feat(physics): wire physx sdk into build
This commit is contained in:
396
engine/third_party/physx/snippets/snippetccd/SnippetCCD.cpp
vendored
Normal file
396
engine/third_party/physx/snippets/snippetccd/SnippetCCD.cpp
vendored
Normal file
@@ -0,0 +1,396 @@
|
||||
// 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.
|
||||
|
||||
// ****************************************************************************
|
||||
// This snippet illustrates how to use different types of CCD methods,
|
||||
// including linear, raycast and speculative CCD.
|
||||
//
|
||||
// The scene has two parts:
|
||||
// - a simple box stack and a fast moving sphere. Without (linear) CCD the
|
||||
// sphere goes through the box stack. With CCD the sphere hits the stack and
|
||||
// the behavior is more convincing.
|
||||
// - a simple rotating plank (fixed in space except for one rotation axis)
|
||||
// that collides with a falling box. Wihout (angular) CCD the collision is missed.
|
||||
// ****************************************************************************
|
||||
|
||||
#include <ctype.h>
|
||||
#include "PxPhysicsAPI.h"
|
||||
#include "extensions/PxRaycastCCD.h"
|
||||
#include "../snippetcommon/SnippetPrint.h"
|
||||
#include "../snippetcommon/SnippetPVD.h"
|
||||
#include "../snippetutils/SnippetUtils.h"
|
||||
#ifdef RENDER_SNIPPET
|
||||
#include "../snippetrender/SnippetRender.h"
|
||||
#endif
|
||||
|
||||
using namespace physx;
|
||||
|
||||
static PxDefaultAllocator gAllocator;
|
||||
static PxDefaultErrorCallback gErrorCallback;
|
||||
static PxFoundation* gFoundation = NULL;
|
||||
static PxPhysics* gPhysics = NULL;
|
||||
static PxDefaultCpuDispatcher* gDispatcher = NULL;
|
||||
static PxScene* gScene = NULL;
|
||||
static PxMaterial* gMaterial = NULL;
|
||||
static PxPvd* gPvd = NULL;
|
||||
static RaycastCCDManager* gRaycastCCD = NULL;
|
||||
static PxReal stackZ = 10.0f;
|
||||
|
||||
enum CCDAlgorithm
|
||||
{
|
||||
// Uses linear CCD algorithm
|
||||
LINEAR_CCD,
|
||||
|
||||
// Uses speculative/angular CCD algorithm
|
||||
SPECULATIVE_CCD,
|
||||
|
||||
// Uses linear & angular CCD at the same time
|
||||
FULL_CCD,
|
||||
|
||||
// Uses raycast CCD algorithm
|
||||
RAYCAST_CCD,
|
||||
|
||||
// Switch to NO_CCD to see the sphere go through the box stack without CCD.
|
||||
NO_CCD,
|
||||
|
||||
// Number of CCD algorithms used in this snippet
|
||||
CCD_COUNT
|
||||
};
|
||||
|
||||
static bool gPause = false;
|
||||
static bool gOneFrame = false;
|
||||
static const PxU32 gScenarioCount = CCD_COUNT;
|
||||
static PxU32 gScenario = 0;
|
||||
|
||||
static PX_FORCE_INLINE CCDAlgorithm getCCDAlgorithm()
|
||||
{
|
||||
return CCDAlgorithm(gScenario);
|
||||
}
|
||||
|
||||
static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0), bool enableLinearCCD = false, bool enableSpeculativeCCD = false)
|
||||
{
|
||||
PX_ASSERT(gScene);
|
||||
PxRigidDynamic* dynamic = NULL;
|
||||
if(gScene)
|
||||
{
|
||||
dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
|
||||
dynamic->setAngularDamping(0.5f);
|
||||
dynamic->setLinearVelocity(velocity);
|
||||
gScene->addActor(*dynamic);
|
||||
if(enableLinearCCD)
|
||||
dynamic->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
|
||||
if(enableSpeculativeCCD)
|
||||
dynamic->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD, true);
|
||||
}
|
||||
|
||||
return dynamic;
|
||||
}
|
||||
|
||||
static void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent, bool enableLinearCCD = false, bool enableSpeculativeCCD = false)
|
||||
{
|
||||
PX_ASSERT(gScene);
|
||||
if(!gScene)
|
||||
return;
|
||||
|
||||
PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
|
||||
PX_ASSERT(shape);
|
||||
if(!shape)
|
||||
return;
|
||||
|
||||
for(PxU32 i=0; i<size;i++)
|
||||
{
|
||||
for(PxU32 j=0;j<size-i;j++)
|
||||
{
|
||||
const PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
|
||||
PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
|
||||
body->attachShape(*shape);
|
||||
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
|
||||
if(enableLinearCCD)
|
||||
