335 lines
11 KiB
C++
335 lines
11 KiB
C++
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
// ****************************************************************************
|
|
// This snippet illustrates the use of simple contact reports in combination
|
|
// with continuous collision detection (CCD). Furthermore, extra contact report
|
|
// data will be requested.
|
|
//
|
|
// The snippet defines a filter shader function that enables CCD and requests
|
|
// touch reports for all pairs, and a contact callback function that saves the
|
|
// contact points and the actor positions at time of impact.
|
|
// It configures the scene to use this filter and callback, enables CCD and
|
|
// prints the number of contact points found. If rendering, it renders each
|
|
// contact as a line whose length and direction are defined by the contact
|
|
// impulse (the line points in the opposite direction of the impulse). In
|
|
// addition, the path of the fast moving dynamic object is drawn with lines.
|
|
//
|
|
// ****************************************************************************
|
|
|
|
#include <vector>
|
|
|
|
#include "PxPhysicsAPI.h"
|
|
|
|
#include "../snippetutils/SnippetUtils.h"
|
|
#include "../snippetcommon/SnippetPrint.h"
|
|
#include "../snippetcommon/SnippetPVD.h"
|
|
|
|
|
|
using namespace physx;
|
|
|
|
PxDefaultAllocator gAllocator;
|
|
PxDefaultErrorCallback gErrorCallback;
|
|
|
|
PxFoundation* gFoundation = NULL;
|
|
PxPhysics* gPhysics = NULL;
|
|
PxCooking* gCooking = NULL;
|
|
|
|
PxDefaultCpuDispatcher* gDispatcher = NULL;
|
|
PxScene* gScene = NULL;
|
|
PxMaterial* gMaterial = NULL;
|
|
|
|
PxTriangleMesh* gTriangleMesh = NULL;
|
|
PxRigidStatic* gTriangleMeshActor = NULL;
|
|
PxRigidDynamic* gSphereActor = NULL;
|
|
PxPvd* gPvd = NULL;
|
|
|
|
PxU32 gSimStepCount = 0;
|
|
|
|
std::vector<PxVec3> gContactPositions;
|
|
std::vector<PxVec3> gContactImpulses;
|
|
std::vector<PxVec3> gContactSphereActorPositions;
|
|
|
|
|
|
PxFilterFlags contactReportFilterShader(PxFilterObjectAttributes attributes0, PxFilterData filterData0,
|
|
PxFilterObjectAttributes attributes1, PxFilterData filterData1,
|
|
PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
|
|
{
|
|
PX_UNUSED(attributes0);
|
|
PX_UNUSED(attributes1);
|
|
PX_UNUSED(filterData0);
|
|
PX_UNUSED(filterData1);
|
|
PX_UNUSED(constantBlockSize);
|
|
PX_UNUSED(constantBlock);
|
|
|
|
//
|
|
// Enable CCD for the pair, request contact reports for initial and CCD contacts.
|
|
// Additionally, provide information per contact point and provide the actor
|
|
// pose at the time of contact.
|
|
//
|
|
|
|
pairFlags = PxPairFlag::eCONTACT_DEFAULT
|
|
| PxPairFlag::eDETECT_CCD_CONTACT
|
|
| PxPairFlag::eNOTIFY_TOUCH_CCD
|
|
| PxPairFlag::eNOTIFY_TOUCH_FOUND
|
|
| PxPairFlag::eNOTIFY_CONTACT_POINTS
|
|
| PxPairFlag::eCONTACT_EVENT_POSE;
|
|
return PxFilterFlag::eDEFAULT;
|
|
}
|
|
|
|
class ContactReportCallback: public PxSimulationEventCallback
|
|
{
|
|
void onConstraintBreak(PxConstraintInfo* constraints, PxU32 count) { PX_UNUSED(constraints); PX_UNUSED(count); }
|
|
void onWake(PxActor** actors, PxU32 count) { PX_UNUSED(actors); PX_UNUSED(count); }
|
|
void onSleep(PxActor** actors, PxU32 count) { PX_UNUSED(actors); PX_UNUSED(count); }
|
|
void onTrigger(PxTriggerPair* pairs, PxU32 count) { PX_UNUSED(pairs); PX_UNUSED(count); }
|
|
void onAdvance(const PxRigidBody*const*, const PxTransform*, const PxU32) {}
|
|
void onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs)
|
|
{
|
|
std::vector<PxContactPairPoint> contactPoints;
|
|
|
|
PxTransform spherePose(PxIdentity);
|
|
PxU32 nextPairIndex = 0xffffffff;
|
|
|
|
PxContactPairExtraDataIterator iter(pairHeader.extraDataStream, pairHeader.extraDataStreamSize);
|
|
bool hasItemSet = iter.nextItemSet();
|
|
if (hasItemSet)
|
|
nextPairIndex = iter.contactPairIndex;
|
|
|
|
for(PxU32 i=0; i < nbPairs; i++)
|
|
{
|
|
//
|
|
// Get the pose of the dynamic object at time of impact.
