202 lines
7.5 KiB
C++
202 lines
7.5 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 the usage of PxBVHStructure
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//
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// It creates a large number of small sphere shapes forming a large sphere. Large sphere
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// represents an actor and the actor is inserted into the scene with BVHStructure
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// that is precomputed from all the small spheres. When an actor is insterted this
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// way the scene queries against this object behave actor centric rather than shape
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// centric.
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// Each actor that is added with a BVHSctructure does not update any of its shape bounds
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// within a pruning structure. It does update just the actor bounds and the query then
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// goes into actors bounds pruner, then a local query is done against the shapes in the
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// actor.
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// For a dynamic actor consisting of a large amound of shapes there can be a significant
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// performance benefits. During fetch results, there is no need to synchronize all
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// shape bounds into scene query system. Also when a new AABB tree is build inside
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// scene query system these actors shapes are not contained there.
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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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void createLargeSphere(const PxTransform& t, PxU32 density, PxReal largeRadius, PxReal radius, bool useAggregate)
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{
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PxRigidDynamic* body = gPhysics->createRigidDynamic(t);
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// generate the sphere shapes
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const float gStep = PxPi/float(density);
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const float tStep = 2.0f*PxPi/float(density);
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for(PxU32 i=0; i<density;i++)
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{
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for(PxU32 j=0;j<density;j++)
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{
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const float sinG = PxSin(gStep * i);
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const float cosG = PxCos(gStep * i);
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const float sinT = PxSin(tStep * j);
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const float cosT = PxCos(tStep * j);
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PxTransform localTm(PxVec3(largeRadius*sinG*cosT, largeRadius*sinG*sinT, largeRadius*cosG));
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PxShape* shape = gPhysics->createShape(PxSphereGeometry(radius), *gMaterial);
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shape->setLocalPose(localTm);
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body->attachShape(*shape);
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shape->release();
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}
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}
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PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
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// get the bounds from the actor, this can be done through a helper function in PhysX extensions
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PxU32 numBounds = 0;
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PxBounds3* bounds = PxRigidActorExt::getRigidActorShapeLocalBoundsList(*body, numBounds);
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// setup the PxBVHStructureDesc, it does contain only the PxBounds3 data
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PxBVHStructureDesc bvhDesc;
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bvhDesc.bounds.count = numBounds;
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bvhDesc.bounds.data = bounds;
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bvhDesc.bounds.stride = sizeof(PxBounds3);
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// cook the bvh structure
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PxBVHStructure* bvh = gCooking->createBVHStructure(bvhDesc, gPhysics->getPhysicsInsertionCallback());
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// release the memory allocated within extensions, the bounds are not required anymore
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gAllocator.deallocate(bounds);
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// add the actor to the scene and provide the bvh structure (regular path without aggregate usage)
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if(!useAggregate)
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gScene->addActor(*body, bvh);
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// Note that when objects with large amound of shapes are created it is also
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// recommended to create an aggregate from them, see the code below that would replace
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// the gScene->addActor(*body, bvh)
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if(useAggregate)
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{
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PxAggregate* aggregate = gPhysics->createAggregate(1, false);
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aggregate->addActor(*body, bvh);
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gScene->addAggregate(*aggregate);
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}
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// bvh can be released at this point, the precomputed BVH structure was copied to the SDK pruners.
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bvh->release();
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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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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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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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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 < 10; i++)
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createLargeSphere(PxTransform(PxVec3(200.0f*i, .0f, 100.0f)), 50, 30.0f, 1.0f, false);
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}
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void stepPhysics(bool /*interactive*/)
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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("SnippetBVHStructure done.\n");
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}
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void keyPress(unsigned char , const PxTransform& )
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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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static const PxU32 frameCount = 50;
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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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return 0;
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}
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