355 lines
12 KiB
C++
355 lines
12 KiB
C++
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
// * Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the distribution.
|
||
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
|
// contributors may be used to endorse or promote products derived
|
||
|
|
// from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
|
||
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
|
||
|
|
// ****************************************************************************
|
||
|
|
// NOTE: Particle cloth has been DEPRECATED. Please use PxDeformableSurface instead.
|
||
|
|
// This snippet illustrates cloth simulation using position-based dynamics
|
||
|
|
// particle simulation. It creates a piece of cloth that drops onto a rotating
|
||
|
|
// sphere.
|
||
|
|
// ****************************************************************************
|
||
|
|
|
||
|
|
#include <ctype.h>
|
||
|
|
#include "PxPhysicsAPI.h"
|
||
|
|
#include "../snippetcommon/SnippetPrint.h"
|
||
|
|
#include "../snippetcommon/SnippetPVD.h"
|
||
|
|
#include "../snippetutils/SnippetUtils.h"
|
||
|
|
#include "extensions/PxParticleExt.h"
|
||
|
|
#include "extensions/PxCudaHelpersExt.h"
|
||
|
|
|
||
|
|
using namespace physx;
|
||
|
|
using namespace ExtGpu;
|
||
|
|
|
||
|
|
static PxDefaultAllocator gAllocator;
|
||
|
|
static PxDefaultErrorCallback gErrorCallback;
|
||
|
|
static PxFoundation* gFoundation = NULL;
|
||
|
|
static PxPhysics* gPhysics = NULL;
|
||
|
|
static PxDefaultCpuDispatcher* gDispatcher = NULL;
|
||
|
|
static PxCudaContextManager* gCudaContextManager = NULL;
|
||
|
|
static PxScene* gScene = NULL;
|
||
|
|
static PxMaterial* gMaterial = NULL;
|
||
|
|
static PxPvd* gPvd = NULL;
|
||
|
|
static PxPBDParticleSystem* gParticleSystem = NULL;
|
||
|
|
static PxParticleClothBuffer* gClothBuffer = NULL;
|
||
|
|
static bool gIsRunning = true;
|
||
|
|
|
||
|
|
PxRigidDynamic* sphere;
|
||
|
|
|
||
|
|
static void initObstacles()
|
||
|
|
{
|
||
|
|
PxShape* shape = gPhysics->createShape(PxSphereGeometry(3.0f), *gMaterial);
|
||
|
|
sphere = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.f, 5.0f, 0.f)));
|
||
|
|
sphere->attachShape(*shape);
|
||
|
|
sphere->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
|
||
|
|
gScene->addActor(*sphere);
|
||
|
|
shape->release();
|
||
|
|
}
|
||
|
|
|
||
|
|
// -----------------------------------------------------------------------------------------------------------------
|
||
|
|
static void initScene()
|
||
|
|
{
|
||
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
||
|
|
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
||
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(2);
|
||
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
||
|
|
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
||
|
|
sceneDesc.cudaContextManager = gCudaContextManager;
|
||
|
|
sceneDesc.staticStructure = PxPruningStructureType::eDYNAMIC_AABB_TREE;
|
||
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
|
||
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
|
||
|
|
sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
|
||
|
|
sceneDesc.solverType = PxSolverType::eTGS;
|
||
|
|
gScene = gPhysics->createScene(sceneDesc);
|
||
|
|
}
|
||
|
|
|
||
|
|
// -----------------------------------------------------------------------------------------------------------------
