xuanchi/XCEngine
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat(physics): wire physx sdk into build

Browse Source
This commit is contained in:
ssdfasd
2026-04-15 12:22:15 +08:00
parent 5bf258df6d
commit 31f40e2cbb
2044 changed files with 752623 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

610
engine/third_party/physx/snippets/snippetdirectgpuapiarticulation/SnippetDirectGPUAPIArticulation.cpp vendored Normal file
View File

@@ -0,0 +1,610 @@
// 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 the use of the Direct GPU API for articulations.
// ****************************************************************************
#include <ctype.h>
#include "PxPhysicsAPI.h"
#include "cudamanager/PxCudaContext.h"
#include "../snippetutils/SnippetUtils.h"
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 PxArticulationReducedCoordinate* gArticulation = NULL;
static PxArticulationJointReducedCoordinate* gDriveJoint = NULL;
static PxCudaContextManager* gCudaContextManager = NULL;
static const PxVec3 gGravity(0.0f, -9.81f, 0.0f);
static const PxU32 gNbIterPos = 32;
static const PxReal gContactOffset = 0.2f;
static const PxReal gLinearDamping = 0.2f;
static const PxReal gAngularDamping = 0.2f;
static const PxReal gMaxLinearVelocity = 100.0f;
static const PxReal gMaxAngularVelocity = 20.0f;
static const PxReal gDriveStiffness = 100000.f;
static const PxReal gDriveDamping = 0.0f;
static PxArray<PxU32> gRBIndices;
static PxArray<PxGeometryHolder> gRBGeometries;
static PxArray<PxTransform> gRBPoses;
static PxArray<PxU32> gArtiIndices;
static PxArray<PxGeometryHolder> gLinkGeometries;
static PxArray<PxTransform> gLinkPoses;
static PxArray<PxReal> gDriveValue;
static CUdeviceptr gRBIndicesD;
static CUdeviceptr gRBPosesD;
static CUdeviceptr gLinkPosesD;
static CUdeviceptr gArtiIndicesD;
static CUdeviceptr gDriveD;
PxU32 getRBCount()
{
return gRBIndices.size();
}
PxU32 getLinkCount()
{
return gLinkPoses.size();
}
const PxGeometryHolder* getRBGeometries()
{
return gRBGeometries.empty() ? NULL : &gRBGeometries[0];
}
const PxGeometryHolder* getLinkGeometries()
{
return gLinkGeometries.empty() ? NULL : &gLinkGeometries[0];
}
const PxTransform* getRBPoses()
{
return gRBPoses.empty() ? NULL : &gRBPoses[0];
}
const PxTransform* getLinkPoses()
{
return gLinkPoses.empty() ? NULL : &gLinkPoses[0];
}
static PxFilterFlags scissorFilter( PxFilterObjectAttributes attributes0, PxFilterData filterData0,
PxFilterObjectAttributes attributes1, PxFilterData filterData1,
PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
{
PX_UNUSED(attributes0);
PX_UNUSED(attributes1);
PX_UNUSED(constantBlock);
PX_UNUSED(constantBlockSize);
if (filterData0.word2 != 0 && filterData0.word2 == filterData1.word2)
return PxFilterFlag::eKILL;
pairFlags |= PxPairFlag::eCONTACT_DEFAULT;
return PxFilterFlag::eDEFAULT;
}
static void createScissorLift()
{
const PxReal runnerLength = 2.f;
const PxReal placementDistance = 1.8f;
const PxReal cosAng = (placementDistance) / (runnerLength);
const PxReal angle = PxAcos(cosAng);
const PxReal sinAng = PxSin(angle);
const PxQuat leftRot(-angle, PxVec3(1.f, 0.f, 0.f));
const PxQuat rightRot(angle, PxVec3(1.f, 0.f, 0.f));
// create base...
