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XCEngine/engine/third_party/physx/snippets/snippetcustomgeometry/SnippetCustomGeometry.cpp

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// 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 shows how to use custom geometries in PhysX.
// ****************************************************************************
#include <ctype.h>
#include "PxPhysicsAPI.h"
// temporary disable this snippet, cannot work without rendering we cannot include GL directly
#ifdef RENDER_SNIPPET
#include "../snippetcommon/SnippetPrint.h"
#include "../snippetcommon/SnippetPVD.h"
#include "../snippetutils/SnippetUtils.h"
#include "../snippetrender/SnippetRender.h"
#include "VoxelMap.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 PxRigidStatic* gActor = NULL;
static const int gVoxelMapDim = 20;
static const float gVoxelMapSize = 80.0f;
static VoxelMap* gVoxelMap;
static PxArray<PxVec3> gVertices;
static PxArray<PxU32> gIndices;
static PxU32 gVertexCount;
static PxU32 gIndexCount;
static PxGeometryHolder gVoxelGeometryHolder;
static const PxU32 gVertexOrder[12] = {
0, 2, 1, 2, 3, 1,
0, 1, 2, 2, 1, 3
};
PX_INLINE void cookVoxelFace(bool reverseWinding) {
for (int i = 0; i < 6; ++i) {
gIndices[gIndexCount + i] = gVertexCount + gVertexOrder[i + (reverseWinding ? 6 : 0)];
}
gVertexCount += 4;
gIndexCount += 6;
}
void cookVoxelMesh() {
int faceCount = 0;
gVertexCount = 0;
gIndexCount = 0;
float vx[2] = {gVoxelMap->voxelSize().x * -0.5f, gVoxelMap->voxelSize().x * 0.5f};
float vy[2] = {gVoxelMap->voxelSize().y * -0.5f, gVoxelMap->voxelSize().y * 0.5f};
float vz[2] = {gVoxelMap->voxelSize().z * -0.5f, gVoxelMap->voxelSize().z * 0.5f};
for (int x = 0; x < gVoxelMap->dimX(); ++x)
for (int y = 0; y < gVoxelMap->dimY(); ++y)
for (int z = 0; z < gVoxelMap->dimZ(); ++z)
if (gVoxelMap->voxel(x, y, z))
{
if (!gVoxelMap->voxel(x+1, y, z)) {faceCount++;}
if (!gVoxelMap->voxel(x-1, y, z)) {faceCount++;}
if (!gVoxelMap->voxel(x, y+1, z)) {faceCount++;}
if (!gVoxelMap->voxel(x, y-1, z)) {faceCount++;}
if (!gVoxelMap->voxel(x, y, z+1)) {faceCount++;}
if (!gVoxelMap->voxel(x, y, z-1)) {faceCount++;}
}
gVertices.resize(faceCount*4);
gIndices.resize(faceCount*6);
for (int x = 0; x < gVoxelMap->dimX(); ++x)
{
for (int y = 0; y < gVoxelMap->dimY(); ++y)
{
for (int z = 0; z < gVoxelMap->dimZ(); ++z)
{
PxVec3 voxelPos = gVoxelMap->voxelPos(x, y, z);
if (gVoxelMap->voxel(x, y, z))
{
if (!gVoxelMap->voxel(x+1, y, z)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
cookVoxelFace(false);
}
if (!gVoxelMap->voxel(x-1, y, z)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
cookVoxelFace(true);
}
if (!gVoxelMap->voxel(x, y+1, z)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
cookVoxelFace(true);
}
if (!gVoxelMap->voxel(x, y-1, z)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
cookVoxelFace(false);
}
if (!gVoxelMap->voxel(x, y, z+1)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[1]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[1]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[1]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[1]);
cookVoxelFace(false);
}
if (!gVoxelMap->voxel(x, y, z-1)) {
gVertices[gVertexCount + 0] = voxelPos + PxVec3(vx[0], vy[0], vz[0]);
gVertices[gVertexCount + 1] = voxelPos + PxVec3(vx[0], vy[1], vz[0]);
gVertices[gVertexCount + 2] = voxelPos + PxVec3(vx[1], vy[0], vz[0]);
gVertices[gVertexCount + 3] = voxelPos + PxVec3(vx[1], vy[1], vz[0]);
cookVoxelFace(true);
}
}
}
}
}
const PxTolerancesScale scale;
PxCookingParams params(scale);
params.midphaseDesc.setToDefault(PxMeshMidPhase::eBVH34);
