628 lines
18 KiB
C++
628 lines
18 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 work with nested scenes.
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//
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// It is based on SnippetVehicleTank, which creates a tank-like vehicle
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// and drives it around.
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//
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// In this sample we add a cargo bed to the tank which contains a bunch of dynamic
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// crates. These crates have their own scene in order to reduce clutter in
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// the main scene and increase performance. The geometry of the cargo bed against
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// which the crates collide is also only in this 'nested scene' as static geometry.
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// Meanwhile the tank only uses a single dynamic box representation in the main scene.
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//
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// The objects in the tank's 'nested scene' are color coded green while the objects
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// in the main scene are colored red in order to visualize the distinction.
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//
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// In this sample the crates on the tank are tossed about by the motion of the tank
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// because we apply the velocity changes of the tank to the crates as external
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// impulses. These impulses can be scaled by the user to tune the precise
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// desired behavior.
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//
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// The crates can also fall off the truck bed and onto the ground. This is detected
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// by the sample by means of a trigger around the cargo bed. When crates leave
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// the cargo bed they are removed from the nested scene and added to the main scene.
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// There they collide with the ground plane and the tank's wheels as expected.
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//
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// In a real game one could additionally suspend simulation of the embedded scene if
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// the tank is far away from the player.
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//
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// ****************************************************************************
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#include <vector>
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "../snippetvehiclecommon/SnippetVehicleSceneQuery.h"
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#include "../snippetvehiclecommon/SnippetVehicleFilterShader.h"
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#include "../snippetvehiclecommon/SnippetVehicleTireFriction.h"
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#include "../snippetvehiclecommon/SnippetVehicleCreate.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 snippetvehicle;
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#include "NestedScene.h"
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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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PxDefaultCpuDispatcher* gDispatcher = NULL;
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PxScene* gScene = NULL;
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PxCooking* gCooking = NULL;
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PxMaterial* gMaterial = NULL;
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VehicleSceneQueryData* gVehicleSceneQueryData = NULL;
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PxBatchQuery* gBatchQuery = NULL;
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PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;
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PxRigidStatic* gGroundPlane = NULL;
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PxPvd* gPvd = NULL;
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PxF32 gTankModeLifetime = 4.0f;
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PxF32 gTankModeTimer = 0.0f;
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PxU32 gTankOrderProgress = 0;
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bool gTankOrderComplete = false;
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bool gMimicKeyInputs = false;
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VehicleDesc initTankDesc();
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class TankEntity
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{
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public:
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TankEntity() : mVehicleDriveTank(NULL), mNestedScene(NULL)
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{
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}
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~TankEntity()
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{
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if (mNestedScene)
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{
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delete mNestedScene;
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mNestedScene = NULL;
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}
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}
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void create()
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{
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PX_ASSERT(mVehicleDriveTank == NULL);
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PX_ASSERT(mNestedScene == NULL);
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VehicleDesc tankDesc = initTankDesc();
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mVehicleDriveTank = createVehicleTank(tankDesc, gPhysics, gCooking);
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PxTransform startTransform(PxVec3(0, (tankDesc.chassisDims.y*0.5f + tankDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
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mVehicleDriveTank->getRigidDynamicActor()->setGlobalPose(startTransform);
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gScene->addActor(*mVehicleDriveTank->getRigidDynamicActor());
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//Set the tank to rest in first gear.
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//Set the tank to use auto-gears.
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//Set the tank to use the standard control model
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mVehicleDriveTank->setToRestState();
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mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
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mVehicleDriveTank->mDriveDynData.setUseAutoGears(true);
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mVehicleDriveTank->setDriveModel(PxVehicleDriveTankControlModel::eSTANDARD);
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mNestedScene = new NestedScene(mVehicleDriveTank->getRigidDynamicActor());
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mNestedScene->createBoxStack(); //can create stuff inside that scene now ... let's say this is the cargo of the vehicle.
