497 lines
18 KiB
C++
497 lines
18 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 demonstrates how to setup deformable volumes.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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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 "../snippetdeformablevolumeskinning/SnippetDeformableVolumeSkinning.h"
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#include "../snippetdeformablevolume/MeshGenerator.h"
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#include "extensions/PxTetMakerExt.h"
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#include "extensions/PxDeformableVolumeExt.h"
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#include "PxDeformableSkinning.h"
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#include "gpu/PxPhysicsGpu.h"
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#include "extensions/PxCudaHelpersExt.h"
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#include "extensions/PxDeformableSkinningExt.h"
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#include "extensions/PxRemeshingExt.h"
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using namespace physx;
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using namespace physx::Ext;
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using namespace meshgenerator;
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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 PxCudaContextManager* gCudaContextManager = 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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PxArray<DeformableVolume> gDeformableVolumes;
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PxArray<SkinnedMesh> gSkinnedMeshes;
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BasePostSolveCallback* gSkinning;
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template<typename T>
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class HostAndDeviceBuffer
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{
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public:
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PxCudaContextManager* mContextManager;
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T* mDeviceData;
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T* mHostData; //Pinned host memory
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PxU32 mNumElements;
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HostAndDeviceBuffer() :
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mContextManager(NULL), mDeviceData(NULL), mHostData(NULL), mNumElements(0)
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{}
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HostAndDeviceBuffer(PxCudaContextManager* contextManager, PxU32 numElements) :
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mContextManager(contextManager), mDeviceData(NULL), mHostData(NULL), mNumElements(0)
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{
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allocate(numElements);
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}
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void initialize(PxCudaContextManager* contextManager, PxU32 numElements)
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{
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mContextManager = contextManager;
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allocate(numElements);
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}
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void initialize(PxCudaContextManager* contextManager, const T* dataSource, PxU32 numElements)
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{
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mContextManager = contextManager;
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allocate(numElements);
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PxMemCopy(mHostData, dataSource, numElements * sizeof(T));
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}
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void allocate(PxU32 numElements)
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{
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release();
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mDeviceData = PxCudaHelpersExt::allocDeviceBuffer<T>(*mContextManager, numElements);
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mHostData = PxCudaHelpersExt::allocPinnedHostBuffer<T>(*mContextManager, numElements);
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mNumElements = numElements;
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}
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void copyDeviceToHost(PxU32 numElementsToCopy = 0xFFFFFFFF)
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{
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PxCudaHelpersExt::copyDToH(*mContextManager, mHostData, mDeviceData, PxMin(numElementsToCopy, mNumElements));
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}
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void copyHostToDevice(PxU32 numElementsToCopy = 0xFFFFFFFF)
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{
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PxCudaHelpersExt::copyHToD<T>(*mContextManager, mDeviceData, mHostData, PxMin(numElementsToCopy, mNumElements));
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}
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void copyDeviceToHostAsync(CUstream stream, PxU32 numElementsToCopy = 0xFFFFFFFF)
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{
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PxCudaHelpersExt::copyDToHAsync(*mContextManager, mHostData, mDeviceData, PxMin(numElementsToCopy, mNumElements), stream);
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}
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void release()
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{
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PxCudaHelpersExt::freeDeviceBuffer(*mContextManager, mDeviceData);
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PxCudaHelpersExt::freePinnedHostBuffer(*mContextManager, mHostData);
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}
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};
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struct VolumeSkinningHelper
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{
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PxDeformableVolume* mDeformableVolume;
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HostAndDeviceBuffer<PxU32> mDeformableVolumeTets;
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HostAndDeviceBuffer<PxTetrahedronMeshEmbeddingInfo> mSkinningInfo;
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HostAndDeviceBuffer<PxVec3> mSkinnedVertices;
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PxU32 mNumSkinnedVertices;
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VolumeSkinningHelper() : mDeformableVolume(NULL), mNumSkinnedVertices(0)
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{ }
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VolumeSkinningHelper(PxCudaContextManager* contextManager, PxDeformableVolume* deformableVolume, PxVec3* skinnedPointsRestPosition, PxU32 nbSkinnedPoints)
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: mDeformableVolume(deformableVolume)
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{
