feat(physics): wire physx sdk into build
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289
engine/third_party/physx/snippets/snippetcustomconvex/SnippetCustomConvex.cpp
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289
engine/third_party/physx/snippets/snippetcustomconvex/SnippetCustomConvex.cpp
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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 shows how to use GJK queries to create custom convex geometry.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "geometry/PxGjkQuery.h"
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#include "extensions/PxCustomGeometryExt.h"
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// temporary disable this snippet, cannot work without rendering we cannot include GL directly
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#ifdef RENDER_SNIPPET
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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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#include "../snippetrender/SnippetRender.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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static PxArray<PxCustomGeometryExt::BaseConvexCallbacks*> gConvexes;
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static PxArray<PxRigidActor*> gActors;
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struct RenderMesh;
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static PxArray<RenderMesh*> gMeshes;
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RenderMesh* createRenderCylinder(float radius, float height, float margin);
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RenderMesh* createRenderCone(float height, float radius, float margin);
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void destroyRenderMesh(RenderMesh* mesh);
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void renderMesh(const RenderMesh& mesh, const PxTransform& pose, bool sleeping);
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void renderRaycast(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxRaycastHit* hit);
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void renderSweepBox(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxVec3& halfExtents, const PxSweepHit* hit);
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void renderOverlapBox(const PxVec3& origin, const PxVec3& halfExtents, bool hit);
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static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity = PxVec3(0), PxReal density = 1.0f)
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, density);
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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 void createCylinderActor(float height, float radius, float margin, const PxTransform& pose)
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{
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PxCustomGeometryExt::CylinderCallbacks* cylinder = new PxCustomGeometryExt::CylinderCallbacks(height, radius, 0, margin);
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gConvexes.pushBack(cylinder);
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PxRigidDynamic* actor = gPhysics->createRigidDynamic(pose);
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actor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
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PxShape* shape = PxRigidActorExt::createExclusiveShape(*actor, PxCustomGeometry(*cylinder), *gMaterial);
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shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
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PxRigidBodyExt::updateMassAndInertia(*actor, 100);
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gScene->addActor(*actor);
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gActors.pushBack(actor);
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RenderMesh* mesh = createRenderCylinder(height, radius, margin);
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gMeshes.pushBack(mesh);
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}
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static void createConeActor(float height, float radius, float margin, const PxTransform& pose)
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{
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PxCustomGeometryExt::ConeCallbacks* cone = new PxCustomGeometryExt::ConeCallbacks(height, radius, 0, margin);
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gConvexes.pushBack(cone);
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PxRigidDynamic* actor = gPhysics->createRigidDynamic(pose);
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actor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
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PxShape* shape = PxRigidActorExt::createExclusiveShape(*actor, PxCustomGeometry(*cone), *gMaterial);
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shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
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PxRigidBodyExt::updateMassAndInertia(*actor, 100);
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gScene->addActor(*actor);
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gActors.pushBack(actor);
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RenderMesh* mesh = createRenderCone(height, radius, margin);
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gMeshes.pushBack(mesh);
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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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gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
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gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
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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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// Some custom convexes
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float heights[] = { 1.0f, 1.25f, 1.5f, 1.75f };
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float radiuss[] = { 0.3f, 0.35f, 0.4f, 0.45f };
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float margins[] = { 0.0f, 0.05f, 0.1f, 0.15f };
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for (int i = 0; i < 50; ++i)
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{
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float height = heights[rand() % (sizeof(heights) / sizeof(heights[0]))];
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float raduis = radiuss[rand() % (sizeof(radiuss) / sizeof(radiuss[0]))];
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float margin = margins[rand() % (sizeof(margins) / sizeof(margins[0]))];
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float angle = PX_PIDIV2;
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createCylinderActor(height, raduis, margin, (PxTransform(PxVec3(-2.0f, 2.0f + i * 2, 2.0f), PxQuat(angle, PxVec3(0.0f, 0.0f, 1.0f)))));
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}
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for (int i = 0; i < 50; ++i)
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{
