feat(physics): wire physx sdk into build
This commit is contained in:
471
engine/third_party/physx/snippets/snippetcustomconvex/SnippetCustomConvexRender.cpp
vendored
Normal file
471
engine/third_party/physx/snippets/snippetcustomconvex/SnippetCustomConvexRender.cpp
vendored
Normal file
@@ -0,0 +1,471 @@
|
||||
// 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.
|
||||
|
||||
#ifdef RENDER_SNIPPET
|
||||
|
||||
#include "PxPhysicsAPI.h"
|
||||
|
||||
#include "../snippetrender/SnippetRender.h"
|
||||
#include "../snippetrender/SnippetCamera.h"
|
||||
|
||||
using namespace physx;
|
||||
|
||||
extern void initPhysics(bool interactive);
|
||||
extern void stepPhysics(bool interactive);
|
||||
extern void cleanupPhysics(bool interactive);
|
||||
extern void keyPress(unsigned char key, const PxTransform& camera);
|
||||
extern void debugRender();
|
||||
|
||||
namespace
|
||||
{
|
||||
Snippets::Camera* sCamera;
|
||||
|
||||
void renderCallback()
|
||||
{
|
||||
stepPhysics(true);
|
||||
|
||||
Snippets::startRender(sCamera);
|
||||
|
||||
PxScene* scene;
|
||||
PxGetPhysics().getScenes(&scene, 1);
|
||||
PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
|
||||
if (nbActors)
|
||||
{
|
||||
const PxVec3 dynColor(1.0f, 0.5f, 0.25f);
|
||||
|
||||
PxArray<PxRigidActor*> actors(nbActors);
|
||||
scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
|
||||
Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true, dynColor);
|
||||
}
|
||||
|
||||
debugRender();
|
||||
|
||||
Snippets::finishRender();
|
||||
}
|
||||
|
||||
void exitCallback()
|
||||
{
|
||||
delete sCamera;
|
||||
cleanupPhysics(true);
|
||||
}
|
||||
}
|
||||
|
||||
void renderLoop()
|
||||
{
|
||||
sCamera = new Snippets::Camera(PxVec3(-20.0f, 20.0f, -20.0f), PxVec3(0.6f, -0.4f, 0.6f));
|
||||
|
||||
Snippets::setupDefault("PhysX Snippet CustomConvex", sCamera, keyPress, renderCallback, exitCallback);
|
||||
|
||||
initPhysics(true);
|
||||
glutMainLoop();
|
||||
}
|
||||
|
||||
struct RenderMesh
|
||||
{
|
||||
PxArray<PxVec3> positions, normals;
|
||||
};
|
||||
|
||||
RenderMesh* createRenderCylinder(float height, float radius, float margin)
|
||||
{
|
||||
struct InternalRenderHelper
|
||||
{
|
||||
InternalRenderHelper(float height_, float radius_, float margin_)
|
||||
:
|
||||
height(height_), radius(radius_), margin(margin_)
|
||||
{
|
||||
mesh = new RenderMesh();
|
||||
halfHeight = height * 0.5f;
|
||||
sides = (int)ceilf(6.2832f / (2 * acosf((radius - err) / radius)));
|
||||
step = 6.2832f / sides;
|
||||
}
|
||||
|
||||
float height, radius, margin;
|
||||
RenderMesh* mesh;
|
||||
|
||||
PxArray<PxVec3> positions;
|
||||
PxArray<PxVec3> normals;
|
||||
|
||||
float halfHeight;
|
||||
|
||||
float err = 0.001f;
|
||||
|
||||
int sides;
|
||||
float step;
|
||||
|
||||
void addVertex(int index)
|
||||
{
|
||||
mesh->positions.pushBack(positions[index]);
|
||||
mesh->normals.pushBack(normals[index]);
|
||||
}
|
||||
|
||||
void addTop(const PxVec3& p0, const PxVec3& n0, const PxVec3& p1, const PxVec3& n1, const PxVec3& ax)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
positions.pushBack(p0);
|
||||
normals.pushBack(n0);
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
positions.pushBack(PxQuat(i * step, ax).rotate(p1));
|
||||
normals.pushBack(PxQuat(i * step, ax).rotate(n1));
|
||||
}
