347 lines
12 KiB
C++
347 lines
12 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) 2008-2025 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 different ways of setting mass for rigid bodies.
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//
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// It creates 5 snowmen with different mass properties:
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// - massless with a weight at the bottom
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// - only the mass of the lowest snowball
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// - the mass of all the snowballs
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// - the whole mass but with a low center of gravity
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// - manual setup of masses
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//
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// The different mass properties can be visually inspected by firing a rigid
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// ball towards each snowman using the space key.
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//
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// For more details, please consult the "Rigid Body Dynamics" section of the
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// user guide.
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//
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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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static PxDefaultAllocator gAllocator;
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static PxDefaultErrorCallback gErrorCallback;
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static PxFoundation* gFoundation = NULL;
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static PxPhysics* gPhysics = NULL;
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static PxDefaultCpuDispatcher* gDispatcher = NULL;
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static PxScene* gScene = NULL;
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static PxMaterial* gMaterial = NULL;
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static PxPvd* gPvd = NULL;
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// create a dynamic ball to throw at the snowmen.
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static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, 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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gScene->addActor(*dynamic);
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return dynamic;
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}
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static PxRigidDynamic* createSnowMan(const PxTransform& pos, PxU32 mode)
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{
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PxRigidDynamic* snowmanActor = gPhysics->createRigidDynamic(PxTransform(pos));
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if(!snowmanActor)
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{
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printf("create snowman actor failed");
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return NULL;
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}
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PxShape* armL = NULL; PxShape* armR = NULL;
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switch(mode%5)
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{
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case 0: // with a weight at the bottom
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{
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PxShape* shape = NULL;
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.2), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,-.29,0)));
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PxRigidBodyExt::updateMassAndInertia(*snowmanActor,10);
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
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armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armL)
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printf("creating snowman shape failed");
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armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
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armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armR)
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printf("creating snowman shape failed");
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armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
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}
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break;
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case 1: // only considering lowest shape mass
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{
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PxShape* shape = NULL;
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
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armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armL)
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printf("creating snowman shape failed");
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armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
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armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armR)
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printf("creating snowman shape failed");
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armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
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snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
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}
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break;
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case 2: // considering whole mass
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{
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PxShape* shape = NULL;
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
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armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armL)
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printf("creating snowman shape failed");
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armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
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armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armR)
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printf("creating snowman shape failed");
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armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
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PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1);
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snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
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}
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break;
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case 3: // considering whole mass with low COM
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{
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PxShape* shape = NULL;
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
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armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armL)
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printf("creating snowman shape failed");
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armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
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armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armR)
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printf("creating snowman shape failed");
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armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
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const PxVec3 localPos = PxVec3(0,-.5,0);
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PxRigidBodyExt::updateMassAndInertia(*snowmanActor,1,&localPos);
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}
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break;
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case 4: // setting up mass properties manually
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{
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PxShape* shape = NULL;
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.5), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.4), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,.6,0)));
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shape = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxSphereGeometry(.3), *gMaterial);
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if(!shape)
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printf("creating snowman shape failed");
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shape->setLocalPose(PxTransform(PxVec3(0,1.1,0)));
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armL = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armL)
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printf("creating snowman shape failed");
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armL->setLocalPose(PxTransform(PxVec3(-.4,.7,0)));
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armR = PxRigidActorExt::createExclusiveShape(*snowmanActor, PxCapsuleGeometry(.1,.1), *gMaterial);
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if(!armR)
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printf("creating snowman shape failed");
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armR->setLocalPose(PxTransform(PxVec3( .4,.7,0)));
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snowmanActor->setMass(1);
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snowmanActor->setCMassLocalPose(PxTransform(PxVec3(0,-.5,0)));
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snowmanActor->setMassSpaceInertiaTensor(PxVec3(.05,100,100));
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}
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break;
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default:
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break;
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}
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gScene->addActor(*snowmanActor);
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return snowmanActor;
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}
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static void createSnowMen()
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{
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PxU32 numSnowmen = 5;
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for(PxU32 i=0; i<numSnowmen; i++)
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{
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PxVec3 pos(i * 2.5f,1,-8);
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createSnowMan(PxTransform(pos), i);
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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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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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createSnowMen();
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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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PX_RELEASE(gPvd);
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PX_RELEASE(transport);
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}
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PX_RELEASE(gFoundation);
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printf("SnippetMassProperties done.\n");
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}
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void keyPress(unsigned char key, const PxTransform& camera)
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{
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switch(toupper(key))
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{
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case ' ': createDynamic(camera, PxSphereGeometry(0.1f), camera.rotate(PxVec3(0,0,-1))*20); break;
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}
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}
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int snippetMain(int, const char*const*)
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{
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#ifdef RENDER_SNIPPET
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||
|
|
extern void renderLoop();
|
||
|
|
renderLoop();
|
||
|
|
#else
|
||
|
|
static const PxU32 frameCount = 100;
|
||
|
|
initPhysics(false);
|
||
|
|
for(PxU32 i=0; i<frameCount; i++)
|
||
|
|
stepPhysics(false);
|
||
|
|
cleanupPhysics(false);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|