PxArticulationLink* base = gArticulation->createLink(NULL, PxTransform(PxVec3(0.f, 0.25f, 0.f)));
PxRigidActorExt::createExclusiveShape(*base, PxBoxGeometry(0.5f, 0.25f, 1.5f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*base, 3.f);
// now create the slider and fixed joints...
gArticulation->setSolverIterationCounts(gNbIterPos);
PxArticulationLink* leftRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, -0.9f)));
PxRigidActorExt::createExclusiveShape(*leftRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*leftRoot, 1.f);
PxArticulationLink* rightRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, 0.9f)));
PxRigidActorExt::createExclusiveShape(*rightRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*rightRoot, 1.f);
PxArticulationJointReducedCoordinate* joint = leftRoot->getInboundJoint();
joint->setJointType(PxArticulationJointType::eFIX);
joint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, -0.9f)));
joint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
// set up the drive joint...
gDriveJoint = rightRoot->getInboundJoint();
gDriveJoint->setJointType(PxArticulationJointType::ePRISMATIC);
gDriveJoint->setMotion(PxArticulationAxis::eZ, PxArticulationMotion::eLIMITED);
gDriveJoint->setLimitParams(PxArticulationAxis::eZ, PxArticulationLimit(-1.4f, 0.2f));
gDriveJoint->setDriveParams(PxArticulationAxis::eZ, PxArticulationDrive(gDriveStiffness, gDriveDamping, PX_MAX_F32));
gDriveJoint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, 0.9f)));
gDriveJoint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
const PxU32 linkHeight = 3;
PxArticulationLink* currFrontLeft = leftRoot, *currFrontRight = rightRoot;
PxArticulationLink* currBackLeft = leftRoot, *currBackRight = rightRoot;
// set up the scissor
PxQuat frontRightParentRot(PxIdentity);
PxQuat frontLeftParentRot(PxIdentity);
PxQuat backRightParentRot(PxIdentity);
PxQuat backLeftParentRot(PxIdentity);
for (PxU32 i = 0; i < linkHeight; ++i)
{
PxVec3 pos(0.5f, 0.55f + 0.1f*(1 + i), 0.f);
PxArticulationLink* frontLeftLink = gArticulation->createLink(currFrontLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
PxRigidActorExt::createExclusiveShape(*frontLeftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*frontLeftLink, 1.f);
const PxVec3 frontLeftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
joint = frontLeftLink->getInboundJoint();
joint->setParentPose(PxTransform(currFrontLeft->getGlobalPose().transformInv(frontLeftAnchorLocation), frontLeftParentRot));
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
frontLeftParentRot = leftRot;
PxArticulationLink* frontRightLink = gArticulation->createLink(currFrontRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
PxRigidActorExt::createExclusiveShape(*frontRightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*frontRightLink, 1.f);
const PxVec3 frontRightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
joint = frontRightLink->getInboundJoint();
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setParentPose(PxTransform(currFrontRight->getGlobalPose().transformInv(frontRightAnchorLocation), frontRightParentRot));
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
frontRightParentRot = rightRot;
pos = PxVec3(-0.5f, 0.55f + 0.1f*(1 + i), 0.f);
PxArticulationLink* backLeftLink = gArticulation->createLink(currBackLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
PxRigidActorExt::createExclusiveShape(*backLeftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*backLeftLink, 1.f);
const PxVec3 backLeftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
joint = backLeftLink->getInboundJoint();
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setParentPose(PxTransform(currBackLeft->getGlobalPose().transformInv(backLeftAnchorLocation), backLeftParentRot));