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base);
|
||||
addVertex(base + 1 + i);
|
||||
addVertex(base + 1 + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void addRing(const PxVec3& p0, const PxVec3& n0, const PxVec3& ax)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
positions.pushBack(PxQuat(i * step, ax).rotate(p0));
|
||||
normals.pushBack(PxQuat(i * step, ax).rotate(n0));
|
||||
}
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base - sides + i);
|
||||
addVertex(base + i);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
addVertex(base + i);
|
||||
addVertex(base + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void addBottom(const PxVec3& p0, const PxVec3& n0, const PxVec3& /*ax*/)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
positions.pushBack(p0);
|
||||
normals.pushBack(n0);
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base - sides + i);
|
||||
addVertex(base);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void run()
|
||||
{
|
||||
int sides2 = margin > 0 ? (int)ceilf(1.5708f / (2 * acosf((margin - err) / margin))) : 1;
|
||||
float step2 = 1.5708f / sides2;
|
||||
|
||||
addTop(PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(halfHeight + margin, radius, 0), PxVec3(1, 0, 0), PxVec3(1, 0, 0));
|
||||
|
||||
for (int i = 1; i <= sides2; ++i)
|
||||
{
|
||||
PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
|
||||
addRing(PxVec3(halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
|
||||
}
|
||||
|
||||
for (int i = 0; i <= sides2; ++i)
|
||||
{
|
||||
PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(0, 1, 0));
|
||||
addRing(PxVec3(-halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
|
||||
}
|
||||
|
||||
addBottom(PxVec3(-halfHeight - margin, 0, 0), PxVec3(-1, 0, 0), PxVec3(1, 0, 0));
|
||||
}
|
||||
};
|
||||
|
||||
InternalRenderHelper renderHelper(height, radius, margin);
|
||||
|
||||
renderHelper.run();
|
||||
|
||||
return renderHelper.mesh;
|
||||
}
|
||||
|
||||
RenderMesh* createRenderCone(float height, float radius, float margin)
|
||||
{
|
||||
struct InternalRenderHelper
|
||||
{
|
||||
InternalRenderHelper(float height_, float radius_, float margin_)
|
||||
:
|
||||
height(height_), radius(radius_), margin(margin_)
|
||||
{
|
||||
mesh = new RenderMesh();
|
||||
|
||||
halfHeight = height * 0.5f;
|
||||
|
||||
sides = (int)ceilf(6.2832f / (2 * acosf(((radius + margin) - err) / (radius + margin))));
|
||||
step = 6.2832f / sides;
|
||||
}
|
||||
|
||||
float height, radius, margin;
|
||||
RenderMesh* mesh;
|
||||
|
||||
PxArray<PxVec3> positions;
|
||||
PxArray<PxVec3> normals;
|
||||
|
||||
float halfHeight;
|
||||
|
||||
float err = 0.001f;
|
||||
|
||||
int sides;
|
||||
float step;
|
||||
|
||||
void addVertex(int index)
|
||||
{
|
||||
mesh->positions.pushBack(positions[index]);
|
||||
mesh->normals.pushBack(normals[index]);
|
||||
}
|
||||
|
||||
void addTop(const PxVec3& p0, const PxVec3& n0, const PxVec3& p1, const PxVec3& n1, const PxVec3& ax)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
positions.pushBack(p0);
|
||||
normals.pushBack(n0);
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
positions.pushBack(PxQuat(i * step, ax).rotate(p1));
|
||||
normals.pushBack(PxQuat(i * step, ax).rotate(n1));
|
||||
}
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base);
|
||||
addVertex(base + 1 + i);
|
||||