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}
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void simulate(PxScene * scene, PxF32 timeStep)
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{
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PX_ASSERT(mNestedScene != NULL);
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mNestedScene->simulate(scene, timeStep);
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}
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void render()
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{
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PX_ASSERT(mNestedScene != NULL);
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mNestedScene->render();
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}
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void reverse()
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{
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mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
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}
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void forward()
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{
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mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
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}
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PxVehicleDriveTank* getVehicleDriveTank() { return mVehicleDriveTank; }
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private:
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PxVehicleDriveTank* mVehicleDriveTank;
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NestedScene* mNestedScene;
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} tankEntity;
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PxVehicleKeySmoothingData gKeySmoothingData=
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{
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{
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6.0f, //rise rate eANALOG_INPUT_ACCEL=0,
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6.0f, //rise rate eANALOG_INPUT_BRAKE,
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6.0f, //rise rate eANALOG_INPUT_HANDBRAKE,
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2.5f, //rise rate eANALOG_INPUT_STEER_LEFT,
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2.5f, //rise rate eANALOG_INPUT_STEER_RIGHT,
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},
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{
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10.0f, //fall rate eANALOG_INPUT_ACCEL=0,
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10.0f, //fall rate eANALOG_INPUT_BRAKE,
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10.0f, //fall rate eANALOG_INPUT_HANDBRAKE,
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5.0f, //fall rate eANALOG_INPUT_STEER_LEFT,
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5.0f //fall rate eANALOG_INPUT_STEER_RIGHT,
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}
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};
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PxVehiclePadSmoothingData gPadSmoothingData=
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{
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{
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6.0f, //rise rate eANALOG_INPUT_ACCEL=0,
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6.0f, //rise rate eANALOG_INPUT_BRAKE,
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6.0f, //rise rate eANALOG_INPUT_HANDBRAKE,
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2.5f, //rise rate eANALOG_INPUT_STEER_LEFT,
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2.5f, //rise rate eANALOG_INPUT_STEER_RIGHT,
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},
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{
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10.0f, //fall rate eANALOG_INPUT_ACCEL=0
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10.0f, //fall rate eANALOG_INPUT_BRAKE_LEFT
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10.0f, //fall rate eANALOG_INPUT_BRAKE_RIGHT
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5.0f, //fall rate eANALOG_INPUT_THRUST_LEFT
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5.0f //fall rate eANALOG_INPUT_THRUST_RIGHT
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}
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};
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PxVehicleDriveTankRawInputData gVehicleInputData(PxVehicleDriveTankControlModel::eSTANDARD);
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enum DriveMode
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{
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eDRIVE_MODE_ACCEL_FORWARDS=0,
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eDRIVE_MODE_ACCEL_REVERSE,
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eDRIVE_MODE_HARD_TURN_LEFT,
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eDRIVE_MODE_SOFT_TURN_LEFT,
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eDRIVE_MODE_HARD_TURN_RIGHT,
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eDRIVE_MODE_SOFT_TURN_RIGHT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_NONE
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};
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DriveMode gDriveModeOrder[] =
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{
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_ACCEL_FORWARDS,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_ACCEL_REVERSE,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_HARD_TURN_LEFT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_HARD_TURN_RIGHT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_SOFT_TURN_LEFT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_SOFT_TURN_RIGHT,
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eDRIVE_MODE_NONE
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};
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VehicleDesc initTankDesc()
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{
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//Set up the chassis mass, dimensions, moment of inertia, and center of mass offset.
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//The moment of inertia is just the moment of inertia of a cuboid but modified for easier steering.
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//Center of mass offset is 0.65m above the base of the chassis and 0.25m towards the front.
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const PxF32 chassisMass = 1500.0f;
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const PxVec3 chassisDims(3.5f,2.0f,9.0f);
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const PxVec3 chassisMOI
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((chassisDims.y*chassisDims.y + chassisDims.z*chassisDims.z)*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.z*chassisDims.z)*0.8f*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.y*chassisDims.y)*chassisMass/12.0f);
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const PxVec3 chassisCMOffset(0.0f, -chassisDims.y*0.5f + 0.65f, 0.25f);
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//Set up the wheel mass, radius, width, moment of inertia, and number of wheels.
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//Moment of inertia is just the moment of inertia of a cylinder.