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
backLeftParentRot = leftRot;
PxArticulationLink* backRightLink = gArticulation->createLink(currBackRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
PxRigidActorExt::createExclusiveShape(*backRightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*backRightLink, 1.f);
const PxVec3 backRightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
joint = backRightLink->getInboundJoint();
joint->setParentPose(PxTransform(currBackRight->getGlobalPose().transformInv(backRightAnchorLocation), backRightParentRot));
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
backRightParentRot = rightRot;
PxD6Joint* d6FrontJoint = PxD6JointCreate(*gPhysics, frontLeftLink, PxTransform(PxIdentity), frontRightLink, PxTransform(PxIdentity));
d6FrontJoint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
d6FrontJoint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
d6FrontJoint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
PxD6Joint* d6BackJoint = PxD6JointCreate(*gPhysics, backLeftLink, PxTransform(PxIdentity), backRightLink, PxTransform(PxIdentity));
d6BackJoint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
d6BackJoint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
d6BackJoint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
currFrontLeft = frontRightLink;
currFrontRight = frontLeftLink;
currBackLeft = backRightLink;
currBackRight = backLeftLink;
}
// set up the top
PxArticulationLink* rightTop = gArticulation->createLink(currFrontRight, currFrontRight->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, 1.0f), frontRightParentRot)));
PxRigidActorExt::createExclusiveShape(*rightTop, PxCapsuleGeometry(0.05f, 0.8f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*rightTop, 1.f);
PxArticulationLink* leftTop = gArticulation->createLink(currFrontLeft, currFrontLeft->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, -1.0f), frontLeftParentRot)));
PxRigidActorExt::createExclusiveShape(*leftTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*leftTop, 1.f);
joint = leftTop->getInboundJoint();
joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, -1.f), currFrontLeft->getGlobalPose().q.getConjugate()));
joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), leftTop->getGlobalPose().q.getConjugate()));
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
joint = rightTop->getInboundJoint();
joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, 1.f), currFrontRight->getGlobalPose().q.getConjugate()));
joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), rightTop->getGlobalPose().q.getConjugate()));
joint->setJointType(PxArticulationJointType::eREVOLUTE);
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, currBackLeft, PxTransform(PxVec3(0.f, 0.f, -1.f)), leftTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
d6joint = PxD6JointCreate(*gPhysics, currBackRight, PxTransform(PxVec3(0.f, 0.f, 1.f)), rightTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
const PxTransform topPose(PxVec3(0.f, leftTop->getGlobalPose().p.y + 0.15f, 0.f));
PxArticulationLink* top = gArticulation->createLink(leftTop, topPose);
PxRigidActorExt::createExclusiveShape(*top, PxBoxGeometry(0.5f, 0.1f, 1.5f), *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*top, 1.f);
joint = top->getInboundJoint();
joint->setJointType(PxArticulationJointType::eFIX);
joint->setParentPose(PxTransform(PxVec3(0.f, 0.0f, 0.f)));
joint->setChildPose(PxTransform(PxVec3(0.f, -0.15f, -0.9f)));
gScene->addArticulation(*gArticulation);
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
{
PxArticulationLink* link;