addVertex(base + 1 + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void addRing(const PxVec3& p0, const PxVec3& n0, const PxVec3& ax)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
positions.pushBack(PxQuat(i * step, ax).rotate(p0));
|
||||
normals.pushBack(PxQuat(i * step, ax).rotate(n0));
|
||||
}
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base - sides + i);
|
||||
addVertex(base + i);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
addVertex(base + i);
|
||||
addVertex(base + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void addBottom(const PxVec3& p0, const PxVec3& n0, const PxVec3& /*ax*/)
|
||||
{
|
||||
int base = int(positions.size());
|
||||
positions.pushBack(p0);
|
||||
normals.pushBack(n0);
|
||||
for (int i = 0; i < sides; ++i)
|
||||
{
|
||||
addVertex(base - sides + i);
|
||||
addVertex(base);
|
||||
addVertex(base - sides + (i + 1) % sides);
|
||||
}
|
||||
}
|
||||
|
||||
void run()
|
||||
{
|
||||
addTop(PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(1, 0, 0));
|
||||
|
||||
float cosAlph = radius / sqrtf(height * height + radius * radius);
|
||||
float alph = acosf(cosAlph);
|
||||
int sides2 = margin > 0 ? (int)ceilf(alph / (2 * acosf((margin - err) / margin))) : 1;
|
||||
float step2 = alph / sides2;
|
||||
|
||||
for (int i = 1; i <= sides2; ++i)
|
||||
{
|
||||
PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
|
||||
addRing(PxVec3(halfHeight, 0, 0) + n * margin, n, PxVec3(1, 0, 0));
|
||||
}
|
||||
|
||||
sides2 = margin > 0 ? (int)ceilf((3.1416f - alph) / (2 * acosf((margin - err) / margin))) : 1;
|
||||
step2 = (3.1416f - alph) / sides2;
|
||||
|
||||
for (int i = 0; i <= sides2; ++i)
|
||||
{
|
||||
PxVec3 n = PxQuat(alph + i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
|
||||
addRing(PxVec3(-halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
|
||||
}
|
||||
|
||||
addBottom(PxVec3(-halfHeight - margin, 0, 0), PxVec3(-1, 0, 0), PxVec3(1, 0, 0));
|
||||
}
|
||||
};
|
||||
|
||||
InternalRenderHelper renderHelper(height, radius, margin);
|
||||
renderHelper.run();
|
||||
|
||||
return renderHelper.mesh;
|
||||
}
|
||||
|
||||
void destroyRenderMesh(RenderMesh* mesh)
|
||||
{
|
||||
delete mesh;
|
||||
}
|
||||
|
||||
void renderMesh(const RenderMesh& mesh, const PxTransform& pose, bool sleeping)
|
||||
{
|
||||
const PxVec3 color(1.0f, 0.5f, 0.25f);
|
||||
const PxMat44 shapePose(pose);
|
||||
|
||||
glPushMatrix();
|
||||
glMultMatrixf(&shapePose.column0.x);
|
||||
if (sleeping)
|
||||
{
|
||||
const PxVec3 darkColor = color * 0.25f;
|
||||
glColor4f(darkColor.x, darkColor.y, darkColor.z, 1.0f);
|
||||
}
|
||||
else
|
||||
{
|
||||
glColor4f(color.x, color.y, color.z, 1.0f);
|
||||
}
|
||||
|
||||
glEnableClientState(GL_NORMAL_ARRAY);
|
||||
glEnableClientState(GL_VERTEX_ARRAY);
|
||||
glVertexPointer(3, GL_FLOAT, 3 * sizeof(float), mesh.positions.begin());
|
||||
glNormalPointer(GL_FLOAT, 3 * sizeof(float), mesh.normals.begin());
|
||||
glDrawArrays(GL_TRIANGLES, 0, int(mesh.positions.size()));
|
||||
glDisableClientState(GL_VERTEX_ARRAY);
|
||||
glDisableClientState(GL_NORMAL_ARRAY);
|
||||
|
||||
glPopMatrix();
|
||||
|
||||
bool shadows = true;
|
||||
|
||||
if (shadows)
|
||||
{
|
||||
const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
|
||||
const PxReal shadowMat[] = { 1,0,0,0, -shadowDir.x / shadowDir.y,0,-shadowDir.z / shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