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PxTetrahedronMesh& simulationMesh = *deformableVolume->getSimulationMesh();
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PxU32 nbTetrahedra = simulationMesh.getNbTetrahedrons();
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bool uses16bit = simulationMesh.getTetrahedronMeshFlags() & PxTetrahedronMeshFlag::e16_BIT_INDICES;
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mDeformableVolumeTets.initialize(contextManager, 4 * nbTetrahedra);
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if (uses16bit)
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{
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const PxU16* tetIndices = reinterpret_cast<const PxU16*>(simulationMesh.getTetrahedrons());
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for (PxU32 i = 0; i < mDeformableVolumeTets.mNumElements; ++i)
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mDeformableVolumeTets.mHostData[i] = tetIndices[i];
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}
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else
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{
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const PxU32* tetIndices = reinterpret_cast<const PxU32*>(simulationMesh.getTetrahedrons());
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for (PxU32 i = 0; i < mDeformableVolumeTets.mNumElements; ++i)
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mDeformableVolumeTets.mHostData[i] = tetIndices[i];
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}
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mSkinnedVertices.initialize(contextManager, skinnedPointsRestPosition, nbSkinnedPoints);
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mNumSkinnedVertices = nbSkinnedPoints;
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mSkinningInfo.initialize(contextManager, nbSkinnedPoints);
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PxDeformableSkinningExt::initializeInterpolatedVertices(
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mSkinningInfo.mHostData, simulationMesh.getVertices(), mDeformableVolumeTets.mHostData,
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nbTetrahedra, skinnedPointsRestPosition, nbSkinnedPoints);
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mDeformableVolumeTets.copyHostToDevice();
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mSkinnedVertices.copyHostToDevice();
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mSkinningInfo.copyHostToDevice();
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}
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void packageGpuData(PxTetmeshSkinningGpuData& target)
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{
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target.guideVerticesD.data = reinterpret_cast<PxVec3*>(mDeformableVolume->getSimPositionInvMassBufferD());
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target.guideVerticesD.stride = sizeof(PxVec4);
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target.guideTetrahedraD = mDeformableVolumeTets.mDeviceData;
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target.skinningInfoPerVertexD = mSkinningInfo.mDeviceData;
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target.skinnedVerticesD.count = mNumSkinnedVertices;
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target.skinnedVerticesD.stride = sizeof(PxVec3);
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target.skinnedVerticesD.data = mSkinnedVertices.mHostData; //This works because it's pinned memory - no device to host transfer will be required
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}
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void release()
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{
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mDeformableVolumeTets.release();
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mSkinnedVertices.release();
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mSkinningInfo.release();
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}
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};
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struct PostSolveCallback : BasePostSolveCallback, PxUserAllocated
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{
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CUstream mSkinningStream;
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PxCudaContextManager* mContextManager;
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PxDeformableSkinning* skinning;
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PxArray<VolumeSkinningHelper> skinningHelpers;
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HostAndDeviceBuffer<PxTetmeshSkinningGpuData> packagedSkinningData;
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PostSolveCallback(PxCudaContextManager* contextManager, PxU32 maxNumDeformableVolumes) :
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mContextManager(contextManager)
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{
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const PxU32 CU_STREAM_NON_BLOCKING = 0x1;
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mContextManager->getCudaContext()->streamCreate(&mSkinningStream, CU_STREAM_NON_BLOCKING);
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skinning = PxGetPhysicsGpu()->createDeformableSkinning(contextManager);
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packagedSkinningData.initialize(contextManager, maxNumDeformableVolumes);
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skinningHelpers.resize(maxNumDeformableVolumes);
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}
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void setDeformableVolume(PxU32 index, PxDeformableVolume* deformableVolume, PxVec3* skinnedPointsRestPosition, PxU32 nbSkinnedPoints)
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{
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skinningHelpers[index] = VolumeSkinningHelper(mContextManager, deformableVolume, skinnedPointsRestPosition, nbSkinnedPoints);
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}
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virtual void onPostSolve(CUevent startEvent)
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{
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mContextManager->getCudaContext()->streamWaitEvent(mSkinningStream, startEvent);
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for (PxU32 i = 0; i < skinningHelpers.size(); ++i)
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skinningHelpers[i].packageGpuData(packagedSkinningData.mHostData[i]);
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packagedSkinningData.copyHostToDevice(skinningHelpers.size());
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skinning->evaluateVerticesEmbeddedIntoVolume(packagedSkinningData.mDeviceData, skinningHelpers.size(), mSkinningStream);
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//mSkinnedVertices.copyDeviceToHostAsync(mSkinningStream);
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}
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virtual void synchronize()
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{
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mContextManager->getCudaContext()->streamSynchronize(mSkinningStream);