gArticulation->getLinks(&link, 1, i);
link->setLinearDamping(gLinearDamping);
link->setAngularDamping(gAngularDamping);
link->setMaxAngularVelocity(gMaxAngularVelocity);
link->setMaxLinearVelocity(gMaxLinearVelocity);
if (link != top)
{
for (PxU32 b = 0; b < link->getNbShapes(); ++b)
{
PxShape* shape;
link->getShapes(&shape, 1, b);
shape->setSimulationFilterData(PxFilterData(0, 0, 1, 0));
}
}
}
// set up the box stack
const PxVec3 halfExt(0.25f);
const PxReal density(0.5f);
PxBoxGeometry boxGeometryBox0(halfExt);
PxTransform poseBox0(PxVec3(-0.25f, 5.f, 0.5f));
PxRigidDynamic* box0 = gPhysics->createRigidDynamic(poseBox0);
PxShape* shape0 = PxRigidActorExt::createExclusiveShape(*box0, boxGeometryBox0, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box0, density);
gScene->addActor(*box0);
gRBIndices.pushBack(box0->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox0);
gRBPoses.pushBack(poseBox0);
PxBoxGeometry boxGeometryBox1(halfExt);
PxTransform poseBox1(PxVec3(0.25f, 5.f, 0.5f));
PxRigidDynamic* box1 = gPhysics->createRigidDynamic(poseBox1);
PxShape* shape1 = PxRigidActorExt::createExclusiveShape(*box1, boxGeometryBox1, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box1, density);
gScene->addActor(*box1);
gRBIndices.pushBack(box1->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox1);
gRBPoses.pushBack(poseBox1);
PxBoxGeometry boxGeometryBox2(halfExt);
PxTransform poseBox2(PxVec3(-0.25f, 4.5f, 0.5f));
PxRigidDynamic* box2 = gPhysics->createRigidDynamic(poseBox2);
PxShape* shape2 = PxRigidActorExt::createExclusiveShape(*box2, boxGeometryBox2, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box2, density);
gScene->addActor(*box2);
gRBIndices.pushBack(box2->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox2);
gRBPoses.pushBack(poseBox2);
PxBoxGeometry boxGeometryBox3(halfExt);
PxTransform poseBox3(PxVec3(0.25f, 4.5f, 0.5f));
PxRigidDynamic* box3 = gPhysics->createRigidDynamic(poseBox3);
PxShape* shape3 = PxRigidActorExt::createExclusiveShape(*box3, boxGeometryBox3, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box3, density);
gScene->addActor(*box3);
gRBIndices.pushBack(box3->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox3);
gRBPoses.pushBack(poseBox3);
PxBoxGeometry boxGeometryBox4(halfExt);
PxTransform poseBox4(PxVec3(-0.25f, 5.f, 0.f));
PxRigidDynamic* box4 = gPhysics->createRigidDynamic(poseBox4);
PxShape* shape4 = PxRigidActorExt::createExclusiveShape(*box4, boxGeometryBox4, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box4, density);
gScene->addActor(*box4);
gRBIndices.pushBack(box4->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox4);
gRBPoses.pushBack(poseBox4);
PxBoxGeometry boxGeometryBox5(halfExt);
PxTransform poseBox5(PxVec3(0.25f, 5.f, 0.f));
PxRigidDynamic* box5 = gPhysics->createRigidDynamic(poseBox5);
PxShape* shape5 = PxRigidActorExt::createExclusiveShape(*box5, boxGeometryBox5, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box5, density);
gScene->addActor(*box5);
gRBIndices.pushBack(box5->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox5);
gRBPoses.pushBack(poseBox5);
PxBoxGeometry boxGeometryBox6(halfExt);
PxTransform poseBox6(PxVec3(-0.25f, 4.5f, 0.f));
PxRigidDynamic* box6 = gPhysics->createRigidDynamic(poseBox6);
PxShape* shape6 = PxRigidActorExt::createExclusiveShape(*box6, boxGeometryBox6, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box6, density);
gScene->addActor(*box6);
gRBIndices.pushBack(box6->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox6);
gRBPoses.pushBack(poseBox6);
PxBoxGeometry boxGeometryBox7(halfExt);
PxTransform poseBox7(PxVec3(0.25f, 4.5f, 0.f));
PxRigidDynamic* box7 = gPhysics->createRigidDynamic(poseBox7);
