feat(physics): wire physx sdk into build
This commit is contained in:
233
engine/third_party/physx/snippets/snippetrackjoint/SnippetRackJoint.cpp
vendored
Normal file
233
engine/third_party/physx/snippets/snippetrackjoint/SnippetRackJoint.cpp
vendored
Normal file
@@ -0,0 +1,233 @@
|
||||
// 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 simple use of rack & pinion joints
|
||||
// ****************************************************************************
|
||||
|
||||
#include <ctype.h>
|
||||
#include "PxPhysicsAPI.h"
|
||||
#include "../snippetcommon/SnippetPrint.h"
|
||||
#include "../snippetcommon/SnippetPVD.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 PxPvd* gPvd = NULL;
|
||||
|
||||
static PxRigidDynamic* createGearWithBoxes(PxPhysics& sdk, const PxBoxGeometry& boxGeom, const PxTransform& transform, PxMaterial& material, int nbShapes)
|
||||
{
|
||||
PxRigidDynamic* actor = sdk.createRigidDynamic(transform);
|
||||
|
||||
PxMat33 m(PxIdentity);
|
||||
|
||||
for(int i=0;i<nbShapes;i++)
|
||||
{
|
||||
const float coeff = float(i)/float(nbShapes);
|
||||
const float angle = PxPi * 0.5f * coeff;
|
||||
|
||||
PxShape* shape = sdk.createShape(boxGeom, material, true);
|
||||
|
||||
const PxReal cos = cosf(angle);
|
||||
const PxReal sin = sinf(angle);
|
||||
|
||||
m[0][0] = m[1][1] = cos;
|
||||
m[0][1] = sin;
|
||||
m[1][0] = -sin;
|
||||
|
||||
PxTransform localPose;
|
||||
localPose.p = PxVec3(0.0f);
|
||||
localPose.q = PxQuat(m);
|
||||
|
||||
shape->setLocalPose(localPose);
|
||||
|
||||
actor->attachShape(*shape);
|
||||
}
|
||||
PxRigidBodyExt::updateMassAndInertia(*actor, 1.0f);
|
||||
|
||||
return actor;
|
||||
}
|
||||
|
||||
static PxRigidDynamic* createRackWithBoxes(PxPhysics& sdk, const PxTransform& transform, PxMaterial& material, int nbTeeth, float rackLength)
|
||||
{
|
||||
PxRigidDynamic* actor = sdk.createRigidDynamic(transform);
|
||||
|
||||
{
|
||||
const PxBoxGeometry boxGeom(rackLength*0.5f, 0.25f, 0.25f);
|
||||
PxShape* shape = sdk.createShape(boxGeom, material, true);
|
||||
actor->attachShape(*shape);
|
||||
}
|
||||
|
||||
PxMat33 m(PxIdentity);
|
||||
const float angle = PxPi * 0.25f;
|
||||
const PxReal cos = cosf(angle);
|
||||
const PxReal sin = sinf(angle);
|
||||
m[0][0] = m[1][1] = cos;
|
||||
m[0][1] = sin;
|
||||
m[1][0] = -sin;
|
||||
|
||||
PxTransform localPose;
|
||||
localPose.p = PxVec3(0.0f);
|
||||
localPose.q = PxQuat(m);
|
||||
|
||||
const float offset = rackLength / float(nbTeeth);
|
||||
localPose.p.x = (offset - rackLength)*0.5f;
|
||||
|
||||
for(int i=0;i<nbTeeth;i++)
|
||||
{
|
||||
const PxBoxGeometry boxGeom(0.75f, 0.75f, 0.25f);
|
||||
PxShape* shape = sdk.createShape(boxGeom, material, true);
|
||||
shape->setLocalPose(localPose);
|
||||
|
||||
actor->attachShape(*shape);
|
||||
|
||||
localPose.p.x += offset;
|
||||
}
|
||||
|
||||
PxRigidBodyExt::updateMassAndInertia(*actor, 1.0f);
|
||||
|
||||
return actor;
|
||||
}
|
||||
|
||||
static PxRevoluteJoint* gHinge0 = NULL;
|
||||
|
||||
void initPhysics(bool /*interactive*/)
|
||||
{
|
||||
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
||||
gPvd = PxCreatePvd(*gFoundation);
|
||||
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
||||
