268 lines
10 KiB
C++
268 lines
10 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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#include "ScScene.h"
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#include "ScNPhaseCore.h"
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#include "ScShapeInteraction.h"
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#include "ScConstraintSim.h"
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#include "ScConstraintCore.h"
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#include "CmVisualization.h"
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using namespace physx;
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using namespace Sc;
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// PT: Sc-level visualization code has been moved to this dedicated file (like we did in NpDebugViz.cpp)
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static void visualize(const ConstraintSim& sim, Cm::ConstraintImmediateVisualizer& viz, PxU32 flags, const PxTransform& idt)
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{
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ConstraintCore& core = sim.getCore();
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if(!(core.getFlags() & PxConstraintFlag::eVISUALIZATION))
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return;
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const Dy::Constraint& llc = sim.getLowLevelConstraint();
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PxsRigidBody* b0 = llc.body0;
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PxsRigidBody* b1 = llc.body1;
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const PxTransform& t0 = b0 ? b0->getPose() : idt;
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const PxTransform& t1 = b1 ? b1->getPose() : idt;
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core.getVisualize()(viz, llc.constantBlock, t0, t1, flags);
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}
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void Sc::ShapeInteraction::visualize(PxRenderOutput& out, PxsContactManagerOutputIterator& outputs,
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float scale, float contactImpulse, float contactNormal, float contactError, float contactPoint,
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float frictionImpulse, float frictionNormal, float frictionPoint)
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{
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if(mManager) // sleeping pairs have no contact points -> do not visualize
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{
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Sc::ActorSim* actorSim0 = &getActor0();
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Sc::ActorSim* actorSim1 = &getActor1();
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if(!actorSim0->isNonRigid() && !actorSim1->isNonRigid())
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{
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PxU32 offset;
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PxU32 nextOffset = 0;
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do
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{
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const void* contactPatches;
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const void* contactPoints;
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PxU32 contactDataSize;
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PxU32 contactPointCount;
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PxU32 contactPatchCount;
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const PxReal* impulses;
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const void* frictionPatches;
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offset = nextOffset;
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nextOffset = getContactPointData(contactPatches, contactPoints, contactDataSize, contactPointCount, contactPatchCount, impulses, offset, outputs, frictionPatches);
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const PxU32* faceIndices = reinterpret_cast<const PxU32*>(impulses + contactPointCount);
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PxContactStreamIterator iter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(contactPoints), faceIndices, contactPatchCount, contactPointCount);
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PxFrictionAnchorStreamIterator fricIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(frictionPatches), contactPatchCount);
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PxU32 i = 0;
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while(iter.hasNextPatch())
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{
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iter.nextPatch();
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while(iter.hasNextContact())
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{
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iter.nextContact();
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if((contactImpulse != 0.0f) && impulses)
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{
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out << PxU32(PxDebugColor::eARGB_RED);
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out.outputSegment(iter.getContactPoint(), iter.getContactPoint() + iter.getContactNormal() * (scale * contactImpulse * impulses[i]));
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}
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else if(contactNormal != 0.0f)
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{
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out << PxU32(PxDebugColor::eARGB_BLUE);
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out.outputSegment(iter.getContactPoint(), iter.getContactPoint() + iter.getContactNormal() * (scale * contactNormal));
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}
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else if(contactError != 0.0f)
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{
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out << PxU32(PxDebugColor::eARGB_YELLOW);
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out.outputSegment(iter.getContactPoint(), iter.getContactPoint() + iter.getContactNormal() * PxAbs(scale * contactError * PxMin(0.f, iter.getSeparation())));
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}
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if(contactPoint != 0.0f)
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{
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const PxReal s = scale * 0.1f;
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const PxVec3& point = iter.getContactPoint();
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//if (0) //temp debug to see identical contacts
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// point.x += scale * 0.01f * (contactPointCount - i + 1);
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out << PxU32(PxDebugColor::eARGB_RED);
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out.outputSegment(point + PxVec3(-s, 0, 0), point + PxVec3(s, 0, 0));
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out.outputSegment(point + PxVec3(0, -s, 0), point + PxVec3(0, s, 0));
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out.outputSegment(point + PxVec3(0, 0, -s), point + PxVec3(0, 0, s));
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}
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i++;
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}
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if (fricIter.hasNextPatch())
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{
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fricIter.nextPatch();
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while (fricIter.hasNextFrictionAnchor())
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{
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fricIter.nextFrictionAnchor();
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if (frictionImpulse != 0.0f)
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{
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out << PxU32(PxDebugColor::eARGB_DARKRED);
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out.outputSegment(fricIter.getPosition(), fricIter.getPosition() + fricIter.getImpulse() * (scale * frictionImpulse));
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}
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else if (frictionNormal != 0.0f)
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{
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out << PxU32(PxDebugColor::eARGB_BLUE);
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out.outputSegment(fricIter.getPosition(), fricIter.getPosition() + fricIter.getNormal() * (scale * frictionNormal));
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}
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if (frictionPoint != 0.0f)
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{
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const PxReal s = scale * 0.1f;
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const PxVec3& p = fricIter.getPosition();
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out << PxU32(PxDebugColor::eARGB_DARKRED);