body->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
|
||||
if(enableSpeculativeCCD)
|
||||
body->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD, true);
|
||||
|
||||
gScene->addActor(*body);
|
||||
}
|
||||
}
|
||||
shape->release();
|
||||
}
|
||||
|
||||
static PxFilterFlags ccdFilterShader(
|
||||
PxFilterObjectAttributes attributes0,
|
||||
PxFilterData filterData0,
|
||||
PxFilterObjectAttributes attributes1,
|
||||
PxFilterData filterData1,
|
||||
PxPairFlags& pairFlags,
|
||||
const void* constantBlock,
|
||||
PxU32 constantBlockSize)
|
||||
{
|
||||
PX_UNUSED(attributes0);
|
||||
PX_UNUSED(filterData0);
|
||||
PX_UNUSED(attributes1);
|
||||
PX_UNUSED(filterData1);
|
||||
PX_UNUSED(constantBlock);
|
||||
PX_UNUSED(constantBlockSize);
|
||||
|
||||
pairFlags = PxPairFlag::eSOLVE_CONTACT | PxPairFlag::eDETECT_DISCRETE_CONTACT | PxPairFlag::eDETECT_CCD_CONTACT;
|
||||
|
||||
return PxFilterFlags();
|
||||
}
|
||||
|
||||
static void registerForRaycastCCD(PxRigidDynamic* actor)
|
||||
{
|
||||
if(actor)
|
||||
{
|
||||
PxShape* shape = NULL;
|
||||
|
||||
actor->getShapes(&shape, 1);
|
||||
|
||||
// Register each object for which CCD should be enabled. In this snippet we only enable it for the sphere.
|
||||
gRaycastCCD->registerRaycastCCDObject(actor, shape);
|
||||
}
|
||||
}
|
||||
|
||||
static void initScene()
|
||||
{
|
||||
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
||||
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
||||
sceneDesc.cpuDispatcher = gDispatcher;
|
||||
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
||||
|
||||
bool enableLinearCCD = false;
|
||||
bool enableSpeculativeCCD = false;
|
||||
|
||||
const CCDAlgorithm ccd = getCCDAlgorithm();
|
||||
if(ccd == LINEAR_CCD)
|
||||
{
|
||||
enableLinearCCD = true;
|
||||
sceneDesc.filterShader = ccdFilterShader;
|
||||
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
printf("- Using linear CCD.\n");
|
||||
}
|
||||
else if(ccd == SPECULATIVE_CCD)
|
||||
{
|
||||
enableSpeculativeCCD = true;
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
printf("- Using speculative/angular CCD.\n");
|
||||
}
|
||||
else if(ccd == FULL_CCD)
|
||||
{
|
||||
enableLinearCCD = true;
|
||||
enableSpeculativeCCD = true;
|
||||
sceneDesc.filterShader = ccdFilterShader;
|
||||
sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;
|
||||
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
printf("- Using full CCD.\n");
|
||||
}
|
||||
else if(ccd == RAYCAST_CCD)
|
||||
{
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
gRaycastCCD = new RaycastCCDManager(gScene);
|
||||
|
||||
printf("- Using raycast CCD.\n");
|
||||
}
|
||||
else if(ccd == NO_CCD)
|
||||
{
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
printf("- Using no CCD.\n");
|
||||
}
|
||||
|
||||
// Create a scenario that requires angular CCD: a rotating plank colliding with a falling box.
|
||||
{
|
||||
PxRigidDynamic* actor = createDynamic(PxTransform(PxVec3(40.0f, 20.0f, 0.0f)), PxBoxGeometry(10.0f, 1.0f, 0.1f), PxVec3(0.0f), enableLinearCCD, enableSpeculativeCCD);
|
||||
actor->setAngularVelocity(PxVec3(0.0f, 10.0f, 0.0f));
|
||||
actor->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, true);
|
||||
actor->setRigidDynamicLockFlag(PxRigidDynamicLockFlag::eLOCK_LINEAR_X, true);
|
||||
actor->setRigidDynamicLockFlag(PxRigidDynamicLockFlag::eLOCK_LINEAR_Y, true);
|
||||
actor->setRigidDynamicLockFlag(PxRigidDynamicLockFlag::eLOCK_LINEAR_Z, true);
|
||||
actor->setRigidDynamicLockFlag(PxRigidDynamicLockFlag::eLOCK_ANGULAR_X, true);
|
||||
actor->setRigidDynamicLockFlag(PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z, true);
|
||||
|
||||
if(gRaycastCCD)
|
||||
registerForRaycastCCD(actor);
|
||||
|
||||
PxRigidDynamic* actor2 = createDynamic(PxTransform(PxVec3(40.0f, 20.0f, 10.0f)), PxBoxGeometry(0.1f, 1.0f, 1.0f), PxVec3(0.0f), enableLinearCCD, enableSpeculativeCCD);
|
||||
|
||||
if(gRaycastCCD)
|
||||
registerForRaycastCCD(actor2);
|
||||
}
|
||||
|
||||
// Create a scenario that requires linear CCD: a fast moving sphere moving towards a box stack.