|
|
//
|
|
if (nextPairIndex == i)
|
|
{
|
|
if (pairHeader.actors[0]->is<PxRigidDynamic>())
|
|
spherePose = iter.eventPose->globalPose[0];
|
|
else
|
|
spherePose = iter.eventPose->globalPose[1];
|
|
|
|
gContactSphereActorPositions.push_back(spherePose.p);
|
|
|
|
hasItemSet = iter.nextItemSet();
|
|
if (hasItemSet)
|
|
nextPairIndex = iter.contactPairIndex;
|
|
}
|
|
|
|
//
|
|
// Get the contact points for the pair.
|
|
//
|
|
const PxContactPair& cPair = pairs[i];
|
|
if (cPair.events & (PxPairFlag::eNOTIFY_TOUCH_FOUND | PxPairFlag::eNOTIFY_TOUCH_CCD))
|
|
{
|
|
PxU32 contactCount = cPair.contactCount;
|
|
contactPoints.resize(contactCount);
|
|
cPair.extractContacts(&contactPoints[0], contactCount);
|
|
|
|
for(PxU32 j=0; j < contactCount; j++)
|
|
{
|
|
gContactPositions.push_back(contactPoints[j].position);
|
|
gContactImpulses.push_back(contactPoints[j].impulse);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
ContactReportCallback gContactReportCallback;
|
|
|
|
void initScene()
|
|
{
|
|
//
|
|
// Create a static triangle mesh
|
|
//
|
|
|
|
PxVec3 vertices[] = { PxVec3(-8.0f, 0.0f, -3.0f),
|
|
PxVec3(-8.0f, 0.0f, 3.0f),
|
|
PxVec3(0.0f, 0.0f, 3.0f),
|
|
PxVec3(0.0f, 0.0f, -3.0f),
|
|
PxVec3(-8.0f, 10.0f, -3.0f),
|
|
PxVec3(-8.0f, 10.0f, 3.0f),
|
|
PxVec3(0.0f, 10.0f, 3.0f),
|
|
PxVec3(0.0f, 10.0f, -3.0f),
|
|
};
|
|
|
|
PxU32 vertexCount = sizeof(vertices) / sizeof(vertices[0]);
|
|
|
|
PxU32 triangleIndices[] = { 0, 1, 2,
|
|
0, 2, 3,
|
|
0, 5, 1,
|
|
0, 4, 5,
|
|
4, 6, 5,
|
|
4, 7, 6
|
|
};
|
|
PxU32 triangleCount = (sizeof(triangleIndices) / sizeof(triangleIndices[0])) / 3;
|
|
|
|
PxTriangleMeshDesc triangleMeshDesc;
|
|
triangleMeshDesc.points.count = vertexCount;
|
|
triangleMeshDesc.points.data = vertices;
|
|
triangleMeshDesc.points.stride = sizeof(PxVec3);
|
|
triangleMeshDesc.triangles.count = triangleCount;
|
|
triangleMeshDesc.triangles.data = triangleIndices;
|
|
triangleMeshDesc.triangles.stride = 3 * sizeof(PxU32);
|
|
|
|
gTriangleMesh = gCooking->createTriangleMesh(triangleMeshDesc, gPhysics->getPhysicsInsertionCallback());
|
|
|
|
if (!gTriangleMesh)
|
|
return;
|
|
|
|
gTriangleMeshActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f), PxQuat(PxHalfPi / 60.0f, PxVec3(0.0f, 1.0f, 0.0f))));
|
|
|
|
if (!gTriangleMeshActor)
|
|
return;
|
|
|
|
PxTriangleMeshGeometry triGeom(gTriangleMesh);
|
|
PxShape* triangleMeshShape = PxRigidActorExt::createExclusiveShape(*gTriangleMeshActor, triGeom, *gMaterial);
|
|
|
|
if (!triangleMeshShape)
|
|
return;
|
|
|
|
gScene->addActor(*gTriangleMeshActor);
|
|
|
|
|
|
//
|
|
// Create a fast moving sphere that will hit and bounce off the static triangle mesh 3 times
|
|
// in one simulation step.