PxShape* shape7 = PxRigidActorExt::createExclusiveShape(*box7, boxGeometryBox7, *gMaterial);
PxRigidBodyExt::updateMassAndInertia(*box7, density);
gScene->addActor(*box7);
gRBIndices.pushBack(box7->getGPUIndex());
gRBGeometries.pushBack(boxGeometryBox7);
gRBPoses.pushBack(poseBox7);
shape0->setContactOffset(gContactOffset);
shape1->setContactOffset(gContactOffset);
shape2->setContactOffset(gContactOffset);
shape3->setContactOffset(gContactOffset);
shape4->setContactOffset(gContactOffset);
shape5->setContactOffset(gContactOffset);
shape6->setContactOffset(gContactOffset);
shape7->setContactOffset(gContactOffset);
}
void initPhysics(bool /*interactive*/)
{
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale());
PxCudaContextManagerDesc cudaContextManagerDesc;
gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc);
if (!gCudaContextManager || !gCudaContextManager->contextIsValid())
{
PX_RELEASE(gCudaContextManager);
printf("Failed to initialize cuda context.\n");
printf("The direct GPU API feature is only supported on the GPU.\n");
return;
}
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = gGravity;
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
sceneDesc.cpuDispatcher = gDispatcher;
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
sceneDesc.cudaContextManager = gCudaContextManager;
// enable GPU simulation and direct GPU access
sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
sceneDesc.flags |= PxSceneFlag::eENABLE_DIRECT_GPU_API;
sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
sceneDesc.solverType = PxSolverType::eTGS;
sceneDesc.filterShader = scissorFilter;
gScene = gPhysics->createScene(sceneDesc);
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.f);
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
gScene->addActor(*groundPlane);
gArticulation = gPhysics->createArticulationReducedCoordinate();
createScissorLift();
// run one step to initialize the direct GPU API
gScene->simulate(1.0f / 60.f);
gScene->fetchResults(true);
// note that the link indexing in the direct GPU API does not follow the order
// in which the links are created, link geometries must follow the low level indexing,
// this is critical to render the scene properly.
// first put placeholders in the arrays
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
{
gLinkGeometries.pushBack(PxGeometryHolder());
gLinkPoses.pushBack(PxTransform(PxIdentity));
}
// then populate the array in the correct order
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
{
// getting the link
PxArticulationLink* link;
gArticulation->getLinks(&link, 1, i);
// getting the link geometry
PxShape* shape;
link->getShapes(&shape, 1, 0);
// adding the link geometry at the correct index
gLinkGeometries[link->getLinkIndex()] = shape->getGeometry();
}
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
// prepare RBs indices
cudaContext->memAlloc(&gRBIndicesD, getRBCount() * sizeof(PxU32));
cudaContext->memcpyHtoD(gRBIndicesD, &gRBIndices[0], getRBCount() * sizeof(PxU32));
// a buffer to read box pose for rendering
cudaContext->memAlloc(&gRBPosesD, getRBCount() * sizeof(PxTransform));
// prepare link indices
const PxArticulationGPUIndex gpuIndex = gArticulation->getGPUIndex();
PX_ASSERT(gpuIndex != 0xFFffFFff);
gArtiIndices.pushBack(gpuIndex);
cudaContext->memAlloc(&gArtiIndicesD, sizeof(PxU32));
cudaContext->memcpyHtoD(gArtiIndicesD, &gArtiIndices[0], sizeof(PxU32));
// a buffer to read link pose for rendering
cudaContext->memAlloc(&gLinkPosesD, getLinkCount() * sizeof(PxTransform));
// prepare joint target position
gDriveValue.pushBack(0.0);
const PxU32 nbDofs = gArticulation->getDofs();
cudaContext->memAlloc(&gDriveD, sizeof(PxReal) * nbDofs);
