265 lines
8.1 KiB
C++
265 lines
8.1 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 shows how to coordinate threads performing asynchronous
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// work during the scene simulation. After simulate() is called, user threads
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// are started that perform ray-casts against the scene. The call to
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// fetchResults() is delayed until all ray-casts have completed.
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// ****************************************************************************
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#include <ctype.h>
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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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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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struct RaycastThread
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{
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SnippetUtils::Sync* mWorkReadySyncHandle;
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SnippetUtils::Thread* mThreadHandle;
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};
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const PxU32 gNumThreads = 1;
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RaycastThread gThreads[gNumThreads];
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SnippetUtils::Sync* gWorkDoneSyncHandle;
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const PxI32 gRayCount = 1024;
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volatile PxI32 gRaysAvailable;
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volatile PxI32 gRaysCompleted;
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static PxVec3 randVec3()
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{
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return (PxVec3(float(rand())/float(RAND_MAX),
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float(rand())/float(RAND_MAX),
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float(rand())/float(RAND_MAX))*2.0f - PxVec3(1.0f)).getNormalized();
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}
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static void threadExecute(void* data)
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{
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RaycastThread* raycastThread = static_cast<RaycastThread*>(data);
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// Perform random raycasts against the scene until stop.
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for(;;)
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{
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// Wait here for the sync to be set then reset the sync
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// to ensure that we only perform raycast work after the
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// sync has been set again.
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SnippetUtils::syncWait(raycastThread->mWorkReadySyncHandle);
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SnippetUtils::syncReset(raycastThread->mWorkReadySyncHandle);
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// If the thread has been signaled to quit then exit this function.
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if (SnippetUtils::threadQuitIsSignalled(raycastThread->mThreadHandle))
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break;
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// Perform a fixed number of random raycasts against the scene
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// and share the work between multiple threads.
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while (SnippetUtils::atomicDecrement(&gRaysAvailable) >= 0)
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{
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PxVec3 dir = randVec3();
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PxRaycastBuffer buf;
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gScene->raycast(PxVec3(0.0f), dir.getNormalized(), 1000.0f, buf, PxHitFlag::eDEFAULT);
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// If this is the last raycast then signal this to the main thread.
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if (SnippetUtils::atomicIncrement(&gRaysCompleted) == gRayCount)
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{
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SnippetUtils::syncSet(gWorkDoneSyncHandle);
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}
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}
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}
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// Quit the current thread.
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SnippetUtils::threadQuit(raycastThread->mThreadHandle);
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}
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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 createPhysicsAndScene()
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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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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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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 numCores = SnippetUtils::getNbPhysicalCores();
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gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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gScene = gPhysics->createScene(sceneDesc);
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PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
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gScene->addActor(*groundPlane);
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for(PxU32 i=0;i<5;i++)
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createStack(PxTransform(PxVec3(0,0,i*10.0f)), 10, 2.0f);
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}
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void createRaycastThreads()
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{
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// Create and start threads that will perform raycasts.
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// Create a sync for each thread so that a signal may be sent
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// from the main thread to the raycast thread that it can start
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// performing raycasts.
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for (PxU32 i=0; i < gNumThreads; ++i)
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{
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//Create a sync.
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gThreads[i].mWorkReadySyncHandle = SnippetUtils::syncCreate();
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//Create and start a thread.
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gThreads[i].mThreadHandle = SnippetUtils::threadCreate(threadExecute, &gThreads[i]);
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}
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// Create another sync so that the raycast threads can signal to the main
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// thread that they have finished performing their raycasts.
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gWorkDoneSyncHandle = SnippetUtils::syncCreate();
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}
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void initPhysics()
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{
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createPhysicsAndScene();
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createRaycastThreads();
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}
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void stepPhysics()
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{
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// Start simulation
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gScene->simulate(1.0f/60.0f);
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// Start ray-cast threads
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gRaysAvailable = gRayCount;
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gRaysCompleted = 0;
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// Signal to each raycast thread that they can start performing raycasts.
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for (PxU32 i=0; i < gNumThreads; ++i)
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{
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SnippetUtils::syncSet(gThreads[i].mWorkReadySyncHandle);
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}
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// Wait for raycast threads to finish.
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SnippetUtils::syncWait(gWorkDoneSyncHandle);
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SnippetUtils::syncReset(gWorkDoneSyncHandle);
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// Fetch simulation results
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gScene->fetchResults(true);
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}
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void cleanupPhysics()
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{
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// Signal threads to quit.
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for (PxU32 i=0; i < gNumThreads; ++i)
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{
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SnippetUtils::threadSignalQuit(gThreads[i].mThreadHandle);
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SnippetUtils::syncSet(gThreads[i].mWorkReadySyncHandle);
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}
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// Clean up raycast threads and syncs.
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for (PxU32 i=0; i < gNumThreads; ++i)
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{
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SnippetUtils::threadWaitForQuit(gThreads[i].mThreadHandle);
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SnippetUtils::threadRelease(gThreads[i].mThreadHandle);
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SnippetUtils::syncRelease(gThreads[i].mWorkReadySyncHandle);
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}
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// Clean up the sync for the main thread.
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SnippetUtils::syncRelease(gWorkDoneSyncHandle);
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PX_RELEASE(gScene);
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PX_RELEASE(gDispatcher);
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PX_RELEASE(gPhysics);
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if(gPvd)
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{
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PxPvdTransport* transport = gPvd->getTransport();
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gPvd->release(); gPvd = NULL;
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PX_RELEASE(transport);
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}
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PX_RELEASE(gFoundation);
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printf("SnippetMultiThreading done.\n");
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}
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int snippetMain(int, const char*const*)
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{
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initPhysics();
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for(PxU32 i=0; i<100; ++i)
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stepPhysics();
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cleanupPhysics();
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return 0;
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}
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