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const PxF32 wheelMass = 20.0f;
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const PxF32 wheelRadius = 0.5f;
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const PxF32 wheelWidth = 0.4f;
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const PxF32 wheelMOI = 0.5f*wheelMass*wheelRadius*wheelRadius;
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const PxU32 nbWheels = 14;
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VehicleDesc tankDesc;
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tankDesc.chassisMass = chassisMass;
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tankDesc.chassisDims = chassisDims;
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tankDesc.chassisMOI = chassisMOI;
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tankDesc.chassisCMOffset = chassisCMOffset;
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tankDesc.chassisMaterial = gMaterial;
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tankDesc.wheelMass = wheelMass;
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tankDesc.wheelRadius = wheelRadius;
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tankDesc.wheelWidth = wheelWidth;
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tankDesc.wheelMOI = wheelMOI;
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tankDesc.numWheels = nbWheels;
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tankDesc.wheelMaterial = gMaterial;
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return tankDesc;
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}
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void startAccelerateForwardsMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalLeftThrust(true);
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gVehicleInputData.setDigitalRightThrust(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogLeftThrust(1.0f);
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gVehicleInputData.setAnalogRightThrust(1.0f);
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}
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}
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void startAccelerateReverseMode()
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{
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tankEntity.reverse();
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalLeftThrust(true);
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gVehicleInputData.setDigitalRightThrust(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogLeftThrust(1.0f);
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gVehicleInputData.setAnalogRightThrust(1.0f);
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}
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}
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void startBrakeMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalLeftBrake(true);
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gVehicleInputData.setDigitalRightBrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogLeftBrake(1.0f);
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gVehicleInputData.setAnalogRightBrake(1.0f);
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}
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}
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void startTurnHardLeftMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalLeftThrust(true);
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gVehicleInputData.setDigitalRightBrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogLeftThrust(1.0f);
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gVehicleInputData.setAnalogRightBrake(1.0f);
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}
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}
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void startTurnHardRightMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalRightThrust(true);
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gVehicleInputData.setDigitalLeftBrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogRightThrust(1.0f);
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gVehicleInputData.setAnalogLeftBrake(1.0f);
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}
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}
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void startTurnSoftLeftMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalLeftThrust(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogLeftThrust(1.0f);
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gVehicleInputData.setAnalogRightThrust(0.3f);
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}
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}
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void startTurnSoftRightMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalRightThrust(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogRightThrust(1.0f);
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gVehicleInputData.setAnalogLeftThrust(0.3f);
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}
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}
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void releaseAllControls()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(false);
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gVehicleInputData.setDigitalRightThrust(false);
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gVehicleInputData.setDigitalLeftThrust(false);
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gVehicleInputData.setDigitalRightBrake(false);
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gVehicleInputData.setDigitalLeftBrake(false);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(0.0f);
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gVehicleInputData.setAnalogRightThrust(0.0f);
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gVehicleInputData.setAnalogLeftThrust(0.0f);
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gVehicleInputData.setAnalogRightBrake(0.0f);
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gVehicleInputData.setAnalogLeftBrake(0.0f);
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}
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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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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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PxU32 numWorkers = 1;
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gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = VehicleFilterShader;
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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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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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/////////////////////////////////////////////
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PxInitVehicleSDK(*gPhysics);
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PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
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PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
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//Create the batched scene queries for the suspension raycasts.
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gVehicleSceneQueryData = VehicleSceneQueryData::allocate(1, PX_MAX_NB_WHEELS, 1, 1, WheelSceneQueryPreFilterBlocking, NULL, gAllocator);
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gBatchQuery = VehicleSceneQueryData::setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
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//Create the friction table for each combination of tire and surface type.
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gFrictionPairs = createFrictionPairs(gMaterial);
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//Create a plane to drive on.
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PxFilterData groundPlaneSimFilterData(COLLISION_FLAG_GROUND, COLLISION_FLAG_GROUND_AGAINST, 0, 0);
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gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
|
|
gScene->addActor(*gGroundPlane);
|
|
|
|
//Create a tank that will drive on the plane.
|
|
tankEntity.create();
|
|
|
|
|
|
gTankModeTimer = 0.0f;
|
|
gTankOrderProgress = 0;
|
|
startBrakeMode();
|
|
}
|
|
|
|
void incrementDrivingMode(const PxF32 timestep)
|
|
{
|
|
gTankModeTimer += timestep;
|
|
if(gTankModeTimer > gTankModeLifetime)
|
|
{
|
|
//If the mode just completed was eDRIVE_MODE_ACCEL_REVERSE then switch back to forward gears.
|
|
if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gTankOrderProgress])
|
|
{
|
|
tankEntity.forward();
|
|
}
|
|
|
|
//Increment to next driving mode.
|
|
gTankModeTimer = 0.0f;
|
|
gTankOrderProgress++;
|
|
releaseAllControls();
|
|
|
|
//If we are at the end of the list of driving modes then start again.