cudaContext->memcpyHtoD(gDriveD, &gDriveValue[0], sizeof(PxReal));
}
static bool gClosing = true;
void stepPhysics(bool /*interactive*/)
{
if (gCudaContextManager)
{
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
const PxReal dt = 1.0f / 60.f;
// get drive value
gScene->getDirectGPUAPI().getArticulationData(
(void*)gDriveD, (const PxArticulationGPUIndex*)(gArtiIndicesD),
PxArticulationGPUAPIReadType::eJOINT_TARGET_POSITION, 1);
cudaContext->memcpyDtoH(&gDriveValue[0], gDriveD, sizeof(PxReal));
if (gClosing && gDriveValue[0] < -1.2f)
gClosing = false;
else if (!gClosing && gDriveValue[0] > 0.f)
gClosing = true;
if (gClosing)
gDriveValue[0] -= dt*0.25f;
else
gDriveValue[0] += dt*0.25f;
// set drive value
cudaContext->memcpyHtoD(gDriveD, &gDriveValue[0], sizeof(PxReal));
gScene->getDirectGPUAPI().setArticulationData(
(void*)gDriveD, (const PxArticulationGPUIndex*)(gArtiIndicesD),
PxArticulationGPUAPIWriteType::eJOINT_TARGET_POSITION, 1);
gScene->simulate(dt);
gScene->fetchResults(true);
// read current poses of boxes for rendering
gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBPosesD),
reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
PxRigidDynamicGPUAPIReadType::eGLOBAL_POSE,
getRBCount());
cudaContext->memcpyDtoH(&gRBPoses[0], gRBPosesD, getRBCount() * sizeof(PxTransform));
// read current poses of the scissor lift for rendering
gScene->getDirectGPUAPI().getArticulationData(reinterpret_cast<void*>(gLinkPosesD),
reinterpret_cast<const PxArticulationGPUIndex*>(gArtiIndicesD),
PxArticulationGPUAPIReadType::eLINK_GLOBAL_POSE,
1);
cudaContext->memcpyDtoH(&gLinkPoses[0], gLinkPosesD, getLinkCount() * sizeof(PxTransform));
}
}
void cleanupPhysics(bool /*interactive*/)
{
if (gCudaContextManager)
{
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
cudaContext->memFree(gArtiIndicesD);
cudaContext->memFree(gDriveD);
cudaContext->memFree(gRBPosesD);
cudaContext->memFree(gRBIndicesD);
cudaContext->memFree(gLinkPosesD);
}
gRBIndices.reset();
gRBGeometries.reset();
gRBPoses.reset();
gArtiIndices.reset();
gLinkGeometries.reset();
gLinkPoses.reset();
gDriveValue.reset();
PX_RELEASE(gArticulation);
PX_RELEASE(gScene);
PX_RELEASE(gDispatcher);
PX_RELEASE(gPhysics);
PX_RELEASE(gCudaContextManager);
PX_RELEASE(gFoundation);
printf("SnippetDirectGPUAPIArticulation done.\n");
}
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;
}

98
engine/third_party/physx/snippets/snippetdirectgpuapiarticulation/SnippetDirectGPUAPIArticulationRender.cpp vendored Normal file
View File

@@ -0,0 +1,98 @@
// 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 PxU32 getRBCount();
extern const PxGeometryHolder* getRBGeometries();
extern const PxTransform* getRBPoses();
extern PxU32 getLinkCount();
extern const PxGeometryHolder* getLinkGeometries();
extern const PxTransform* getLinkPoses();
namespace
{
Snippets::Camera* sCamera;
void renderCallback()
{
stepPhysics(true);
Snippets::startRender(sCamera);
const PxVec3 dynColor(1.0f, 0.5f, 0.25f);
const PxVec3 rcaColor(0.6f*0.75f, 0.8f*0.75f, 1.0f*0.75f);
if (getRBCount())
Snippets::renderGeoms(getRBCount(), getRBGeometries(), getRBPoses(), true, dynColor);
if (getLinkCount())
Snippets::renderGeoms(getLinkCount(), getLinkGeometries(), getLinkPoses(), true, rcaColor);
Snippets::finishRender();
}
void cleanup()
{
delete sCamera;
cleanupPhysics(true);
}
void exitCallback()
{
}
}
const PxVec3 gCamEyeLift(-5.858525f, 6.079476f, 1.546743f);
const PxVec3 gCamDirLift(0.927923f, -0.356565f, -0.108720f);
void renderLoop()
{
sCamera = new Snippets::Camera(gCamEyeLift, gCamDirLift);
Snippets::setupDefault("PhysX Snippet Direct GPU API Articulation", sCamera, NULL, renderCallback, exitCallback);
initPhysics(true);
glutMainLoop();
cleanup();
}
#endif