308 lines
11 KiB
C++
308 lines
11 KiB
C++
// 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 implement custom geometries generateContacts
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// callback, using PhysX Immediate Mode contacts generation.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "PxImmediateMode.h"
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#include "geomutils/PxContactBuffer.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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using namespace physx;
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/*
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10x10 grid of boxes with even boxes removed.
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*/
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struct CheckerBoard : PxCustomGeometry::Callbacks
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{
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int boardSize;
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float boxExtent;
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DECLARE_CUSTOM_GEOMETRY_TYPE
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CheckerBoard()
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:
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boardSize(10),
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boxExtent(10.0f)
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{}
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struct ContactRecorder : immediate::PxContactRecorder
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{
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PxContactBuffer* contactBuffer;
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ContactRecorder(PxContactBuffer& _contactBuffer) : contactBuffer(&_contactBuffer) {}
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virtual bool recordContacts(const PxContactPoint* contactPoints, PxU32 nbContacts, PxU32 /*index*/)
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{
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for (PxU32 i = 0; i < nbContacts; ++i)
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if (!contactBuffer->contact(contactPoints[i]))
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return false;
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return true;
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}
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};
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struct ContactCacheAllocator : PxCacheAllocator
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{
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PxU8 buffer[1024];
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ContactCacheAllocator() { memset(buffer, 0, sizeof(buffer)); }
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virtual PxU8* allocateCacheData(const PxU32 /*byteSize*/) { return (PxU8*)(size_t(buffer + 0xf) & ~0xf); }
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};
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PxBounds3 getBoardLocalBounds() const
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{
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return PxBounds3(-PxVec3(boardSize * boxExtent * 0.5f, boxExtent * 0.5f, boardSize * boxExtent * 0.5f),
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PxVec3(boardSize * boxExtent * 0.5f, boxExtent * 0.5f, boardSize * boxExtent * 0.5f));
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}
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virtual PxBounds3 getLocalBounds(const PxGeometry&) const
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{
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return getBoardLocalBounds();
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}
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virtual bool generateContacts(const PxGeometry&, const PxGeometry& geom1, const PxTransform& pose0, const PxTransform& pose1,
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const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength,
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PxContactBuffer& contactBuffer) const
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{
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PxBoxGeometry boxGeom(PxVec3(boxExtent * 0.5f));
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PxGeometry* pGeom0 = &boxGeom;
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const PxGeometry* pGeom1 = &geom1;
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PxTransform pose1in0 = pose0.transformInv(pose1);
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PxBounds3 bounds1; PxGeometryQuery::computeGeomBounds(bounds1, geom1, pose1in0, contactDistance);
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ContactRecorder contactRecorder(contactBuffer);
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PxCache contactCache;
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ContactCacheAllocator contactCacheAllocator;
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PxBounds3 bounds0 = getBoardLocalBounds();
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PxVec3 s = bounds1.minimum + bounds0.getExtents();
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PxVec3 e = bounds1.maximum + bounds0.getExtents();
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int sx = int(PxFloor(s.x / boxExtent));
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int sy = int(PxFloor(s.y / boxExtent));
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int sz = int(PxFloor(s.z / boxExtent));
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int ex = int(PxFloor(e.x / boxExtent));
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int ey = int(PxFloor(e.y / boxExtent));
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int ez = int(PxFloor(e.z / boxExtent));
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for (int x = sx; x <= ex; ++x)
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for (int y = sy; y <= ey; ++y)
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for (int z = sz; z <= ez; ++z)
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if (x >= 0 && x < boardSize &&
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y >= 0 && y < boardSize &&
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z >= 0 && z < boardSize &&
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(x + z) & 1 &&
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y == 0)
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{
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PxVec3 boxPos = PxVec3((x + 0.5f) * boxExtent, (y + 0.5f) * boxExtent, (z + 0.5f) * boxExtent) - bounds0.getExtents();
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PxTransform p0 = pose0.transform(PxTransform(boxPos));
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immediate::PxGenerateContacts(&pGeom0, &pGeom1, &p0, &pose1, &contactCache, 1, contactRecorder,
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contactDistance, meshContactMargin, toleranceLength, contactCacheAllocator);
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}
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return true;
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}
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virtual PxU32 raycast(const PxVec3&, const PxVec3&, const PxGeometry&, const PxTransform&,
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PxReal, PxHitFlags, PxU32, PxGeomRaycastHit*, PxU32, PxRaycastThreadContext*) const
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{
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return 0;
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}
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virtual bool overlap(const PxGeometry&, const PxTransform&, const PxGeometry&, const PxTransform&, PxOverlapThreadContext*) const
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{
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return false;
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}
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virtual bool sweep(const PxVec3&, const PxReal,
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const PxGeometry&, const PxTransform&, const PxGeometry&, const PxTransform&,
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PxGeomSweepHit&, PxHitFlags, const PxReal, PxSweepThreadContext*) const
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{
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return false;
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}
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virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const {}
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virtual void computeMassProperties(const physx::PxGeometry&, physx::PxMassProperties&) const {}
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virtual bool usePersistentContactManifold(const PxGeometry&, PxReal&) const { return false; }
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};
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IMPLEMENT_CUSTOM_GEOMETRY_TYPE(CheckerBoard)
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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 CheckerBoard gCheckerBoard;
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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 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 * 3, 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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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 checker board actor
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PxRigidStatic* checkerBoardActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0, gCheckerBoard.boxExtent * 0.5f, 0)));
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PxRigidActorExt::createExclusiveShape(*checkerBoardActor, PxCustomGeometry(gCheckerBoard), *gMaterial);
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gScene->addActor(*checkerBoardActor);
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gActor = checkerBoardActor;
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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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createStack(PxTransform(PxVec3(0, 22, 0)), 10, 2.0f);
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}
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void debugRender()
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{
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float boxExtent = gCheckerBoard.boxExtent;
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PxBounds3 boardBounds = gCheckerBoard.getBoardLocalBounds();
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PxGeometryHolder geom;
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geom.storeAny(PxBoxGeometry(PxVec3(boxExtent * 0.5f)));
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for (int x = 0; x < gCheckerBoard.boardSize; ++x)
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for (int y = 0; y < 1; ++y)
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for (int z = 0; z < gCheckerBoard.boardSize; ++z)
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if ((x + z) & 1)
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{
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PxVec3 boxPos = PxVec3((x + 0.5f) * boxExtent, (y + 0.5f) * boxExtent, (z + 0.5f) * boxExtent) - boardBounds.getExtents();
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PxTransform pose = gActor->getGlobalPose().transform(PxTransform(boxPos));
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Snippets::renderGeoms(1, &geom, &pose, false, PxVec3(0.5f));
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}
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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_RELEASE(gScene);
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PX_RELEASE(gDispatcher);
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PX_RELEASE(gPhysics);
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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("SnippetCustomGeometryCollision 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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