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}
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virtual PxVec3* getSkinnedVertices(PxU32 deformableVolumeIndex)
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{
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return skinningHelpers[deformableVolumeIndex].mSkinnedVertices.mHostData;
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}
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~PostSolveCallback()
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{
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mContextManager->getCudaContext()->streamDestroy(mSkinningStream);
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for (PxU32 i = 0; i < skinningHelpers.size(); ++i)
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skinningHelpers[i].release();
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PX_DELETE(skinning);
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}
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};
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PostSolveCallback* postSolveCallback;
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void addDeformableVolume(PxDeformableVolume* deformableVolume, const PxTransform& transform, const PxReal density, const PxReal scale)
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{
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PxVec4* simPositionInvMassPinned;
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PxVec4* simVelocityPinned;
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PxVec4* collPositionInvMassPinned;
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PxVec4* restPositionPinned;
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PxDeformableVolumeExt::allocateAndInitializeHostMirror(*deformableVolume, gCudaContextManager, simPositionInvMassPinned, simVelocityPinned, collPositionInvMassPinned, restPositionPinned);
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const PxReal maxInvMassRatio = 50.f;
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PxDeformableVolumeExt::transform(*deformableVolume, transform, scale, simPositionInvMassPinned, simVelocityPinned, collPositionInvMassPinned, restPositionPinned);
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PxDeformableVolumeExt::updateMass(*deformableVolume, density, maxInvMassRatio, simPositionInvMassPinned);
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PxDeformableVolumeExt::copyToDevice(*deformableVolume, PxDeformableVolumeDataFlag::eALL, simPositionInvMassPinned, simVelocityPinned, collPositionInvMassPinned, restPositionPinned);
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DeformableVolume volume(deformableVolume, gCudaContextManager);
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gDeformableVolumes.pushBack(volume);
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PX_EXT_PINNED_MEMORY_FREE(*gCudaContextManager, simPositionInvMassPinned);
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PX_EXT_PINNED_MEMORY_FREE(*gCudaContextManager, simVelocityPinned);
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PX_EXT_PINNED_MEMORY_FREE(*gCudaContextManager, collPositionInvMassPinned);
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PX_EXT_PINNED_MEMORY_FREE(*gCudaContextManager, restPositionPinned);
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}
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static PxDeformableVolume* createDeformableVolume(const PxCookingParams& params, const PxArray<PxVec3>& triVerts, const PxArray<PxU32>& triIndices, bool useCollisionMeshForSimulation = false)
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{
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PxDeformableVolumeMesh* deformableVolumeMesh;
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PxU32 numVoxelsAlongLongestAABBAxis = 8;
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PxSimpleTriangleMesh surfaceMesh;
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surfaceMesh.points.count = triVerts.size();
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surfaceMesh.points.data = triVerts.begin();
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surfaceMesh.triangles.count = triIndices.size() / 3;
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surfaceMesh.triangles.data = triIndices.begin();
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if (useCollisionMeshForSimulation)
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{
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deformableVolumeMesh = PxDeformableVolumeExt::createDeformableVolumeMeshNoVoxels(params, surfaceMesh, gPhysics->getPhysicsInsertionCallback());
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}
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else
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{
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deformableVolumeMesh = PxDeformableVolumeExt::createDeformableVolumeMesh(params, surfaceMesh, numVoxelsAlongLongestAABBAxis, gPhysics->getPhysicsInsertionCallback());
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}
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//Alternatively one can cook a deformable volume mesh in a single step
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//tetMesh = cooking.createDeformableVolumeMesh(simulationMeshDesc, collisionMeshDesc, deformableVolumeDesc, physics.getPhysicsInsertionCallback());
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PX_ASSERT(deformableVolumeMesh);
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if (!gCudaContextManager)
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return NULL;
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PxDeformableVolume* deformableVolume = gPhysics->createDeformableVolume(*gCudaContextManager);
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if (deformableVolume)
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{
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PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE;
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PxDeformableVolumeMaterial* materialPtr = PxGetPhysics().createDeformableVolumeMaterial(2.e+5f, 0.3f, 0.1f);
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PxTetrahedronMeshGeometry geometry(deformableVolumeMesh->getCollisionMesh());
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PxShape* shape = gPhysics->createShape(geometry, &materialPtr, 1, true, shapeFlags);
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if (shape)
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{
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deformableVolume->attachShape(*shape);
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shape->setSimulationFilterData(PxFilterData(0, 0, 2, 0));
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}
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deformableVolume->attachSimulationMesh(*deformableVolumeMesh->getSimulationMesh(), *deformableVolumeMesh->getDeformableVolumeAuxData());
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gScene->addActor(*deformableVolume);
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addDeformableVolume(deformableVolume, PxTransform(PxVec3(0.f, 0.f, 0.f), PxQuat(PxIdentity)), 100.f, 1.0f);
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deformableVolume->setDeformableBodyFlag(PxDeformableBodyFlag::eDISABLE_SELF_COLLISION, true);
