414 lines
16 KiB
C++
414 lines
16 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 "../snippetdeformablevolumekinematic/SnippetDeformableVolumeKinematic.h"
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#include "../snippetdeformablevolumekinematic/MeshGenerator.h"
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#include "extensions/PxTetMakerExt.h"
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#include "extensions/PxDeformableVolumeExt.h"
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#include "extensions/PxCudaHelpersExt.h"
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using namespace physx;
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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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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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PxDeformableVolumeMaterial* material = PxGetPhysics().createDeformableVolumeMaterial(1e+6f, 0.45f, 0.5f);
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material->setDamping(0.005f);
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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(1e+6f, 0.45f, 0.5f);
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materialPtr->setMaterialModel(PxDeformableVolumeMaterialModel::eNEO_HOOKEAN);
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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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}
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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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PxCudaContextManager* cudaContextManager = gScene->getCudaContextManager();
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if (!cudaContextManager)
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{
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printf("The Deformable Volumes feature currently only runs 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 = 0.75f;
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createCube(triVerts, triIndices, PxVec3(0, 0, 0), PxVec3(2.5f, 10, 2.5f));
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PxRemeshingExt::limitMaxEdgeLength(triIndices, triVerts, maxEdgeLength);
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PxVec3 position(0, 5.0f, 0);
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for (PxU32 i = 0; i < triVerts.size(); ++i)
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{
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PxVec3& p = triVerts[i];
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PxReal corr = PxSqrt(p.x*p.x + p.z*p.z);
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if (corr != 0)
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corr = PxMax(PxAbs(p.x), PxAbs(p.z)) / corr;
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PxReal scaling = 0.75f + 0.5f * (PxCos(1.5f*p.y) + 1.0f);
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p.x *= scaling * corr;
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p.z *= scaling * corr;
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p += position;
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}
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PxRemeshingExt::limitMaxEdgeLength(triIndices, triVerts, maxEdgeLength);
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PxDeformableVolume* deformableVolume = createDeformableVolume(params, triVerts, triIndices, true);
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DeformableVolume* dv = &gDeformableVolumes[0];
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dv->copyDeformedVerticesFromGPU();
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PxU32 vertexCount = dv->mDeformableVolume->getSimulationMesh()->getNbVertices();
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PxVec4* kinematicTargets = PX_EXT_PINNED_MEMORY_ALLOC(PxVec4, *cudaContextManager, vertexCount);
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PxVec4* positionInvMass = dv->mPositionsInvMass;
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for (PxU32 i = 0; i < vertexCount; ++i)
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{
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PxVec4& p = positionInvMass[i];
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bool kinematic = false;
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if (i < triVerts.size())
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{
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if (p.y > 9.9f)
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kinematic = true;
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if (p.y > 5 - 0.1f && p.y < 5 + 0.1f)
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kinematic = true;
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if (p.y < 0.1f)
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kinematic = true;
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}
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kinematicTargets[i] = PxConfigureDeformableVolumeKinematicTarget(p, kinematic);
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}
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PxVec4* kinematicTargetsD = PX_EXT_DEVICE_MEMORY_ALLOC(PxVec4, *cudaContextManager, vertexCount);
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cudaContextManager->getCudaContext()->memcpyHtoD(reinterpret_cast<CUdeviceptr>(deformableVolume->getSimPositionInvMassBufferD()), positionInvMass, vertexCount * sizeof(PxVec4));
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cudaContextManager->getCudaContext()->memcpyHtoD(reinterpret_cast<CUdeviceptr>(kinematicTargetsD), kinematicTargets, vertexCount * sizeof(PxVec4));
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deformableVolume->setDeformableVolumeFlag(PxDeformableVolumeFlag::ePARTIALLY_KINEMATIC, true);
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deformableVolume->setKinematicTargetBufferD(kinematicTargetsD);
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dv->mTargetPositionsH = kinematicTargets;
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dv->mTargetPositionsD = kinematicTargetsD;
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dv->mTargetCount = vertexCount;
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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();
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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.f);
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createDeformableVolumes(params);
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// Setup rigid bodies
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const PxReal dynamicsDensity = 10;
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const PxReal boxSize = 0.5f;
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const PxReal spacing = 0.6f;
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const PxReal boxMass = boxSize * boxSize * boxSize * dynamicsDensity;
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const PxU32 gridSizeA = 13;
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const PxU32 gridSizeB = 3;
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const PxReal initialRadius = 1.65f;
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const PxReal distanceJointStiffness = 500.0f;
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const PxReal distanceJointDamping = 0.5f;
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(0.5f * boxSize, 0.5f * boxSize, 0.5f * boxSize), *gMaterial);
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shape->setDensityForFluid(dynamicsDensity);
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PxArray<PxRigidDynamic*> rigids;
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for (PxU32 i = 0; i < gridSizeA; ++i)
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for (PxU32 j = 0; j < gridSizeB; ++j)
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{