|
||
|
|
static PX_FORCE_INLINE PxU32 id(PxU32 x, PxU32 y, PxU32 numY)
|
||
|
|
{
|
||
|
|
return x * numY + y;
|
||
|
|
}
|
||
|
|
|
||
|
|
static void initCloth(const PxU32 numX, const PxU32 numZ, const PxVec3& position = PxVec3(0, 0, 0), const PxReal particleSpacing = 0.2f, const PxReal totalClothMass = 10.f)
|
||
|
|
{
|
||
|
|
PxCudaContextManager* cudaContextManager = gScene->getCudaContextManager();
|
||
|
|
if (cudaContextManager == NULL)
|
||
|
|
return;
|
||
|
|
|
||
|
|
const PxU32 numParticles = numX * numZ;
|
||
|
|
const PxU32 numSprings = (numX - 1) * (numZ - 1) * 4 + (numX - 1) + (numZ - 1);
|
||
|
|
const PxU32 numTriangles = (numX - 1) * (numZ - 1) * 2;
|
||
|
|
|
||
|
|
const PxReal restOffset = particleSpacing;
|
||
|
|
|
||
|
|
const PxReal stretchStiffness = 10000.f;
|
||
|
|
const PxReal shearStiffness = 100.f;
|
||
|
|
const PxReal springDamping = 0.001f;
|
||
|
|
|
||
|
|
// Material setup
|
||
|
|
PxPBDMaterial* defaultMat = gPhysics->createPBDMaterial(0.8f, 0.05f, 1e+6f, 0.001f, 0.5f, 0.005f, 0.05f, 0.f, 0.f);
|
||
|
|
|
||
|
|
PxPBDParticleSystem *particleSystem = gPhysics->createPBDParticleSystem(*cudaContextManager);
|
||
|
|
gParticleSystem = particleSystem;
|
||
|
|
|
||
|
|
// General particle system setting
|
||
|
|
|
||
|
|
const PxReal particleMass = totalClothMass / numParticles;
|
||
|
|
particleSystem->setRestOffset(restOffset);
|
||
|
|
particleSystem->setContactOffset(restOffset + 0.02f);
|
||
|
|
particleSystem->setParticleContactOffset(restOffset + 0.02f);
|
||
|
|
particleSystem->setSolidRestOffset(restOffset);
|
||
|
|
particleSystem->setFluidRestOffset(0.0f);
|
||
|
|
|
||
|
|
gScene->addActor(*particleSystem);
|
||
|
|
|
||
|
|
// Create particles and add them to the particle system
|
||
|
|
const PxU32 particlePhase = particleSystem->createPhase(defaultMat, PxParticlePhaseFlags(PxParticlePhaseFlag::eParticlePhaseSelfCollideFilter | PxParticlePhaseFlag::eParticlePhaseSelfCollide));
|
||
|
|
|
||
|
|
PxParticleClothBufferHelper* clothBuffers = PxCreateParticleClothBufferHelper(1, numTriangles, numSprings, numParticles, cudaContextManager);
|
||
|
|
|
||
|
|
PxU32* phase = PX_EXT_PINNED_MEMORY_ALLOC(PxU32, *cudaContextManager, numParticles);
|
||
|
|
PxVec4* positionInvMass = PX_EXT_PINNED_MEMORY_ALLOC(PxVec4, *cudaContextManager, numParticles);
|
||
|
|
PxVec4* velocity = PX_EXT_PINNED_MEMORY_ALLOC(PxVec4, *cudaContextManager, numParticles);
|
||
|
|
|
||
|
|
PxReal x = position.x;
|
||
|
|
PxReal y = position.y;
|
||
|
|
PxReal z = position.z;
|
||
|
|
|
||
|
|
// Define springs and triangles
|
||
|
|
PxArray<PxParticleSpring> springs;
|
||
|
|
springs.reserve(numSprings);
|
||
|
|
PxArray<PxU32> triangles;
|
||
|
|
triangles.reserve(numTriangles * 3);
|
||
|
|
|
||
|
|
for (PxU32 i = 0; i < numX; ++i)
|
||
|
|
{
|
||
|
|
for (PxU32 j = 0; j < numZ; ++j)
|
||
|
|
{
|
||
|
|
const PxU32 index = i * numZ + j;
|
||
|
|
|
||
|
|
PxVec4 pos(x, y, z, 1.0f / particleMass);
|
||
|
|
phase[index] = particlePhase;
|
||
|
|
positionInvMass[index] = pos;
|
||
|
|
velocity[index] = PxVec4(0.0f);
|
||
|
|
|
||
|
|
if (i > 0)
|
||
|
|
{
|
||
|
|
PxParticleSpring spring = { id(i - 1, j, numZ), id(i, j, numZ), particleSpacing, stretchStiffness, springDamping, 0 };
|
||
|
|
springs.pushBack(spring);
|
||
|
|
}
|
||
|
|
if (j > 0)
|
||
|
|
{
|
||
|
|