|
|
if(eDRIVE_MODE_NONE == gDriveModeOrder[gTankOrderProgress])
|
|
{
|
|
gTankOrderProgress = 0;
|
|
gTankOrderComplete = true;
|
|
}
|
|
|
|
//Start driving in the selected mode.
|
|
DriveMode eDriveMode = gDriveModeOrder[gTankOrderProgress];
|
|
switch(eDriveMode)
|
|
{
|
|
case eDRIVE_MODE_ACCEL_FORWARDS:
|
|
startAccelerateForwardsMode();
|
|
break;
|
|
case eDRIVE_MODE_ACCEL_REVERSE:
|
|
startAccelerateReverseMode();
|
|
break;
|
|
case eDRIVE_MODE_HARD_TURN_LEFT:
|
|
startTurnHardLeftMode();
|
|
break;
|
|
case eDRIVE_MODE_SOFT_TURN_LEFT:
|
|
startTurnSoftLeftMode();
|
|
break;
|
|
case eDRIVE_MODE_HARD_TURN_RIGHT:
|
|
startTurnHardRightMode();
|
|
break;
|
|
case eDRIVE_MODE_SOFT_TURN_RIGHT:
|
|
startTurnSoftRightMode();
|
|
break;
|
|
case eDRIVE_MODE_BRAKE:
|
|
startBrakeMode();
|
|
break;
|
|
case eDRIVE_MODE_NONE:
|
|
break;
|
|
};
|
|
|
|
//If the mode about to start is eDRIVE_MODE_ACCEL_REVERSE then switch to reverse gears.
|
|
if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gTankOrderProgress])
|
|
{
|
|
tankEntity.reverse();
|
|
}
|
|
}
|
|
}
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
const PxF32 timestep = 1.0f/60.0f;
|
|
|
|
//Cycle through the driving modes.
|
|
incrementDrivingMode(timestep);
|
|
|
|
//Update the control inputs for the tank.
|
|
if(gMimicKeyInputs)
|
|
{
|
|
PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs(gKeySmoothingData, gVehicleInputData, timestep, *tankEntity.getVehicleDriveTank());
|
|
}
|
|
else
|
|
{
|
|
PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs(gPadSmoothingData, gVehicleInputData, timestep, *tankEntity.getVehicleDriveTank());
|
|
}
|
|
|
|
//Raycasts.
|
|
PxVehicleWheels* vehicles[1] = {tankEntity.getVehicleDriveTank()};
|
|
PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, gVehicleSceneQueryData->getQueryResultBufferSize(), gVehicleSceneQueryData->getRaycastQueryResultBuffer(0));
|
|
|
|
//Vehicle update.
|
|
const PxVec3 grav = gScene->getGravity();
|
|
PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS];
|
|
PxVehicleWheelQueryResult vehicleQueryResults[1] = {{wheelQueryResults, tankEntity.getVehicleDriveTank()->mWheelsSimData.getNbWheels()}};
|
|
PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);
|
|
|
|
//Scene update.
|
|
gScene->simulate(timestep);
|
|
gScene->fetchResults(true);
|
|
tankEntity.simulate(gScene, timestep);
|
|
}
|
|
|
|
void renderPhysics()
|
|
{
|
|
#ifdef RENDER_SNIPPET
|
|
renderScene(gScene, NULL, PxVec3(0.94f, 0.25f, 0.5f));
|
|
#endif
|
|
tankEntity.render();
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
gVehicleSceneQueryData->free(gAllocator);
|
|
PX_RELEASE(gFrictionPairs);
|
|
PxCloseVehicleSDK();
|
|
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
PX_RELEASE(gCooking);
|
|
if(gPvd)
|
|
{
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
gPvd->release(); gPvd = NULL;
|
|
PX_RELEASE(transport);
|
|
}
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetNestedScene done.\n");
|
|
}
|
|
|
|
void keyPress(unsigned char key, const PxTransform& camera)
|
|
{
|
|
PX_UNUSED(camera);
|
|
PX_UNUSED(key);
|
|
}
|
|
|
|
int snippetMain(int, const char*const*)
|
|
{
|
|
#ifdef RENDER_SNIPPET
|
|
extern void renderLoop();
|
|
renderLoop();
|
|
#else
|
|
initPhysics(false);
|
|
while(!gTankOrderComplete)
|
|
{
|
|
stepPhysics(false);
|
|
}
|
|
cleanupPhysics(false);
|
|
#endif
|
|
|
|
return 0;
|
|
}
|