feat(physics): wire physx sdk into build
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326
engine/third_party/physx/snippets/snippetcustomgeometry/SnippetCustomGeometry.cpp
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326
engine/third_party/physx/snippets/snippetcustomgeometry/SnippetCustomGeometry.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 custom geometries in PhysX.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.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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#include "VoxelMap.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 PxRigidStatic* gActor = NULL;
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static const int gVoxelMapDim = 20;
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static const float gVoxelMapSize = 80.0f;
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static VoxelMap* gVoxelMap;
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static PxArray<PxVec3> gVertices;
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static PxArray<PxU32> gIndices;
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static PxU32 gVertexCount;
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static PxU32 gIndexCount;
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static PxGeometryHolder gVoxelGeometryHolder;
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static const PxU32 gVertexOrder[12] = {
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0, 2, 1, 2, 3, 1,
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0, 1, 2, 2, 1, 3
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};
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PX_INLINE void cookVoxelFace(bool reverseWinding) {
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for (int i = 0; i < 6; ++i) {
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gIndices[gIndexCount + i] = gVertexCount + gVertexOrder[i + (reverseWinding ? 6 : 0)];
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}
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gVertexCount += 4;
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gIndexCount += 6;
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}
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void cookVoxelMesh() {
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int faceCount = 0;
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gVertexCount = 0;
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gIndexCount = 0;
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float vx[2] = {gVoxelMap->voxelSize().x * -0.5f, gVoxelMap->voxelSize().x * 0.5f};
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float vy[2] = {gVoxelMap->voxelSize().y * -0.5f, gVoxelMap->voxelSize().y * 0.5f};
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float vz[2] = {gVoxelMap->voxelSize().z * -0.5f, gVoxelMap->voxelSize().z * 0.5f};
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for (int x = 0; x < gVoxelMap->dimX(); ++x)
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for (int y = 0; y < gVoxelMap->dimY(); ++y)
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for (int z = 0; z < gVoxelMap->dimZ(); ++z)
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if (gVoxelMap->voxel(x, y, z))
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{
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if (!gVoxelMap->voxel(x+1, y, z)) {faceCount++;}
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if (!gVoxelMap->voxel(x-1, y, z)) {faceCount++;}
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if (!gVoxelMap->voxel(x, y+1, z)) {faceCount++;}
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if (!gVoxelMap->voxel(x, y-1, z)) {faceCount++;}
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if (!gVoxelMap->voxel(x, y, z+1)) {faceCount++;}
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if (!gVoxelMap->voxel(x, y, z-1)) {faceCount++;}
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}
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gVertices.resize(faceCount*4);
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gIndices.resize(faceCount*6);
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for (int x = 0; x < gVoxelMap->dimX(); ++x)
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{
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for (int y = 0; y < gVoxelMap->dimY(); ++y)
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{
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for (int z = 0; z < gVoxelMap->dimZ(); ++z)
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{
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PxVec3 voxelPos = gVoxelMap->voxelPos(x, y, z);
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if (gVoxelMap->voxel(x, y, z))
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{
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if (!gVoxelMap->voxel(x+1, y, z)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
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cookVoxelFace(false);
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}
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if (!gVoxelMap->voxel(x-1, y, z)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
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cookVoxelFace(true);
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}
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if (!gVoxelMap->voxel(x, y+1, z)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
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cookVoxelFace(true);
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}
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if (!gVoxelMap->voxel(x, y-1, z)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
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cookVoxelFace(false);
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}
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if (!gVoxelMap->voxel(x, y, z+1)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
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cookVoxelFace(false);
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}
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if (!gVoxelMap->voxel(x, y, z-1)) {
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gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
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gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
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gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
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gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
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cookVoxelFace(true);
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}
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}
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}
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}
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}
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const PxTolerancesScale scale;
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PxCookingParams params(scale);
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params.midphaseDesc.setToDefault(PxMeshMidPhase::eBVH34);
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params.meshPreprocessParams |= PxMeshPreprocessingFlag::eDISABLE_ACTIVE_EDGES_PRECOMPUTE;
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params.meshPreprocessParams |= PxMeshPreprocessingFlag::eDISABLE_CLEAN_MESH;
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PxTriangleMeshDesc triangleMeshDesc;
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triangleMeshDesc.points.count = gVertexCount;
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triangleMeshDesc.points.data = gVertices.begin();
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triangleMeshDesc.points.stride = sizeof(PxVec3);
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triangleMeshDesc.triangles.count = gIndexCount / 3;
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triangleMeshDesc.triangles.data = gIndices.begin();
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triangleMeshDesc.triangles.stride = 3 * sizeof(PxU32);
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PxTriangleMesh* gTriangleMesh = PxCreateTriangleMesh(params, triangleMeshDesc);
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gVoxelGeometryHolder.storeAny( PxTriangleMeshGeometry(gTriangleMesh) );
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}
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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 createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
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{
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
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for (PxU32 i = 0; i < size; i++)
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{
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for (PxU32 j = 0; j < size - i; j++)
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{
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PxTransform localTm(PxVec3(PxReal(j * 2) - PxReal(size - i), PxReal(i * 2 + 1), 0) * halfExtent);
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PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
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body->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
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gScene->addActor(*body);
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}
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}
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shape->release();
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}
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void initVoxelMap()
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{
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gVoxelMap = PX_NEW(VoxelMap);
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gVoxelMap->setDimensions(gVoxelMapDim, gVoxelMapDim, gVoxelMapDim);
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gVoxelMap->setVoxelSize(gVoxelMapSize / gVoxelMapDim, gVoxelMapSize / gVoxelMapDim, gVoxelMapSize / gVoxelMapDim);
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gVoxelMap->setWaveVoxels();
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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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// Create voxel map actor
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initVoxelMap();
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PxRigidStatic* voxelMapActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0, gVoxelMapSize * 0.5f, 0)));
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PxShape* shape = PxRigidActorExt::createExclusiveShape(*voxelMapActor, PxCustomGeometry(*gVoxelMap), *gMaterial);
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shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
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gScene->addActor(*voxelMapActor);
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gActor = voxelMapActor;
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gActor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
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// Ground plane
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PxRigidStatic* planeActor = gPhysics->createRigidStatic(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 0, 1))));
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PxRigidActorExt::createExclusiveShape(*planeActor, PxPlaneGeometry(), *gMaterial);
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gScene->addActor(*planeActor);
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gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.f);
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gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
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createStack(PxTransform(PxVec3(0, 22, 0)), 10, 2.0f);
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cookVoxelMesh();
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}
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void debugRender()
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{
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PxTransform pose = gActor->getGlobalPose();
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Snippets::renderGeoms(1, &gVoxelGeometryHolder, &pose, false, PxVec3(0.5f));
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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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PX_DELETE(gVoxelMap);
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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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gVertices.reset();
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gIndices.reset();
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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("SnippetCustomGeometry 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(3.0f), camera.rotate(PxVec3(0, 0, -1)) * 200, 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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