PxParticleSpring spring = { id(i, j - 1, numZ), id(i, j, numZ), particleSpacing, stretchStiffness, springDamping, 0 };
|
||
|
|
springs.pushBack(spring);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (i > 0 && j > 0)
|
||
|
|
{
|
||
|
|
PxParticleSpring spring0 = { id(i - 1, j - 1, numZ), id(i, j, numZ), PxSqrt(2.0f) * particleSpacing, shearStiffness, springDamping, 0 };
|
||
|
|
springs.pushBack(spring0);
|
||
|
|
PxParticleSpring spring1 = { id(i - 1, j, numZ), id(i, j - 1, numZ), PxSqrt(2.0f) * particleSpacing, shearStiffness, springDamping, 0 };
|
||
|
|
springs.pushBack(spring1);
|
||
|
|
|
||
|
|
//Triangles are used to compute approximated aerodynamic forces for cloth falling down
|
||
|
|
triangles.pushBack(id(i - 1, j - 1, numZ));
|
||
|
|
triangles.pushBack(id(i - 1, j, numZ));
|
||
|
|
triangles.pushBack(id(i, j - 1, numZ));
|
||
|
|
|
||
|
|
triangles.pushBack(id(i - 1, j, numZ));
|
||
|
|
triangles.pushBack(id(i, j - 1, numZ));
|
||
|
|
triangles.pushBack(id(i, j, numZ));
|
||
|
|
}
|
||
|
|
|
||
|
|
z += particleSpacing;
|
||
|
|
}
|
||
|
|
z = position.z;
|
||
|
|
x += particleSpacing;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_ASSERT(numSprings == springs.size());
|
||
|
|
PX_ASSERT(numTriangles == triangles.size()/3);
|
||
|
|
|
||
|
|
clothBuffers->addCloth(0.0f, 0.0f, 0.0f, triangles.begin(), numTriangles, springs.begin(), numSprings, positionInvMass, numParticles);
|
||
|
|
|
||
|
|
ExtGpu::PxParticleBufferDesc bufferDesc;
|
||
|
|
bufferDesc.maxParticles = numParticles;
|
||
|
|
bufferDesc.numActiveParticles = numParticles;
|
||
|
|
bufferDesc.positions = positionInvMass;
|
||
|
|
bufferDesc.velocities = velocity;
|
||
|
|
bufferDesc.phases = phase;
|
||
|
|
|
||
|
|
const PxParticleClothDesc& clothDesc = clothBuffers->getParticleClothDesc();
|
||
|
|
PxParticleClothPreProcessor* clothPreProcessor = PxCreateParticleClothPreProcessor(cudaContextManager);
|
||
|
|
|
||
|
|
PxPartitionedParticleCloth output;
|
||
|
|
clothPreProcessor->partitionSprings(clothDesc, output);
|
||
|
|
clothPreProcessor->release();
|
||
|
|
|
||
|
|
gClothBuffer = physx::ExtGpu::PxCreateAndPopulateParticleClothBuffer(bufferDesc, clothDesc, output, cudaContextManager);
|
||
|
|
gParticleSystem->addParticleBuffer(gClothBuffer);
|
||
|
|
|
||
|
|
clothBuffers->release();
|
||
|
|
|
||
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, positionInvMass);
|
||
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, velocity);
|
||
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, phase);
|
||
|
|
}
|
||
|
|
|
||
|
|
PxPBDParticleSystem* getParticleSystem()
|
||
|
|
{
|
||
|
|
return gParticleSystem;
|
||
|
|
}
|
||
|
|
|
||
|
|
PxParticleClothBuffer* getUserClothBuffer()
|
||
|
|
{
|
||
|
|
return gClothBuffer;
|
||
|
|
}
|
||
|
|
|
||
|
|
// -----------------------------------------------------------------------------------------------------------------
|
||
|
|
void initPhysics(bool /*interactive*/)
|
||
|
|
{
|
||
|
|
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
||
|
|
|
||
|
|
gPvd = PxCreatePvd(*gFoundation);
|
||
|
|
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
||
|
|
gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
|
||
|
|
|
||
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
|
||
|
|
|
||
|
|
// initialize cuda
|
||
|
|
PxCudaContextManagerDesc cudaContextManagerDesc;
|
||
|
|
gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc, PxGetProfilerCallback());
