313 lines
11 KiB
C++
313 lines
11 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 use of binary and xml serialization
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//
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// It creates a chain of boxes and serializes them as two collections:
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// a collection with shared objects and a collection with actors and joints
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// which can be instantiated multiple times.
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//
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// Then physics is setup based on the serialized data. The collection with the
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// actors and the joints is instantiated multiple times with different
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// transforms.
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//
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// Finally phyics is teared down again, including deallocation of memory
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// occupied by deserialized objects (in the case of binary serialization).
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//
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// ****************************************************************************
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#include "PxPhysicsAPI.h"
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#include "foundation/PxMemory.h"
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#include "../snippetutils/SnippetUtils.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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using namespace physx;
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bool gUseBinarySerialization = false;
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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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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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/**
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Creates two example collections:
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- collection with actors and joints that can be instantiated multiple times in the scene
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- collection with shared objects
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*/
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void createCollections(PxCollection*& sharedCollection, PxCollection*& actorCollection, PxSerializationRegistry& sr)
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{
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PxMaterial* material = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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PxReal halfLength = 2.0f, height = 25.0f;
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PxVec3 offset(halfLength, 0, 0);
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PxRigidActor* prevActor = PxCreateStatic(*gPhysics, PxTransform(PxVec3(0,height,0)), PxSphereGeometry(halfLength), *material, PxTransform(offset));
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfLength, 1.0f, 1.0f), *material);
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for(PxU32 i=1; i<8;i++)
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{
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PxTransform tm(PxVec3(PxReal(i*2)* halfLength, height, 0));
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PxRigidDynamic* dynamic = gPhysics->createRigidDynamic(tm);
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dynamic->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*dynamic, 10.0f);
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PxSphericalJointCreate(*gPhysics, prevActor, PxTransform(offset), dynamic, PxTransform(-offset));
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prevActor = dynamic;
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}
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sharedCollection = PxCreateCollection(); // collection for all the shared objects
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actorCollection = PxCreateCollection(); // collection for all the nonshared objects
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sharedCollection->add(*shape);
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PxSerialization::complete(*sharedCollection, sr); // chases the pointer from shape to material, and adds it
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PxSerialization::createSerialObjectIds(*sharedCollection, PxSerialObjectId(77)); // arbitrary choice of base for references to shared objects
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actorCollection->add(*prevActor);
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PxSerialization::complete(*actorCollection, sr, sharedCollection, true); // chases all pointers and recursively adds actors and joints
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}
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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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/**
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Create objects, add them to collections and serialize the collections to the steams gSharedStream and gActorStream
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This function doesn't setup the gPhysics global as the corresponding physics object is only used locally
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*/
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void serializeObjects(PxOutputStream& sharedStream, PxOutputStream& actorStream)
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{
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PxSerializationRegistry* sr = PxSerialization::createSerializationRegistry(*gPhysics);
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PxCollection* sharedCollection = NULL;
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PxCollection* actorCollection = NULL;
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createCollections(sharedCollection, actorCollection, *sr);
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// Alternatively to using PxDefaultMemoryOutputStream it would be possible to serialize to files using
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// PxDefaultFileOutputStream or a similar implementation of PxOutputStream.