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deformableVolume->setSolverIterationCounts(30);
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PxArray<PxU32> subdividedTriangles = triIndices;
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PxArray<PxVec3> subdividedVertices = triVerts;
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PxRemeshingExt::limitMaxEdgeLength(subdividedTriangles, subdividedVertices, 0.0001f, 2);
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SkinnedMesh mesh;
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for (PxU32 i = 0; i < subdividedTriangles.size(); ++i)
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mesh.mTriangles.pushBack(subdividedTriangles[i]);
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for (PxU32 i = 0; i < subdividedVertices.size(); ++i)
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mesh.mVertices.pushBack(subdividedVertices[i]);
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gSkinnedMeshes.pushBack(mesh);
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}
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return deformableVolume;
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}
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static void createDeformableVolumes(const PxCookingParams& params)
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{
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if (gCudaContextManager == NULL)
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{
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printf("The Deformable Volume feature is currently only supported on GPU\n");
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return;
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}
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PxArray<PxVec3> triVerts;
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PxArray<PxU32> triIndices;
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PxReal maxEdgeLength = 1;
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createCube(triVerts, triIndices, PxVec3(0.0, 9, 0), 2.5);
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PxRemeshingExt::limitMaxEdgeLength(triIndices, triVerts, maxEdgeLength);
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createDeformableVolume(params, triVerts, triIndices);
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createSphere(triVerts, triIndices, PxVec3(0, 4.5, 0), 2.5, maxEdgeLength);
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createDeformableVolume(params, triVerts, triIndices);
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createConeY(triVerts, triIndices, PxVec3(0.1, 11.5, 0), 2.0f, 3.5);
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PxRemeshingExt::limitMaxEdgeLength(triIndices, triVerts, maxEdgeLength);
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createDeformableVolume(params, triVerts, triIndices);
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postSolveCallback = PX_NEW(PostSolveCallback)(gCudaContextManager, PxU32(gSkinnedMeshes.size()));
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gSkinning = postSolveCallback;
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for (PxU32 i = 0; i < gSkinnedMeshes.size(); ++i)
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{
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SkinnedMesh& skinnedMesh = gSkinnedMeshes[i];
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postSolveCallback->setDeformableVolume(i, gDeformableVolumes[i].mDeformableVolume, &skinnedMesh.mVertices[0], PxU32(skinnedMesh.mVertices.size()));
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}
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gScene->setDeformableVolumeGpuPostSolveCallback(postSolveCallback);
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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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// initialize cuda
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PxCudaContextManagerDesc cudaContextManagerDesc;
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gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc, PxGetProfilerCallback());
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if (gCudaContextManager && !gCudaContextManager->contextIsValid())
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{
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PX_RELEASE(gCudaContextManager);
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printf("Failed to initialize cuda context.\n");
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}
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PxTolerancesScale scale;
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gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, scale, true, gPvd);
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PxInitExtensions(*gPhysics, gPvd);
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PxCookingParams params(scale);
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params.meshWeldTolerance = 0.001f;
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params.meshPreprocessParams = PxMeshPreprocessingFlags(PxMeshPreprocessingFlag::eWELD_VERTICES);
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params.buildTriangleAdjacencies = false;
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params.buildGPUData = true;
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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if (!sceneDesc.cudaContextManager)
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sceneDesc.cudaContextManager = gCudaContextManager;
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sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
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sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
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PxU32 numCores = SnippetUtils::getNbPhysicalCores();
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gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
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sceneDesc.gpuMaxNumPartitions = 8;
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sceneDesc.solverType = PxSolverType::eTGS;
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gScene = gPhysics->createScene(sceneDesc);
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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.f);
|
|
|
|
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0, 1, 0, 0), *gMaterial);
|
|
gScene->addActor(*groundPlane);
|
|
|
|
createDeformableVolumes(params);
|
|
}
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
const PxReal dt = 1.0f / 60.f;
|
|
|
|
gScene->simulate(dt);
|
|
gScene->fetchResults(true);
|
|
|
|
for (PxU32 i = 0; i < gDeformableVolumes.size(); i++)
|
|
{
|
|
DeformableVolume* dv = &gDeformableVolumes[i];
|
|
dv->copyDeformedVerticesFromGPU();
|
|
}
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
for (PxU32 i = 0; i < gDeformableVolumes.size(); i++)
|
|
gDeformableVolumes[i].release();
|
|
gDeformableVolumes.reset();
|
|
|
|
gSkinnedMeshes.reset();
|
|
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
if (gPvd)
|
|
{
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
PX_RELEASE(gPvd);
|
|
PX_RELEASE(transport);
|
|
}
|
|
PxCloseExtensions();
|
|
|
|
PX_RELEASE(gCudaContextManager);
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetDeformableVolumeSkinning 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;
|
|
}
|