|
||
|
|
if (gCudaContextManager && !gCudaContextManager->contextIsValid())
|
||
|
|
{
|
||
|
|
PX_RELEASE(gCudaContextManager);
|
||
|
|
printf("Failed to initialize cuda context.\n");
|
||
|
|
printf("The particle cloth feature is currently only supported on GPU.\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
initScene();
|
||
|
|
|
||
|
|
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
||
|
|
if (pvdClient)
|
||
|
|
{
|
||
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
||
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
||
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
||
|
|
}
|
||
|
|
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
|
||
|
|
|
||
|
|
// Setup Cloth
|
||
|
|
const PxReal totalClothMass = 10.0f;
|
||
|
|
|
||
|
|
PxU32 numPointsX = 250;
|
||
|
|
PxU32 numPointsZ = 250;
|
||
|
|
PxReal particleSpacing = 0.05f;
|
||
|
|
initCloth(numPointsX, numPointsZ, PxVec3(-0.5f*numPointsX*particleSpacing, 8.f, -0.5f*numPointsZ*particleSpacing), particleSpacing, totalClothMass);
|
||
|
|
|
||
|
|
initObstacles();
|
||
|
|
|
||
|
|
gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(0.f, 1.f, 0.f, 0.0f), *gMaterial));
|
||
|
|
|
||
|
|
|
||
|
|
// Setup rigid bodies
|
||
|
|
const PxReal boxSize = 1.0f;
|
||
|
|
const PxReal boxMass = 1.0f;
|
||
|
|
PxShape* shape = gPhysics->createShape(PxBoxGeometry(0.5f * boxSize, 0.5f * boxSize, 0.5f * boxSize), *gMaterial);
|
||
|
|
for (int i = 0; i < 5; ++i)
|
||
|
|
{
|
||
|
|
PxRigidDynamic* body = gPhysics->createRigidDynamic(PxTransform(PxVec3(i - 3.0f, 10, 4.0f)));
|
||
|
|
body->attachShape(*shape);
|
||
|
|
PxRigidBodyExt::updateMassAndInertia(*body, boxMass);
|
||
|
|
gScene->addActor(*body);
|
||
|
|
}
|
||
|
|
shape->release();
|
||
|
|
}
|
||
|
|
|
||
|
|
// ---------------------------------------------------
|
||
|
|
PxReal simTime = 0;
|
||
|
|
void stepPhysics(bool /*interactive*/)
|
||
|
|
{
|
||
|
|
if (gIsRunning)
|
||
|
|
{
|
||
|
|
const PxReal dt = 1.0f / 60.0f;
|
||
|
|
|
||
|
|
bool rotatingSphere = true;
|
||
|
|
if (rotatingSphere)
|
||
|
|
{
|
||
|
|
const PxReal speed = 2.0f;
|
||
|
|
PxTransform pose = sphere->getGlobalPose();
|
||
|
|
sphere->setKinematicTarget(PxTransform(pose.p, PxQuat(PxCos(simTime*speed), PxVec3(0,1,0))));
|
||
|
|
}
|
||
|
|
|
||
|
|
gScene->simulate(dt);
|
||
|
|
gScene->fetchResults(true);
|
||
|
|
gScene->fetchResultsParticleSystem();
|
||
|
|
simTime += dt;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void cleanupPhysics(bool /*interactive*/)
|
||
|
|
{
|
||
|
|
PX_RELEASE(gScene);
|
||
|
|
PX_RELEASE(gDispatcher);
|
||
|
|
PX_RELEASE(gPhysics);
|
||
|
|
PX_RELEASE(gCudaContextManager);
|
||
|
|
if(gPvd)
|
||
|
|
{
|
||
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
||
|
|
PX_RELEASE(gPvd);
|
||
|
|
PX_RELEASE(transport);
|
||
|
|
}
|
||
|
|
PX_RELEASE(gFoundation);
|
||
|
|
|
||
|
|
printf("SnippetPBDCloth done.\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
void keyPress(unsigned char key, const PxTransform& camera)
|
||
|
|
{
|
||
|
|
(void)camera;
|
||
|
|
|
||
|
|
switch(toupper(key))
|
||
|
|
{
|
||
|
|
case 'P': gIsRunning = !gIsRunning; break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
int snippetMain(int, const char*const*)
|
||
|
|
{
|
||
|
|
#ifdef RENDER_SNIPPET
|
||
|
|
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;
|
||
|
|
}
|