|
||||
{
|
||||
PxRigidDynamic* actor = createDynamic(PxTransform(PxVec3(0.0f, 18.0f, 100.0f)), PxSphereGeometry(2.0f), PxVec3(0.0f, 0.0f, -1000.0f), enableLinearCCD, enableSpeculativeCCD);
|
||||
|
||||
if(gRaycastCCD)
|
||||
registerForRaycastCCD(actor);
|
||||
|
||||
createStack(PxTransform(PxVec3(0, 0, stackZ)), 10, 2.0f, enableLinearCCD, enableSpeculativeCCD);
|
||||
|
||||
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
|
||||
gScene->addActor(*groundPlane);
|
||||
}
|
||||
|
||||
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
||||
if (pvdClient)
|
||||
{
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
||||
}
|
||||
}
|
||||
|
||||
void renderText()
|
||||
{
|
||||
#ifdef RENDER_SNIPPET
|
||||
Snippets::print("Press F1 to F4 to select a scenario.");
|
||||
switch(PxU32(gScenario))
|
||||
{
|
||||
case 0: { Snippets::print("Current scenario: linear CCD"); }break;
|
||||
case 1: { Snippets::print("Current scenario: angular CCD"); }break;
|
||||
case 2: { Snippets::print("Current scenario: linear + angular CCD"); }break;
|
||||
case 3: { Snippets::print("Current scenario: raycast CCD"); }break;
|
||||
case 4: { Snippets::print("Current scenario: no CCD"); }break;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void initPhysics(bool /*interactive*/)
|
||||
{
|
||||
printf("CCD snippet. Use these keys:\n");
|
||||
printf(" P - enable/disable pause\n");
|
||||
printf(" O - step simulation for one frame\n");
|
||||
printf(" R - reset scene\n");
|
||||
printf(" F1 to F4 - select scenes with different CCD algorithms\n");
|
||||
printf(" F1 - Using linear CCD\n");
|
||||
printf(" F2 - Using speculative/angular CCD\n");
|
||||
printf(" F3 - Using full CCD (linear+angular)\n");
|
||||
printf(" F4 - Using raycast CCD\n");
|
||||
printf(" F5 - Using no CCD\n");
|
||||
printf("\n");
|
||||
|
||||
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);
|
||||
|
||||
const PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
||||
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
||||
|
||||
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.25f);
|
||||
|
||||
initScene();
|
||||
}
|
||||
|
||||
void stepPhysics(bool /*interactive*/)
|
||||
{
|
||||
if (gPause && !gOneFrame)
|
||||
return;
|
||||
gOneFrame = false;
|
||||
|
||||
gScene->simulate(1.0f/60.0f);
|
||||
gScene->fetchResults(true);
|
||||
|
||||
// Simply call this after fetchResults to perform CCD raycasts.
|
||||
if(gRaycastCCD)
|
||||
gRaycastCCD->doRaycastCCD(true);
|
||||
}
|
||||
|
||||
static void releaseScene()
|
||||
{
|
||||
PX_RELEASE(gScene);
|
||||
PX_DELETE(gRaycastCCD);
|
||||
}
|
||||
|
||||
void cleanupPhysics(bool /*interactive*/)
|
||||
{
|
||||
releaseScene();
|
||||
|
||||
PX_RELEASE(gDispatcher);
|
||||
PX_RELEASE(gPhysics);
|
||||
if(gPvd)
|
||||
{
|
||||
PxPvdTransport* transport = gPvd->getTransport();
|
||||
PX_RELEASE(gPvd);
|
||||
PX_RELEASE(transport);
|
||||
}
|
||||
PX_RELEASE(gFoundation);
|
||||
|
||||
printf("SnippetCCD done.\n");
|
||||
}
|
||||
|
||||
void keyPress(unsigned char key, const PxTransform& /*camera*/)
|
||||
{
|
||||
if(key == 'p' || key == 'P')
|
||||
gPause = !gPause;
|
||||
|
||||
if(key == 'o' || key == 'O')
|
||||
{
|
||||
gPause = true;
|
||||
gOneFrame = true;
|
||||
}
|
||||
|
||||
if(gScene)
|
||||
{
|
||||
if(key >= 1 && key <= gScenarioCount)
|
||||
{
|
||||
gScenario = key - 1;
|
||||
releaseScene();
|
||||
initScene();
|
||||
}
|
||||
|
||||
if(key == 'r' || key == 'R')
|
||||
{
|
||||
releaseScene();
|
||||
initScene();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
Reference in New Issue
Block a user