params.meshPreprocessParams |= PxMeshPreprocessingFlag::eDISABLE_ACTIVE_EDGES_PRECOMPUTE;
params.meshPreprocessParams |= PxMeshPreprocessingFlag::eDISABLE_CLEAN_MESH;
PxTriangleMeshDesc triangleMeshDesc;
triangleMeshDesc.points.count = gVertexCount;
triangleMeshDesc.points.data = gVertices.begin();
triangleMeshDesc.points.stride = sizeof(PxVec3);
triangleMeshDesc.triangles.count = gIndexCount / 3;
triangleMeshDesc.triangles.data = gIndices.begin();
triangleMeshDesc.triangles.stride = 3 * sizeof(PxU32);
PxTriangleMesh* gTriangleMesh = PxCreateTriangleMesh(params, triangleMeshDesc);
gVoxelGeometryHolder.storeAny( PxTriangleMeshGeometry(gTriangleMesh) );
}
static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity = PxVec3(0), PxReal density = 1.0f)
{
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, density);
dynamic->setLinearVelocity(velocity);
gScene->addActor(*dynamic);
return dynamic;
}
static void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
{
PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
for (PxU32 i = 0; i < size; i++)
{
for (PxU32 j = 0; j < size - i; j++)
{
PxTransform localTm(PxVec3(PxReal(j * 2) - PxReal(size - i), PxReal(i * 2 + 1), 0) * halfExtent);
PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
body->attachShape(*shape);
PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
}
}
shape->release();
}
void initVoxelMap()
{
gVoxelMap = PX_NEW(VoxelMap);
gVoxelMap->setDimensions(gVoxelMapDim, gVoxelMapDim, gVoxelMapDim);
gVoxelMap->setVoxelSize(gVoxelMapSize / gVoxelMapDim, gVoxelMapSize / gVoxelMapDim, gVoxelMapSize / gVoxelMapDim);
gVoxelMap->setWaveVoxels();
}
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);
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);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
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);
// Create voxel map actor
initVoxelMap();
PxRigidStatic* voxelMapActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0, gVoxelMapSize * 0.5f, 0)));
PxShape* shape = PxRigidActorExt::createExclusiveShape(*voxelMapActor, PxCustomGeometry(*gVoxelMap), *gMaterial);
shape->setFlag(PxShapeFlag::eVISUALIZATION, true);
gScene->addActor(*voxelMapActor);
gActor = voxelMapActor;
gActor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
// Ground plane
PxRigidStatic* planeActor = gPhysics->createRigidStatic(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 0, 1))));
PxRigidActorExt::createExclusiveShape(*planeActor, PxPlaneGeometry(), *gMaterial);
gScene->addActor(*planeActor);
gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.f);
gScene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, 1.0f);
createStack(PxTransform(PxVec3(0, 22, 0)), 10, 2.0f);
cookVoxelMesh();
}
void debugRender()
{
PxTransform pose = gActor->getGlobalPose();
Snippets::renderGeoms(1, &gVoxelGeometryHolder, &pose, false, PxVec3(0.5f));
}
void stepPhysics(bool /*interactive*/)
{
gScene->simulate(1.0f / 60.0f);
gScene->fetchResults(true);
}
void cleanupPhysics(bool /*interactive*/)
{
PX_DELETE(gVoxelMap);
PX_RELEASE(gScene);
PX_RELEASE(gDispatcher);
PX_RELEASE(gPhysics);
gVertices.reset();
gIndices.reset();
if (gPvd)
{
PxPvdTransport* transport = gPvd->getTransport();
PX_RELEASE(gPvd);
PX_RELEASE(transport);
}
PX_RELEASE(gFoundation);
printf("SnippetCustomGeometry done.\n");
}
void keyPress(unsigned char key, const PxTransform& camera)
{
switch (toupper(key))
{
case ' ': createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0, 0, -1)) * 200, 3.0f); break;
}
}
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;
}
#else
int snippetMain(int, const char* const*)
{
return 0;
}
#endif
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