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out.outputSegment(p + PxVec3(-s, 0, 0), p + PxVec3(s, 0, 0));
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out.outputSegment(p + PxVec3(0, -s, 0), p + PxVec3(0, s, 0));
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out.outputSegment(p + PxVec3(0, 0, -s), p + PxVec3(0, 0, s));
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}
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}
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}
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}
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} while (nextOffset != offset);
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}
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}
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}
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// Render objects before simulation starts
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void Sc::Scene::visualizeStartStep()
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{
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PX_PROFILE_ZONE("Sim.visualizeStartStep", mContextId);
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// Update from visualization parameters
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if(mVisualizationParameterChanged)
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{
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mVisualizationParameterChanged = false;
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// Update SIPs if visualization is enabled
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if( getVisualizationParameter(PxVisualizationParameter::eCONTACT_POINT) || getVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL) ||
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getVisualizationParameter(PxVisualizationParameter::eCONTACT_ERROR) || getVisualizationParameter(PxVisualizationParameter::eCONTACT_IMPULSE) ||
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getVisualizationParameter(PxVisualizationParameter::eFRICTION_POINT) || getVisualizationParameter(PxVisualizationParameter::eFRICTION_NORMAL) ||
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getVisualizationParameter(PxVisualizationParameter::eFRICTION_IMPULSE))
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mInternalFlags |= SceneInternalFlag::eSCENE_SIP_STATES_DIRTY_VISUALIZATION;
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}
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#if PX_ENABLE_DEBUG_VISUALIZATION
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const PxReal scale = getVisualizationScale();
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if(scale==0.0f)
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{
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// make sure visualization inside simulate was skipped
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PX_ASSERT(getRenderBuffer().empty());
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return; // early out if visualization scale is 0
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}
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PxRenderOutput out(getRenderBuffer());
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if(getVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS))
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mAABBManager->visualize(out);
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// Visualize joints
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{
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const float frameScale = scale * getVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES);
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const float limitScale = scale * getVisualizationParameter(PxVisualizationParameter::eJOINT_LIMITS);
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if(frameScale!=0.0f || limitScale!=0.0f)
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{
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Cm::ConstraintImmediateVisualizer viz(frameScale, limitScale, out);
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PxU32 flags = 0;
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if(frameScale!=0.0f)
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flags |= PxConstraintVisualizationFlag::eLOCAL_FRAMES;
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if(limitScale!=0.0f)
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flags |= PxConstraintVisualizationFlag::eLIMITS;
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const PxTransform idt(PxIdentity);
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Sc::ConstraintCore*const * constraints = mConstraints.getEntries();
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for(PxU32 i=0, size = mConstraints.size();i<size; i++)
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{
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ConstraintSim* sim = constraints[i]->getSim();
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if(sim)
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visualize(*sim, viz, flags, idt);
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}
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}
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}
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#else
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PX_CATCH_UNDEFINED_ENABLE_DEBUG_VISUALIZATION
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#endif
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}
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// Render contacts at the simulation frame end
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void Sc::Scene::visualizeContacts()
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{
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PX_PROFILE_ZONE("Sim.visualizeContacts", mContextId);
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#if PX_ENABLE_DEBUG_VISUALIZATION
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const PxReal scale = getVisualizationScale();
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if (scale == 0.0f)
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{
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// make sure visualization inside simulate was skipped
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PX_ASSERT(getRenderBuffer().empty());
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return; // early out if visualization scale is 0
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}
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PxRenderOutput out(getRenderBuffer());
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{
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// PT: put common reads here to avoid doing them for each interaction
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const PxReal contactImpulse = getVisualizationParameter(PxVisualizationParameter::eCONTACT_IMPULSE);
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const PxReal contactNormal = getVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL);
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const PxReal contactError = getVisualizationParameter(PxVisualizationParameter::eCONTACT_ERROR);
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const PxReal contactPoint = getVisualizationParameter(PxVisualizationParameter::eCONTACT_POINT);
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const PxReal frictionImpulse = getVisualizationParameter(PxVisualizationParameter::eFRICTION_IMPULSE);
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const PxReal frictionNormal = getVisualizationParameter(PxVisualizationParameter::eFRICTION_NORMAL);
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const PxReal frictionPoint = getVisualizationParameter(PxVisualizationParameter::eFRICTION_POINT);
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if(contactImpulse !=0.0f || contactNormal!=0.0f || contactError!=0.0f || contactPoint!=0.0f ||
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frictionImpulse != 0.0f || frictionNormal != 0.0f || frictionPoint != 0.0f)
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{
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PxsContactManagerOutputIterator outputs = mLLContext->getNphaseImplementationContext()->getContactManagerOutputs();
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ElementSimInteraction** interactions = getActiveInteractions(InteractionType::eOVERLAP);
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PxU32 nbActiveInteractions = getNbActiveInteractions(InteractionType::eOVERLAP);
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while(nbActiveInteractions--)
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static_cast<ShapeInteraction*>(*interactions++)->visualize( out, outputs,
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scale, contactImpulse, contactNormal, contactError, contactPoint,
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frictionImpulse, frictionNormal, frictionPoint);
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}
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}
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#else
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PX_CATCH_UNDEFINED_ENABLE_DEBUG_VISUALIZATION
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#endif
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}
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