feat(physics): wire physx sdk into build
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275
engine/third_party/physx/snippets/snippetisosurface/SnippetIsosurfaceRender.cpp
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275
engine/third_party/physx/snippets/snippetisosurface/SnippetIsosurfaceRender.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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#ifdef RENDER_SNIPPET
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#include "PxPhysicsAPI.h"
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#include "cudamanager/PxCudaContext.h"
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#include "cudamanager/PxCudaContextManager.h"
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#include "../snippetrender/SnippetRender.h"
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#include "../snippetrender/SnippetCamera.h"
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#include "PxIsosurfaceExtraction.h"
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#include "foundation/PxArray.h"
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#define USE_CUDA_INTEROP (PX_SUPPORT_GPU_PHYSX)
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#define CUDA_SUCCESS 0
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#define SHOW_SOLID_SDF_SLICE 0
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#define IDX(i, j, k, offset) ((i) + dimX * ((j) + dimY * ((k) + dimZ * (offset))))
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using namespace physx;
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extern void initPhysics(bool interactive);
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extern void stepPhysics(bool interactive);
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extern void cleanupPhysics(bool interactive);
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extern void keyPress(unsigned char key, const PxTransform& camera);
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extern PxPBDParticleSystem* getParticleSystem();
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extern PxParticleBuffer* getParticleBuffer();
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#if PX_SUPPORT_GPU_PHYSX
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extern PxArray<PxVec4> gIsosurfaceVertices;
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extern PxArray<PxU32> gIsosurfaceIndices;
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extern PxArray<PxVec4> gIsosurfaceNormals;
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extern PxIsosurfaceExtractor* gIsosurfaceExtractor;
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extern void* gVerticesGpu;
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extern void* gNormalsGpu;
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extern void* gInterleavedVerticesAndNormalsGpu;
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#endif
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namespace
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{
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Snippets::Camera* sCamera;
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#if PX_SUPPORT_GPU_PHYSX
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#if USE_CUDA_INTEROP
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bool directGpuRendering = true;
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#else
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bool directGpuRendering = false;
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#endif
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Snippets::SharedGLBuffer sPosBuffer;
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Snippets::SharedGLBuffer sNormalBuffer;
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Snippets::SharedGLBuffer sTriangleBuffer;
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Snippets::SharedGLBuffer sInterleavedPosNormalBuffer;
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Snippets::SharedGLBuffer sParticlePosBuffer;
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void onBeforeRenderParticles()
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{
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PxPBDParticleSystem* particleSystem = getParticleSystem();
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if (particleSystem)
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{
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PxParticleBuffer* userBuffer = getParticleBuffer();
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PxVec4* positions = userBuffer->getPositionInvMasses();
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const PxU32 numParticles = userBuffer->getNbActiveParticles();
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PxScene* scene;
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PxGetPhysics().getScenes(&scene, 1);
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PxCudaContextManager* cudaContextManager = scene->getCudaContextManager();
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cudaContextManager->acquireContext();
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PxCudaContext* cudaContext = cudaContextManager->getCudaContext();
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cudaContext->memcpyDtoH(sParticlePosBuffer.map(), CUdeviceptr(positions), sizeof(PxVec4) * numParticles);
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cudaContextManager->releaseContext();
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}
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}
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void renderParticles()
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{
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PxPBDParticleSystem* particleSystem = getParticleSystem();
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if (!particleSystem)
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{
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return;
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}
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sParticlePosBuffer.unmap();
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sPosBuffer.unmap();
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sNormalBuffer.unmap();
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sTriangleBuffer.unmap();
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if (directGpuRendering)
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{
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PxVec3 color(0.5f, 0.5f, 1);
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Snippets::DrawMeshIndexed(sInterleavedPosNormalBuffer.vbo, sTriangleBuffer.vbo, gIsosurfaceExtractor->getNumTriangles(), color);
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//PxVec3 particleColor(1.0f, 1.0f, 0.0f);
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//Snippets::DrawPoints(sParticlePosBuffer.vbo, sParticlePosBuffer.size / sizeof(PxVec4), particleColor, 2.f);
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}
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else
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{
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//Draw a triangle mesh where the data gets copied to the host and back to the device for rendering
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Snippets::renderMesh(gIsosurfaceExtractor->getNumVertices(), gIsosurfaceVertices.begin(), gIsosurfaceExtractor->getNumTriangles(),
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gIsosurfaceIndices.begin(), PxVec3(1, 0, 0), gIsosurfaceNormals.begin());
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//Check for unused vertices
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PxVec4 marker(10000000, 0, 0, 0);
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PxU32 numIndices = 3 * gIsosurfaceExtractor->getNumTriangles();
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for (PxU32 i = 0; i < numIndices; ++i)
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{
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gIsosurfaceNormals[gIsosurfaceIndices[i]] = marker;
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}
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for (PxU32 i = 0; i < gIsosurfaceExtractor->getNumVertices(); ++i)
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{