|
||||
|
||||
glPushMatrix();
|
||||
glMultMatrixf(shadowMat);
|
||||
glMultMatrixf(&shapePose.column0.x);
|
||||
glDisable(GL_LIGHTING);
|
||||
//glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
|
||||
glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
|
||||
|
||||
glEnableClientState(GL_NORMAL_ARRAY);
|
||||
glEnableClientState(GL_VERTEX_ARRAY);
|
||||
glVertexPointer(3, GL_FLOAT, 3 * sizeof(float), mesh.positions.begin());
|
||||
glNormalPointer(GL_FLOAT, 3 * sizeof(float), mesh.normals.begin());
|
||||
glDrawArrays(GL_TRIANGLES, 0, int(mesh.positions.size()));
|
||||
glDisableClientState(GL_VERTEX_ARRAY);
|
||||
glDisableClientState(GL_NORMAL_ARRAY);
|
||||
|
||||
glEnable(GL_LIGHTING);
|
||||
glPopMatrix();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void PxVertex3f(const PxVec3& v) { ::glVertex3f(v.x, v.y, v.z); };
|
||||
static void PxScalef(const PxVec3& v) { ::glScalef(v.x, v.y, v.z); };
|
||||
|
||||
void renderRaycast(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxRaycastHit* hit)
|
||||
{
|
||||
glDisable(GL_LIGHTING);
|
||||
if (hit)
|
||||
{
|
||||
glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
|
||||
glBegin(GL_LINES);
|
||||
PxVertex3f(origin);
|
||||
PxVertex3f(origin + unitDir * hit->distance);
|
||||
PxVertex3f(hit->position);
|
||||
PxVertex3f(hit->position + hit->normal);
|
||||
glEnd();
|
||||
}
|
||||
else
|
||||
{
|
||||
glColor4f(0.6f, 0.0f, 0.0f, 1.0f);
|
||||
glBegin(GL_LINES);
|
||||
PxVertex3f(origin);
|
||||
PxVertex3f(origin + unitDir * maxDist);
|
||||
glEnd();
|
||||
}
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
void renderSweepBox(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxVec3& halfExtents, const PxSweepHit* hit)
|
||||
{
|
||||
glDisable(GL_LIGHTING);
|
||||
if (hit)
|
||||
{
|
||||
glColor4f(0.0f, 0.6f, 0.0f, 1.0f);
|
||||
glBegin(GL_LINES);
|
||||
PxVertex3f(origin);
|
||||
PxVertex3f(origin + unitDir * hit->distance);
|
||||
PxVertex3f(hit->position);
|
||||
PxVertex3f(hit->position + hit->normal);
|
||||
glEnd();
|
||||
PxTransform boxPose(origin + unitDir * hit->distance);
|
||||
PxMat44 boxMat(boxPose);
|
||||
glPushMatrix();
|
||||
glMultMatrixf(&boxMat.column0.x);
|
||||
PxScalef(halfExtents * 2);
|
||||
glutWireCube(1);
|
||||
glPopMatrix();
|
||||
}
|
||||
else
|
||||
{
|
||||
glColor4f(0.0f, 0.3f, 0.0f, 1.0f);
|
||||
glBegin(GL_LINES);
|
||||
PxVertex3f(origin);
|
||||
PxVertex3f(origin + unitDir * maxDist);
|
||||
glEnd();
|
||||
}
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
void renderOverlapBox(const PxVec3& origin, const PxVec3& halfExtents, bool hit)
|
||||
{
|
||||
glDisable(GL_LIGHTING);
|
||||
if (hit)
|
||||
{
|
||||
glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
|
||||
PxTransform boxPose(origin);
|
||||
PxMat44 boxMat(boxPose);
|
||||
glPushMatrix();
|
||||
glMultMatrixf(&boxMat.column0.x);
|
||||
PxScalef(halfExtents * 2);
|
||||
glutWireCube(1);
|
||||
glPopMatrix();
|
||||
}
|
||||
else
|
||||
{
|
||||
glColor4f(0.0f, 0.0f, 0.6f, 1.0f);
|
||||
PxTransform boxPose(origin);
|
||||
PxMat44 boxMat(boxPose);
|
||||
glPushMatrix();
|
||||
glMultMatrixf(&boxMat.column0.x);
|
||||
PxScalef(halfExtents * 2);
|
||||
glutWireCube(1);
|
||||
glPopMatrix();
|
||||
}
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user