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float height = heights[rand() % (sizeof(heights) / sizeof(heights[0]))];
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float raduis = radiuss[rand() % (sizeof(radiuss) / sizeof(radiuss[0]))];
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float margin = margins[rand() % (sizeof(margins) / sizeof(margins[0]))];
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float angle = PX_PIDIV2;
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createConeActor(height, raduis, margin, (PxTransform(PxVec3(2.0f, 2.0f + i * 2, -2.0f), PxQuat(angle, PxVec3(0, 0, 1)))));
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}
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// Ground plane
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PxRigidStatic* planeActor = gPhysics->createRigidStatic(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0.0f, 0.0f, 1.0f))));
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PxRigidActorExt::createExclusiveShape(*planeActor, PxPlaneGeometry(), *gMaterial);
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gScene->addActor(*planeActor);
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}
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void debugRender()
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{
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for (int i = 0; i < int(gConvexes.size()); ++i)
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{
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PxRigidActor* actor = gActors[i];
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RenderMesh* mesh = gMeshes[i];
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renderMesh(*mesh, actor->getGlobalPose(), !actor->is<PxRigidDynamic>() || actor->is<PxRigidDynamic>()->isSleeping());
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}
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int count = 20;
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for (int i = 0; i < count; ++i)
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{
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float x = -count / 2.0f;
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PxVec3 origin(x + i, 0.5f, x);
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PxVec3 unitDir(0, 0, 1);
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float maxDist = (float)count;
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PxRaycastBuffer buffer;
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gScene->raycast(origin, unitDir, maxDist, buffer);
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renderRaycast(origin, unitDir, maxDist, buffer.hasBlock ? &buffer.block : nullptr);
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}
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for (int i = 0; i < count; ++i)
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{
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float x = -count / 2.0f;
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PxVec3 origin(x, 0.5f, x + i);
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PxVec3 unitDir(1, 0, 0);
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float maxDist = (float)count;
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PxVec3 halfExtents(0.2f, 0.1f, 0.4f);
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PxSweepBuffer buffer;
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gScene->sweep(PxBoxGeometry(halfExtents), PxTransform(origin), unitDir, maxDist, buffer);
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renderSweepBox(origin, unitDir, maxDist, halfExtents, buffer.hasBlock ? &buffer.block : nullptr);
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}
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for (int i = 0; i < count; ++i)
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{
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float x = -count / 2.0f;
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for (int j = 0; j < count; ++j)
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{
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PxVec3 origin(x + i, 0.0f, x + j);
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PxVec3 halfExtents(0.4f, 0.1f, 0.4f);
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PxOverlapBuffer buffer;
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gScene->overlap(PxBoxGeometry(halfExtents), PxTransform(origin), buffer, PxQueryFilterData(PxQueryFlag::eANY_HIT | PxQueryFlag::eDYNAMIC));
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renderOverlapBox(origin, halfExtents, buffer.hasAnyHits());
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}
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}
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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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while (!gConvexes.empty())
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{
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delete gConvexes.back();
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gConvexes.popBack();
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}
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gConvexes.reset();
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while (!gMeshes.empty())
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{
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destroyRenderMesh(gMeshes.back());
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gMeshes.popBack();
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}
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gMeshes.reset();
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while (!gActors.empty())
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{
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PX_RELEASE(gActors.back());
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gActors.popBack();
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}
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gActors.reset();
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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("SnippetCustomConvex 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(1.0f), camera.rotate(PxVec3(0, 0, -1)) * 100, 3.0f); 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();
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renderLoop();
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#else
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static const PxU32 frameCount = 100;
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initPhysics(false);
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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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#endif
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return 0;
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}
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#else
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int snippetMain(int, const char* const*)
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{
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return 0;
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}
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#endif
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