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PxReal x = PxCos((2 * PxPi*i) / gridSizeA);
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PxReal y = PxSin((2 * PxPi*i) / gridSizeA);
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PxVec3 pos = PxVec3((x*j)*spacing + x * initialRadius, 8, (y *j)*spacing + y * initialRadius);
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PxReal d = 0.0f;
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{
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PxReal x2 = PxCos((2 * PxPi*(i + 1)) / gridSizeA);
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PxReal y2 = PxSin((2 * PxPi*(i + 1)) / gridSizeA);
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PxVec3 pos2 = PxVec3((x2*j)*spacing + x2 * initialRadius, 8, (y2 *j)*spacing + y2 * initialRadius);
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d = (pos - pos2).magnitude();
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}
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PxRigidDynamic* body = gPhysics->createRigidDynamic(PxTransform(pos));
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body->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*body, boxMass);
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gScene->addActor(*body);
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rigids.pushBack(body);
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if (j > 0)
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{
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PxDistanceJoint* joint = PxDistanceJointCreate(*gPhysics, rigids[rigids.size() - 2], PxTransform(PxIdentity), body, PxTransform(PxIdentity));
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joint->setMaxDistance(spacing);
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joint->setMinDistance(spacing*0.5f);
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joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
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joint->setStiffness(distanceJointStiffness);
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joint->setDamping(distanceJointDamping);
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joint->setConstraintFlags(PxConstraintFlag::eCOLLISION_ENABLED);
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}
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if (i > 0)
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{
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PxDistanceJoint* joint = PxDistanceJointCreate(*gPhysics, rigids[rigids.size() - gridSizeB - 1], PxTransform(PxIdentity), body, PxTransform(PxIdentity));
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joint->setMaxDistance(d);
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joint->setMinDistance(d*0.5f);
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joint->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
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joint->setStiffness(distanceJointStiffness);
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joint->setDamping(distanceJointDamping);
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joint->setConstraintFlags(PxConstraintFlag::eCOLLISION_ENABLED);
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if (i == gridSizeA - 1)
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{
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PxDistanceJoint* joint2 = PxDistanceJointCreate(*gPhysics, rigids[j], PxTransform(PxIdentity), body, PxTransform(PxIdentity));
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joint2->setMaxDistance(d);
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joint2->setMinDistance(d*0.5f);
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joint2->setDistanceJointFlags(PxDistanceJointFlag::eMAX_DISTANCE_ENABLED | PxDistanceJointFlag::eMIN_DISTANCE_ENABLED | PxDistanceJointFlag::eSPRING_ENABLED);
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joint2->setStiffness(distanceJointStiffness);
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joint2->setDamping(distanceJointDamping);
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joint->setConstraintFlags(PxConstraintFlag::eCOLLISION_ENABLED);
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}
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}
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}
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shape->release();
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}
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PxReal simTime = 0.0f;
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void stepPhysics(bool /*interactive*/)
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{
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const PxReal dt = 1.0f / 60.f;
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gScene->simulate(dt);
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gScene->fetchResults(true);
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for (PxU32 i = 0; i < gDeformableVolumes.size(); i++)
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{
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DeformableVolume* dv = &gDeformableVolumes[i];
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dv->copyDeformedVerticesFromGPU();
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PxCudaContextManager* cudaContextManager = dv->mCudaContextManager;
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//Update the kinematic targets to get some motion
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if (i == 0)
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{
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PxReal scaling = PxMin(0.01f, simTime * 0.1f);
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PxReal velocity = 1.0f;
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for (PxU32 j = 0; j < dv->mTargetCount; ++j)
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{
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PxVec4& target = dv->mTargetPositionsH[j];
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if (target.w == 0.0f)
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{
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PxReal phase = target.y*2.0f;
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target.x += scaling * PxSin(velocity * simTime + phase);
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target.z += scaling * PxCos(velocity * simTime + phase);
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}
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}
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PxScopedCudaLock _lock(*cudaContextManager);
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cudaContextManager->getCudaContext()->memcpyHtoD(reinterpret_cast<CUdeviceptr>(dv->mTargetPositionsD), dv->mTargetPositionsH, dv->mTargetCount * sizeof(PxVec4));
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}
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}
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simTime += dt;
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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for (PxU32 i = 0; i < gDeformableVolumes.size(); i++)
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gDeformableVolumes[i].release();
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gDeformableVolumes.reset();
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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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PxCloseExtensions();
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PX_RELEASE(gCudaContextManager);
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PX_RELEASE(gFoundation);
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printf("SnippetDeformableVolumeKinematic done.\n");
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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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