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if (gUseBinarySerialization)
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{
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PxSerialization::serializeCollectionToBinary(sharedStream, *sharedCollection, *sr);
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PxSerialization::serializeCollectionToBinary(actorStream, *actorCollection, *sr, sharedCollection);
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}
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else
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{
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PxSerialization::serializeCollectionToXml(sharedStream, *sharedCollection, *sr);
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PxSerialization::serializeCollectionToXml(actorStream, *actorCollection, *sr, NULL, sharedCollection);
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}
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actorCollection->release();
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sharedCollection->release();
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sr->release();
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}
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/**
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Deserialize shared data and use resulting collection to deserialize and instance actor collections
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*/
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void deserializeObjects(PxInputData& sharedData, PxInputData& actorData)
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{
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PxSerializationRegistry* sr = PxSerialization::createSerializationRegistry(*gPhysics);
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PxCollection* sharedCollection = NULL;
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{
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if (gUseBinarySerialization)
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{
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void* alignedBlock = createAlignedBlock(sharedData.getLength());
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sharedData.read(alignedBlock, sharedData.getLength());
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sharedCollection = PxSerialization::createCollectionFromBinary(alignedBlock, *sr);
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}
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else
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{
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sharedCollection = PxSerialization::createCollectionFromXml(sharedData, *gCooking, *sr);
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}
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}
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// Deserialize collection and instantiate objects twice, each time with a different transform
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PxTransform transforms[2] = { PxTransform(PxVec3(-5.0f, 0.0f, 0.0f)), PxTransform(PxVec3(5.0f, 0.0f, 0.0f)) };
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for (PxU32 i = 0; i < 2; i++)
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{
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PxCollection* collection = NULL;
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// If the PxInputData actorData would refer to a file, it would be better to avoid reading from it twice.
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// This could be achieved by reading the file once to memory, and then working with copies.
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// This is particulary practical when using binary serialization, where the data can be directly
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// converted to physics objects.
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actorData.seek(0);
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if (gUseBinarySerialization)
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{
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void* alignedBlock = createAlignedBlock(actorData.getLength());
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actorData.read(alignedBlock, actorData.getLength());
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collection = PxSerialization::createCollectionFromBinary(alignedBlock, *sr, sharedCollection);
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}
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else
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{
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collection = PxSerialization::createCollectionFromXml(actorData, *gCooking, *sr, sharedCollection);
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}
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for (PxU32 o = 0; o < collection->getNbObjects(); o++)
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{
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PxRigidActor* rigidActor = collection->getObject(o).is<PxRigidActor>();
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if (rigidActor)
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{
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PxTransform globalPose = rigidActor->getGlobalPose();
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globalPose = globalPose.transform(transforms[i]);
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rigidActor->setGlobalPose(globalPose);
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}
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}
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gScene->addCollection(*collection);
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collection->release();
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}
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sharedCollection->release();
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PxMaterial* material;
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gPhysics->getMaterials(&material,1);
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PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *material);
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gScene->addActor(*groundPlane);
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sr->release();
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}
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/**
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Initializes physics and creates a scene
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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 = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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PxInitExtensions(*gPhysics, gPvd);
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PxU32 numCores = SnippetUtils::getNbPhysicalCores();
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gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0, -9.81f, 0);
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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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}
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void stepPhysics()
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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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/**
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Releases all physics objects, including memory blocks containing deserialized data
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*/
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void cleanupPhysics()
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{
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PX_RELEASE(gScene);
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PX_RELEASE(gDispatcher);
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PxCloseExtensions();
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PX_RELEASE(gPhysics); // releases all objects
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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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// 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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}
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int snippetMain(int, const char*const*)
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{
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initPhysics();
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// Alternatively PxDefaultFileOutputStream could be used
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PxDefaultMemoryOutputStream sharedOutputStream;
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PxDefaultMemoryOutputStream actorOutputStream;
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serializeObjects(sharedOutputStream, actorOutputStream);
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cleanupPhysics();
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initPhysics();
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// Alternatively PxDefaultFileInputData could be used
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PxDefaultMemoryInputData sharedInputStream(sharedOutputStream.getData(), sharedOutputStream.getSize());
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PxDefaultMemoryInputData actorInputStream(actorOutputStream.getData(), actorOutputStream.getSize());
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deserializeObjects(sharedInputStream, actorInputStream);
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#ifdef RENDER_SNIPPET
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extern void renderLoop();
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renderLoop();
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#else
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static const PxU32 frameCount = 250;
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for(PxU32 i=0; i<frameCount; i++)
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stepPhysics();
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cleanupPhysics();
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printf("SnippetSerialization done.\n");
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#endif
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return 0;
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}
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