|
|
gClosing = false;
|
|
else if (!gClosing && driveValue > 0.f)
|
|
gClosing = true;
|
|
|
|
if (gClosing)
|
|
driveValue -= dt*0.25f;
|
|
else
|
|
driveValue += dt*0.25f;
|
|
gDriveJoint->setDriveTarget(PxArticulationAxis::eZ, driveValue);
|
|
#endif
|
|
|
|
gScene->simulate(dt);
|
|
gScene->fetchResults(true);
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
gArticulation->release();
|
|
gScene->release();
|
|
gDispatcher->release();
|
|
gPhysics->release();
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
gPvd->release();
|
|
transport->release();
|
|
PxCloseExtensions();
|
|
gFoundation->release();
|
|
|
|
printf("SnippetArticulation done.\n");
|
|
}
|
|
|
|
void keyPress(unsigned char /*key*/, const PxTransform& /*camera*/)
|
|
{
|
|
}
|
|
|
|
int snippetMain(int, const char*const*)
|
|
{
|
|
#ifdef RENDER_SNIPPET
|
|
extern void renderLoop();
|
|
renderLoop();
|
|
#else
|
|
static const PxU32 frameCount = 100;
|
|
initPhysics(false);
|
|
for(PxU32 i=0; i<frameCount; i++)
|
|
stepPhysics(false);
|
|
cleanupPhysics(false);
|
|
#endif
|
|
|
|
return 0;
|
|
}
|