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if (gIsosurfaceNormals[i] != marker)
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{
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printf("Isosurface mesh contains unreferenced vertices\n");
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}
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}
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}
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Snippets::DrawFrame(PxVec3(0, 0, 0));
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}
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void allocParticleBuffers()
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{
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PxScene* scene;
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PxGetPhysics().getScenes(&scene, 1);
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PxCudaContextManager* cudaContextManager = scene->getCudaContextManager();
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if (cudaContextManager)
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{
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PxU32 maxVertices = gIsosurfaceExtractor->getMaxVertices();
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PxU32 maxIndices = gIsosurfaceExtractor->getMaxTriangles() * 3;
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sParticlePosBuffer.initialize(cudaContextManager);
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sParticlePosBuffer.allocate(gIsosurfaceExtractor->getMaxParticles() * sizeof(PxVec4));
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sPosBuffer.initialize(cudaContextManager);
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sPosBuffer.allocate(maxVertices * sizeof(PxVec4));
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gVerticesGpu = sPosBuffer.map();
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sNormalBuffer.initialize(cudaContextManager);
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sNormalBuffer.allocate(maxVertices * sizeof(PxVec4));
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gNormalsGpu = sNormalBuffer.map();
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sTriangleBuffer.initialize(cudaContextManager);
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sTriangleBuffer.allocate(maxIndices * sizeof(PxU32));
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sInterleavedPosNormalBuffer.initialize(cudaContextManager);
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sInterleavedPosNormalBuffer.allocate(2 * maxVertices * sizeof(PxVec3));
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gInterleavedVerticesAndNormalsGpu = sInterleavedPosNormalBuffer.map();
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if (directGpuRendering)
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{
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gIsosurfaceExtractor->setResultBufferDevice(reinterpret_cast<PxVec4*>(sPosBuffer.map()),
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reinterpret_cast<PxU32*>(sTriangleBuffer.map()), reinterpret_cast<PxVec4*>(sNormalBuffer.map()));
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}
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else
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{
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gIsosurfaceExtractor->setResultBufferHost(gIsosurfaceVertices.begin(), gIsosurfaceIndices.begin(), gIsosurfaceNormals.begin());
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gInterleavedVerticesAndNormalsGpu = NULL;
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}
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}
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}
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void clearupParticleBuffers()
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{
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sParticlePosBuffer.release();
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sPosBuffer.release();
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sNormalBuffer.release();
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sTriangleBuffer.release();
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sInterleavedPosNormalBuffer.release();
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}
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#else
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void onBeforeRenderParticles()
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{
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}
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void renderParticles()
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{
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}
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void allocParticleBuffers()
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{
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}
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void clearupParticleBuffers()
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{
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}
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#endif
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void renderCallback()
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{
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onBeforeRenderParticles();
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stepPhysics(true);
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Snippets::startRender(sCamera);
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PxScene* scene;
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PxGetPhysics().getScenes(&scene, 1);
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PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
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if (nbActors)
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{
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PxArray<PxRigidActor*> actors(nbActors);
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scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
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Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
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}
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renderParticles();
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Snippets::showFPS();
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Snippets::finishRender();
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}
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void cleanup()
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{
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gIsosurfaceVertices.reset();
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gIsosurfaceIndices.reset();
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gIsosurfaceNormals.reset();
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delete sCamera;
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clearupParticleBuffers();
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cleanupPhysics(true);
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}
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void exitCallback()
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{
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}
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}
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void renderLoop()
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{
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sCamera = new Snippets::Camera(PxVec3(15.0f, 10.0f, 15.0f), PxVec3(-0.6f, -0.2f, -0.6f));
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Snippets::setupDefault("PhysX Snippet Isosurface", sCamera, keyPress, renderCallback, exitCallback);
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initPhysics(true);
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Snippets::initFPS();
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allocParticleBuffers();
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glutMainLoop();
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cleanup();
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}
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#endif
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