249 lines
7.4 KiB
C++
249 lines
7.4 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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extern PxPhysics* gPhysics;
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extern PxDefaultCpuDispatcher* gDispatcher;
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extern PxMaterial* gMaterial;
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#ifdef RENDER_SNIPPET
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void renderScene(physx::PxScene *, physx::PxRigidActor * frame, const physx::PxVec3 & color);
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#endif
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class NestedScene : public PxSimulationEventCallback
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{
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public:
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NestedScene(PxRigidDynamic* containingActor) : mContainingActor(containingActor), lastLVel(PxZero), lastAVel(PxZero)
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{
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//create contained scene
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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sceneDesc.simulationEventCallback = this;
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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mScene = gPhysics->createScene(sceneDesc);
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//create the static environment of the contained scene out of the containing actor's geometry
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//this could be any other arbitrary geometry too though
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{
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//the truck bed
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.8f, 0.25f, 4.5f), *gMaterial);
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PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f)));
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staticActor->attachShape(*shape);
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mScene->addActor(*staticActor);
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}
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{
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//the cabin of the truck
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.7f, 0.5f, 0.9f), *gMaterial);
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PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.75f, 2.5f)));
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staticActor->attachShape(*shape);
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mScene->addActor(*staticActor);
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}
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{
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//some detail thingie on the cabin
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PxShape* shape = gPhysics->createShape(PxSphereGeometry(0.5f), *gMaterial);
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PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.6f, 2.25f, 2.75f)));
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staticActor->attachShape(*shape);
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mScene->addActor(*staticActor);
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}
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{
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//a trigger shape around the truck bed. If shapes leave this, they move to the main scene.
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.8f, 3.0f, 4.5f), *gMaterial);
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shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
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shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
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PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f)));
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staticActor->attachShape(*shape);
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mScene->addActor(*staticActor);
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}
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}
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~NestedScene()
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{
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}
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void createBoxStack()
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{
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//create a box stack inside the scene
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createStack(PxTransform(PxVec3(0.0f, 3.0f, 0.0f)), 3, 0.4f);
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//TODO
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}
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void simulate(PxScene * , PxF32 timeStep)
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{
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//1) mirror reference actor accelerations into scene
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if (!mContainingActor->isSleeping())
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{
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PxVec3 lvel = mContainingActor->getLinearVelocity();
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PxVec3 avel = mContainingActor->getAngularVelocity();
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//note that this is actually -acc.
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PxVec3 lacc = lastLVel - lvel;
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//PxVec3 aacc = lastAVel - avel;
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lastLVel = lvel;
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lastAVel = avel;
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//special sauce:
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//filter out vertical movement due to suspension travel, otherwise the ride is too bumpy
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lacc.y = 0.0f;
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//decrease the rest of the acceleration by a bit
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lacc *= 0.7f;
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if (lacc.magnitudeSquared() > 0.01f) //let things sleep if the accel is too small
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{
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PxU32 nbActors = mScene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC);
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if(nbActors)
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{
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std::vector<PxActor*> actors(nbActors);
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mScene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC, &actors[0], nbActors);
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for(PxU32 i=0;i<nbActors;i++)
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{
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actors[i]->is<PxRigidBody>()->addForce(lacc, PxForceMode::eVELOCITY_CHANGE);
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}
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}
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}
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}
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else
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{
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lastLVel = PxVec3(PxZero);
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lastAVel = PxVec3(PxZero);
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}
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//2) simulate scene
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mScene->simulate(timeStep);
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mScene->fetchResults(true);
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//move actors that have dropped off the truck out into the main scene
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for(PxU32 i=0;i<removalQueue.size();i++)
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{
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mScene->removeActor(*removalQueue[i]);
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//transform to the parent frame:
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PxTransform localPose = removalQueue[i]->getGlobalPose();
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PxTransform parentFrame = mContainingActor->getGlobalPose();
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removalQueue[i]->setGlobalPose(parentFrame * localPose);
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mContainingActor->getScene()->addActor(*removalQueue[i]);
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}
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removalQueue.clear();
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}
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void render()
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{
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#ifdef RENDER_SNIPPET
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renderScene(mScene, mContainingActor, PxVec3(0.54f, 0.85f, 0.1f));
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#endif
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}
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//simulation event callback -- we only need trigger:
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void onConstraintBreak(PxConstraintInfo* , PxU32 ) { }
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void onWake(PxActor** , PxU32 ) { }
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void onSleep(PxActor** , PxU32 ) { }
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void onContact(const PxContactPairHeader& , const PxContactPair* , PxU32 ) { }
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void onTrigger(PxTriggerPair* 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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// ignore pairs when shapes have been deleted
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if (pairs[i].status & PxPairFlag::eNOTIFY_TOUCH_LOST)
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{
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//we're not allowed to make changes in the callback, so save it for later
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removalQueue.push_back(pairs[i].otherActor);
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}
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}
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}
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void onAdvance(const PxRigidBody*const*, const PxTransform*, const PxU32) {}
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private:
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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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PxFilterData simFilterData;
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simFilterData.word0 = snippetvehicle::COLLISION_FLAG_OBSTACLE;
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simFilterData.word1 = snippetvehicle::COLLISION_FLAG_OBSTACLE_AGAINST;
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shape->setSimulationFilterData(simFilterData);
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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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mScene->addActor(*body);
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}
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}
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shape->release();
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}
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PxScene* mScene;
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PxRigidDynamic* mContainingActor;
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PxVec3 lastLVel;
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PxVec3 lastAVel;
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std::vector<PxRigidActor*> removalQueue;
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};
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