237 lines
8.3 KiB
C++
237 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 illustrates kinematic actor updates in a substepped simulation.
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//
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// It uses chained continuation tasks that call fetchResults and run simulation steps.
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// The scene consists of a kinematic platform interacting with a dynamic
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// sphere. The kinematic actor's target pose is updated before every substep.
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// ****************************************************************************
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#include <new>
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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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using namespace SnippetUtils;
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// The usual PhysX resources.
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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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PxMaterial* gMaterial = NULL;
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PxDefaultCpuDispatcher* gDispatcher = NULL;
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PxScene* gScene = NULL;
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PxRigidDynamic* gKinematic = NULL;
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// A very simple substepping policy: just take 2 60Hz substeps per step.
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static const PxReal SUBSTEP_LENGTH = 1.0f/60.0f;
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static const PxU32 NUM_STEPS = 1000;
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static const PxI32 NUM_SUBSTEPS = 2;
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PxPvd* gPvd = NULL;
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// Context for keeping track of the stepper state.
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struct StepContext
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{
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class SubstepCompletionTask* taskPool;
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Sync* completionSync;
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PxI32 nbSubstepsFinished;
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volatile PxI32 nbTasksDestroyed;
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} gStepContext;
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// Completion task for running a substep.
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// The following sequencing is guaranteed:
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// * the section of the run() method up to the removeReference() in startNextSubstep() will execute prior
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// to the run() method of the task submitted by startNextSubstep()
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// * the run() method of a task will run before its release() method
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//
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// Any work done by a task after releasing the next task (via removeReference()) could end up running in
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// parallel with that task, if simulate() completes sufficiently quickly or there is a context switch. In order
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// to prevent races, it is therefore recommended that a completion task do no work after releasing the next.
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class SubstepCompletionTask : public PxLightCpuTask
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{
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public:
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SubstepCompletionTask()
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{
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mTm = gScene->getTaskManager();
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}
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void run()
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{
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void startNextSubstep();
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gScene->fetchResults(true);
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if(++gStepContext.nbSubstepsFinished < NUM_SUBSTEPS)
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startNextSubstep();
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}
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void release()
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{
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this->~SubstepCompletionTask();
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// If we're done with all the substeps , synchronize with the main thread. In a real application
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// we would most likely run dependent tasks instead.
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// We can only signal completion once all substepping resources are cleaned up.
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// Release() calls may run concurrently or out of order, so we use an atomic counter.
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if(atomicIncrement(&gStepContext.nbTasksDestroyed) == NUM_SUBSTEPS)
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syncSet(gStepContext.completionSync);
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}
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const char* getName() const { return "Substep Completion Task"; }
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};
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// Update the sim inputs and start the next PhysX substep.
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void startNextSubstep()
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{
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// Compute new target pose for the kinematic at the end of the substep.
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static PxReal sTotalSeconds = 0.0f;
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sTotalSeconds += SUBSTEP_LENGTH;
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const PxReal period = 4.0f;
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const PxReal amplitude = 10.0f;
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const PxReal angVel = PxTwoPi/period;
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PxReal yPos = PxSin(angVel * sTotalSeconds) * amplitude;
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gKinematic->setKinematicTarget(PxTransform(0.0f, yPos, 0.0f));
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// Create a completion task and set its reference count to 1. This way we can safely submit it to simulate()
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// and, even if we get context-switched and simulate() completes before we get back, the task's run()
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// method will not execute until we're ready.
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SubstepCompletionTask* nextCompletion = new (gStepContext.taskPool+gStepContext.nbSubstepsFinished) SubstepCompletionTask();
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nextCompletion->addReference();
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// Kick off the sim with the new completion task. Once this call returns, worker threads will update the PhysX
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// state in parallel with the rest of this function.
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gScene->simulate(SUBSTEP_LENGTH, nextCompletion);
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// We can do things here that can run in parallel with the simulation, but must happen before the next task's
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// run method executes. In this snippet, there's nothing to do...
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// Finally, remove the reference that prevents the next completion task running.
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nextCompletion->removeReference();
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}
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void runPhysics()
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{
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// Initialize the substepping context.
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syncReset(gStepContext.completionSync);
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gStepContext.nbSubstepsFinished = 0;
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gStepContext.nbTasksDestroyed = 0;
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// Start the first substep, then wait for the last one to finish.
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startNextSubstep();
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syncWait(gStepContext.completionSync);
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}
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void initPhysics()
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{
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gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
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gPvd = PxCreatePvd(*gFoundation);
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PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
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gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
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gPhysics = PxCreateBasePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.2f);
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PxSceneDesc desc(gPhysics->getTolerancesScale());
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desc.filterShader = PxDefaultSimulationFilterShader;
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desc.cpuDispatcher = gDispatcher = PxDefaultCpuDispatcherCreate(2);
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desc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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gScene = gPhysics->createScene(desc);
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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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gKinematic = PxCreateKinematic(*gPhysics, PxTransform(PxIdentity), PxBoxGeometry(5.0f, 1.0f, 5.0f), *gMaterial, 1.0f);
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gScene->addActor(*gKinematic);
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PxRigidDynamic* sphere = PxCreateDynamic(*gPhysics, PxTransform(0.0f, 5.0f, 0.0f), PxSphereGeometry(1.0f), *gMaterial, 1.0f);
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gScene->addActor(*sphere);
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}
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void cleanupPhysics()
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{
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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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}
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int snippetMain(int, const char*const*)
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{
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initPhysics();
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// Storage and synchronization for substepping.
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gStepContext.taskPool = reinterpret_cast<SubstepCompletionTask*>(malloc(NUM_SUBSTEPS * sizeof(SubstepCompletionTask)));
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gStepContext.completionSync = syncCreate();
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for(PxU32 i=0; i<NUM_STEPS; i++)
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runPhysics();
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syncRelease(gStepContext.completionSync);
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free(gStepContext.taskPool);
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cleanupPhysics();
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printf("SnippetStepper done.\n");
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return 0;
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}
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