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
||||
|
||||
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true, gPvd);
|
||||
PxInitExtensions(*gPhysics, gPvd);
|
||||
|
||||
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
||||
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
||||
gDispatcher = PxDefaultCpuDispatcherCreate(2);
|
||||
sceneDesc.cpuDispatcher = gDispatcher;
|
||||
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
||||
gScene = gPhysics->createScene(sceneDesc);
|
||||
|
||||
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
||||
if(pvdClient)
|
||||
{
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
||||
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
||||
}
|
||||
|
||||
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
|
||||
|
||||
const float velocityTarget = 0.5f;
|
||||
const float radius = 3.0f;
|
||||
const float rackLength = 3.0f*10.0f;
|
||||
|
||||
const int nbPinionTeeth = int(radius)*4; // 'radius' teeth for PI/2
|
||||
const int nbRackTeeth = 5*3;
|
||||
|
||||
const PxBoxGeometry boxGeom0(radius, radius, 0.5f);
|
||||
const PxVec3 boxPos0(0.0f, 10.0f, 0.0f);
|
||||
const PxVec3 boxPos1(0.0f, 10.0f+radius+1.5f, 0.0f);
|
||||
|
||||
PxRigidDynamic* actor0 = createGearWithBoxes(*gPhysics, boxGeom0, PxTransform(boxPos0), *gMaterial, int(radius));
|
||||
gScene->addActor(*actor0);
|
||||
PxRigidDynamic* actor1 = createRackWithBoxes(*gPhysics, PxTransform(boxPos1), *gMaterial, nbRackTeeth, rackLength);
|
||||
gScene->addActor(*actor1);
|
||||
|
||||
const PxQuat x2z = PxShortestRotation(PxVec3(1.0f, 0.0f, 0.0f), PxVec3(0.0f, 0.0f, 1.0f));
|
||||
|
||||
PxRevoluteJoint* hinge = PxRevoluteJointCreate(*gPhysics, NULL, PxTransform(boxPos0, x2z), actor0, PxTransform(PxVec3(0.0f), x2z));
|
||||
PxPrismaticJoint* prismatic = PxPrismaticJointCreate(*gPhysics, NULL, PxTransform(boxPos1), actor1, PxTransform(PxVec3(0.0f)));
|
||||
|
||||
if(1)
|
||||
{
|
||||
hinge->setDriveVelocity(velocityTarget);
|
||||
hinge->setRevoluteJointFlag(PxRevoluteJointFlag::eDRIVE_ENABLED, true);
|
||||
gHinge0 = hinge;
|
||||
}
|
||||
|
||||
PxRackAndPinionJoint* rackJoint = PxRackAndPinionJointCreate(*gPhysics, actor0, PxTransform(PxVec3(0.0f), x2z), actor1, PxTransform(PxVec3(0.0f)));
|
||||
|
||||
rackJoint->setJoints(hinge, prismatic);
|
||||
|
||||
rackJoint->setData(nbRackTeeth, nbPinionTeeth, rackLength);
|
||||
}
|
||||
|
||||
void stepPhysics(bool /*interactive*/)
|
||||
{
|
||||
if(gHinge0)
|
||||
{
|
||||
static float globalTime = 0.0f;
|
||||
globalTime += 1.0f/60.0f;
|
||||
const float velocityTarget = cosf(globalTime)*3.0f;
|
||||
gHinge0->setDriveVelocity(velocityTarget);
|
||||
}
|
||||
|
||||
gScene->simulate(1.0f/60.0f);
|
||||
gScene->fetchResults(true);
|
||||
}
|
||||
|
||||
void cleanupPhysics(bool /*interactive*/)
|
||||
{
|
||||
PX_RELEASE(gScene);
|
||||
PX_RELEASE(gDispatcher);
|
||||
PxCloseExtensions();
|
||||
PX_RELEASE(gPhysics);
|
||||
if(gPvd)
|
||||
{
|
||||
PxPvdTransport* transport = gPvd->getTransport();
|
||||
PX_RELEASE(gPvd);
|
||||
PX_RELEASE(transport);
|
||||
}
|
||||
PX_RELEASE(gFoundation);
|
||||
|
||||
printf("SnippetRackJoint 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;
|
||||
}
|
||||
Reference in New Issue
Block a user