179 lines
6.0 KiB
C++
179 lines
6.0 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 concept of PxToleranceScale.
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//
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// It creates 2 scenes using different units for length and mass.
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// Use PVD to replay the scene and see how scaling affects the simulation.
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// ********************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#include "../snippetutils/SnippetUtils.h"
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using namespace physx;
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PxDefaultAllocator gAllocator;
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PxDefaultErrorCallback gErrorCallback;
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PxFoundation* gFoundation = NULL;
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PxPhysics* gPhysics = NULL;
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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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PxReal gStackZ = 10.0f;
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PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxReal& mass, const PxVec3& velocity=PxVec3(0))
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
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dynamic->setAngularDamping(0.5f);
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dynamic->setLinearVelocity(velocity);
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PxRigidBodyExt::setMassAndUpdateInertia(*dynamic, mass);
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gScene->addActor(*dynamic);
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return dynamic;
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}
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void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent, const PxReal& mass)
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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::setMassAndUpdateInertia(*body, mass);
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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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void initPhysics(bool interactive, const PxTolerancesScale& scale, PxReal scaleMass)
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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, scale, true, gPvd);
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PxReal scaleLength = scale.length;
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PxSceneDesc sceneDesc(scale);
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f) * scaleLength;
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gDispatcher = PxDefaultCpuDispatcherCreate(2);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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gScene = gPhysics->createScene(sceneDesc);
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PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
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if(pvdClient)
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{
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
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}
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
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gScene->addActor(*groundPlane);
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for(PxU32 i=0;i<5;i++)
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createStack(PxTransform(PxVec3(0,0,gStackZ-=10.0f) * scaleLength), 10, 2.0f * scaleLength, 1.0f * scaleMass);
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if(!interactive)
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createDynamic(PxTransform(PxVec3(0,40,100) * scaleLength), PxSphereGeometry(10 * scaleLength), 100.0f * scaleMass, PxVec3(0,-50,-100) * scaleLength);
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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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PX_RELEASE(gFoundation);
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}
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void runSim(const PxTolerancesScale& scale, PxReal scaleMass)
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{
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static const PxU32 frameCount = 150;
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initPhysics(false, scale, scaleMass);
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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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}
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int snippetMain(int, const char*const*)
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{
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PxTolerancesScale scale;
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// Default
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printf("PxToleranceScale (Default).\n");
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runSim(scale, 1000.0f);
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// Reset position of pyramid stack z coordinate to default
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gStackZ = 10.0f;
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// Scaled assets
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printf("PxToleranceScale (Scaled).\n");
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scale.length = 100; // length in cm
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scale.speed *= scale.length; // speed in cm/s
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runSim(scale, 1.0f);
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printf("SnippetToleranceScale done.\n");
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return 0;
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}
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