269 lines
9.9 KiB
C++
269 lines
9.9 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 PxPruningStructure.
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//
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// It creates a box stack, then prepares a pruning structure. This structure
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// together with the actors is serialized into a collection. When the collection
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// is added to the scene, the actor's scene query shape AABBs are directly merged
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// into the current scene query AABB tree through the precomputed pruning structure.
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// This may unbalance the AABB tree but should provide significant speedup in
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// case of large world scenarios where parts get streamed in on the fly.
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// ****************************************************************************
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#include <ctype.h>
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#include <vector>
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#include "PxPhysicsAPI.h"
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#include "extensions/PxCollectionExt.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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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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#define MAX_MEMBLOCKS 10
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PxU8* gMemBlocks[MAX_MEMBLOCKS];
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PxU32 gMemBlockCount = 0;
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PxReal stackZ = 10.0f;
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/**
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Allocates 128 byte aligned memory block for binary serialized data
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Stores pointer to memory in gMemBlocks for later deallocation
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*/
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void* createAlignedBlock(PxU32 size)
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{
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PX_ASSERT(gMemBlockCount < MAX_MEMBLOCKS);
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PxU8* baseAddr = static_cast<PxU8*>(malloc(size + PX_SERIAL_FILE_ALIGN - 1));
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gMemBlocks[gMemBlockCount++] = baseAddr;
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void* alignedBlock = reinterpret_cast<void*>((size_t(baseAddr) + PX_SERIAL_FILE_ALIGN - 1)&~(PX_SERIAL_FILE_ALIGN - 1));
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return alignedBlock;
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}
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// Create a regular stack, with actors added directly into a scene.
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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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// Create a stack where pruning structure is build in runtime and used to merge
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// the query shapes into the AABB tree.
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void createStackWithRuntimePrunerStructure(const PxTransform& t, PxU32 size, PxReal halfExtent)
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{
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std::vector<PxRigidActor*> actors;
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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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// store the actors, will be added later
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actors.push_back(body);
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}
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}
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shape->release();
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// Create pruning structure from given actors.
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PxPruningStructure* ps = gPhysics->createPruningStructure(&actors[0], PxU32(actors.size()));
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// Add actors into a scene together with the precomputed pruning structure.
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gScene->addActors(*ps);
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ps->release();
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}
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// Create a stack where pruning structure is build in runtime and then stored into a collection.
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// The collection is stored into a stream and loaded into another stream. The loaded collection
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// is added to a scene. While the collection is added to the scene the pruning structure is used.
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void createStackWithSerializedPrunerStructure(const PxTransform& t, PxU32 size, PxReal halfExtent)
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{
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PxCollection* collection = PxCreateCollection(); // collection for all the objects
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PxSerializationRegistry* sr = PxSerialization::createSerializationRegistry(*gPhysics);
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std::vector<PxRigidActor*> actors;
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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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// store the actors, will be added later
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actors.push_back(body);
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}
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}
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collection->add(*shape);
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// Create pruner structure from given actors.
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PxPruningStructure* ps = gPhysics->createPruningStructure(&actors[0], PxU32(actors.size()));
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// Add the pruning structure into the collection. Adding the pruning structure will automatically
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// add the actors from which the collection was build.
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collection->add(*ps);
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PxSerialization::complete(*collection, *sr);
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// Store the collection into a stream.
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PxDefaultMemoryOutputStream outStream;
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PxSerialization::serializeCollectionToBinary(outStream, *collection, *sr);
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collection->release();
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// Release the used items added to the collection.
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ps->release();
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for (size_t i = 0; i < actors.size(); i++)
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{
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actors[i]->release();
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}
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shape->release();
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// Load collection from the stream into and input stream.
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PxDefaultMemoryInputData inputStream(outStream.getData(), outStream.getSize());
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void* alignedBlock = createAlignedBlock(inputStream.getLength());
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inputStream.read(alignedBlock, inputStream.getLength());
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PxCollection* collection1 = PxSerialization::createCollectionFromBinary(alignedBlock, *sr);
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// Add collection to the scene.
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gScene->addCollection(*collection1);
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// Release objects in collection, the pruning structure must be released before its actors
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// otherwise actors will still be part of pruning structure
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PxCollectionExt::releaseObjects(*collection1);
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collection1->release();
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}
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void initPhysics(bool )
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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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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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// Create a regular stack.
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createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
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// Create a stack using the runtime pruner structure usage.
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createStackWithRuntimePrunerStructure(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
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// Create a stack using the serialized pruner structure usage.
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createStackWithSerializedPrunerStructure(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
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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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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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// Now that the objects have been released, it's safe to release the space they occupy.
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for (PxU32 i = 0; i < gMemBlockCount; i++)
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free(gMemBlocks[i]);
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gMemBlockCount = 0;
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PX_RELEASE(gFoundation);
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printf("SnippetPrunerSerialization done.\n");
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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 = 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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return 0;
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}
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