|
|
//
|
|
|
|
PxTransform spherePose(PxVec3(0.0f, 5.0f, 1.0f));
|
|
gContactSphereActorPositions.push_back(spherePose.p);
|
|
gSphereActor = gPhysics->createRigidDynamic(spherePose);
|
|
gSphereActor->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
|
|
|
|
if (!gSphereActor)
|
|
return;
|
|
|
|
PxSphereGeometry sphereGeom(1.0f);
|
|
PxShape* sphereShape = PxRigidActorExt::createExclusiveShape(*gSphereActor, sphereGeom, *gMaterial);
|
|
|
|
if (!sphereShape)
|
|
return;
|
|
|
|
PxRigidBodyExt::updateMassAndInertia(*gSphereActor, 1.0f);
|
|
|
|
PxReal velMagn = 900.0f;
|
|
PxVec3 vel = PxVec3(-1.0f, -1.0f, 0.0f);
|
|
vel.normalize();
|
|
vel *= velMagn;
|
|
gSphereActor->setLinearVelocity(vel);
|
|
|
|
gScene->addActor(*gSphereActor);
|
|
}
|
|
|
|
void initPhysics(bool /*interactive*/)
|
|
{
|
|
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
|
gPvd = PxCreatePvd(*gFoundation);
|
|
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
|
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
|
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,gPvd);
|
|
gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
|
|
PxInitExtensions(*gPhysics, gPvd);
|
|
|
|
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
|
sceneDesc.gravity = PxVec3(0, 0, 0);
|
|
sceneDesc.filterShader = contactReportFilterShader;
|
|
sceneDesc.simulationEventCallback = &gContactReportCallback;
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
|
|
sceneDesc.ccdMaxPasses = 4;
|
|
|
|
gScene = gPhysics->createScene(sceneDesc);
|
|
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
|
if(pvdClient)
|
|
{
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
|
}
|
|
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 1.0f);
|
|
|
|
initScene();
|
|
}
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
if (!gSimStepCount)
|
|
{
|
|
gScene->simulate(1.0f/60.0f);
|
|
gScene->fetchResults(true);
|
|
printf("%d contact points\n", PxU32(gContactPositions.size()));
|
|
|
|
if (gSphereActor)
|
|
gContactSphereActorPositions.push_back(gSphereActor->getGlobalPose().p);
|
|
|
|
gSimStepCount = 1;
|
|
}
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
PX_RELEASE(gSphereActor);
|
|
PX_RELEASE(gTriangleMeshActor);
|
|
PX_RELEASE(gTriangleMesh);
|
|
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PxCloseExtensions();
|
|
PX_RELEASE(gPhysics);
|
|
PX_RELEASE(gCooking);
|
|
if(gPvd)
|
|
{
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
gPvd->release(); gPvd = NULL;
|
|
PX_RELEASE(transport);
|
|
}
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetContactReportCCD done.\n");
|
|
}
|
|
|
|
int snippetMain(int, const char*const*)
|
|
{
|
|
#ifdef RENDER_SNIPPET
|
|
extern void renderLoop();
|
|
renderLoop();
|
|
#else
|
|
initPhysics(false);
|
|
|
|
stepPhysics(false);
|
|
|
|
cleanupPhysics(false);
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
|