272 lines
8.3 KiB
C++
272 lines
8.3 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 use deformable meshes in PhysX.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "../snippetcommon/SnippetPrint.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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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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PxCooking* gCooking = 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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PxTriangleMesh* gMesh = NULL;
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PxRigidStatic* gActor = NULL;
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PxReal stackZ = 10.0f;
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static const PxU32 gGridSize = 8;
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static const PxReal gGridStep = 512.0f / PxReal(gGridSize-1);
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static float gTime = 0.0f;
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static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0), PxReal density=1.0f)
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, density);
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dynamic->setLinearVelocity(velocity);
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gScene->addActor(*dynamic);
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return dynamic;
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}
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static 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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struct Triangle
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{
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PxU32 ind0, ind1, ind2;
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};
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static void updateVertices(PxVec3* verts, float amplitude=0.0f)
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{
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const PxU32 gridSize = gGridSize;
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const PxReal gridStep = gGridStep;
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for(PxU32 a=0; a<gridSize; a++)
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{
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const float coeffA = float(a)/float(gridSize);
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for(PxU32 b=0; b<gridSize; b++)
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{
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const float coeffB = float(b)/float(gridSize);
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const float y = 20.0f + sinf(coeffA*PxTwoPi)*cosf(coeffB*PxTwoPi)*amplitude;
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verts[a * gridSize + b] = PxVec3(-400.0f + b*gridStep, y, -400.0f + a*gridStep);
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}
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}
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}
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static PxTriangleMesh* createMeshGround()
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{
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const PxU32 gridSize = gGridSize;
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PxVec3 verts[gridSize * gridSize];
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const PxU32 nbTriangles = 2 * (gridSize - 1) * (gridSize-1);
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Triangle indices[nbTriangles];
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updateVertices(verts);
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for (PxU32 a = 0; a < (gridSize-1); ++a)
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{
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for (PxU32 b = 0; b < (gridSize-1); ++b)
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{
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Triangle& tri0 = indices[(a * (gridSize-1) + b) * 2];
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Triangle& tri1 = indices[((a * (gridSize-1) + b) * 2) + 1];
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tri0.ind0 = a * gridSize + b + 1;
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tri0.ind1 = a * gridSize + b;
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tri0.ind2 = (a + 1) * gridSize + b + 1;
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tri1.ind0 = (a + 1) * gridSize + b + 1;
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tri1.ind1 = a * gridSize + b;
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tri1.ind2 = (a + 1) * gridSize + b;
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}
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}
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PxTriangleMeshDesc meshDesc;
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meshDesc.points.data = verts;
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meshDesc.points.count = gridSize * gridSize;
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meshDesc.points.stride = sizeof(PxVec3);
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meshDesc.triangles.count = nbTriangles;
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meshDesc.triangles.data = indices;
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meshDesc.triangles.stride = sizeof(Triangle);
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PxTriangleMesh* triMesh = gCooking->createTriangleMesh(meshDesc, gPhysics->getPhysicsInsertionCallback());
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return triMesh;
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}
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void initPhysics(bool /*interactive*/)
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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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PxCookingParams cookingParams(gPhysics->getTolerancesScale());
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// Deformable meshes are only supported with PxMeshMidPhase::eBVH33.
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cookingParams.midphaseDesc.setToDefault(PxMeshMidPhase::eBVH33);
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// We need to disable the mesh cleaning part so that the vertex mapping remains untouched.
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cookingParams.meshPreprocessParams = PxMeshPreprocessingFlag::eDISABLE_CLEAN_MESH;
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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, cookingParams);
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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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gDispatcher = PxDefaultCpuDispatcherCreate(2);
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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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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(0.5f, 0.5f, 0.6f);
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PxTriangleMesh* mesh = createMeshGround();
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gMesh = mesh;
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PxTriangleMeshGeometry geom(mesh);
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PxRigidStatic* groundMesh = gPhysics->createRigidStatic(PxTransform(PxVec3(0, 2, 0)));
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gActor = groundMesh;
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PxShape* shape = gPhysics->createShape(geom, *gMaterial);
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{
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shape->setContactOffset(0.02f);
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// A negative rest offset helps to avoid jittering when the deformed mesh moves away from objects resting on it.
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shape->setRestOffset(-0.5f);
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}
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groundMesh->attachShape(*shape);
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gScene->addActor(*groundMesh);
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createStack(PxTransform(PxVec3(0,22,0)), 10, 2.0f);
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}
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void stepPhysics(bool /*interactive*/)
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{
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{
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PxVec3* verts = gMesh->getVerticesForModification();
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gTime += 0.01f;
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updateVertices(verts, sinf(gTime)*20.0f);
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PxBounds3 newBounds = gMesh->refitBVH();
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PX_UNUSED(newBounds);
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// Reset filtering to tell the broadphase about the new mesh bounds.
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gScene->resetFiltering(*gActor);
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}
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gScene->simulate(1.0f/60.0f);
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gScene->fetchResults(true);
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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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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PX_RELEASE(gCooking);
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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("SnippetDeformableMesh done.\n");
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}
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void keyPress(unsigned char key, const PxTransform& camera)
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{
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switch(toupper(key))
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{
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case ' ': createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200, 3.0f); break;
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}
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}
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int snippetMain(int, const char*const*)
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{
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#ifdef RENDER_SNIPPET
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extern void renderLoop();
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renderLoop();
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#else
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static const PxU32 frameCount = 100;
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initPhysics(false);
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for(PxU32 i=0; i<frameCount; i++)
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stepPhysics(false);
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cleanupPhysics(false);
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#endif
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return 0;
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}
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