434 lines
18 KiB
C++
434 lines
18 KiB
C++
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
// ****************************************************************************
|
|
// This snippet demonstrates the use of Reduced Coordinates articulations.
|
|
// ****************************************************************************
|
|
|
|
#include <ctype.h>
|
|
#include "PxPhysicsAPI.h"
|
|
#include "../snippetutils/SnippetUtils.h"
|
|
#include "../snippetcommon/SnippetPrint.h"
|
|
#include "../snippetcommon/SnippetPVD.h"
|
|
|
|
using namespace physx;
|
|
|
|
static PxDefaultAllocator gAllocator;
|
|
static PxDefaultErrorCallback gErrorCallback;
|
|
static PxFoundation* gFoundation = NULL;
|
|
static PxPhysics* gPhysics = NULL;
|
|
static PxDefaultCpuDispatcher* gDispatcher = NULL;
|
|
static PxScene* gScene = NULL;
|
|
static PxMaterial* gMaterial = NULL;
|
|
static PxPvd* gPvd = NULL;
|
|
static PxArticulationReducedCoordinate* gArticulation = NULL;
|
|
static PxArticulationJointReducedCoordinate* gDriveJoint = NULL;
|
|
|
|
static PxFilterFlags scissorFilter( PxFilterObjectAttributes attributes0, PxFilterData filterData0,
|
|
PxFilterObjectAttributes attributes1, PxFilterData filterData1,
|
|
PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
|
|
{
|
|
PX_UNUSED(attributes0);
|
|
PX_UNUSED(attributes1);
|
|
PX_UNUSED(constantBlock);
|
|
PX_UNUSED(constantBlockSize);
|
|
if (filterData0.word2 != 0 && filterData0.word2 == filterData1.word2)
|
|
return PxFilterFlag::eKILL;
|
|
pairFlags |= PxPairFlag::eCONTACT_DEFAULT;
|
|
return PxFilterFlag::eDEFAULT;
|
|
}
|
|
|
|
static void createScissorLift()
|
|
{
|
|
const PxReal runnerLength = 2.f;
|
|
const PxReal placementDistance = 1.8f;
|
|
|
|
const PxReal cosAng = (placementDistance) / (runnerLength);
|
|
|
|
const PxReal angle = PxAcos(cosAng);
|
|
|
|
const PxReal sinAng = PxSin(angle);
|
|
|
|
const PxQuat leftRot(-angle, PxVec3(1.f, 0.f, 0.f));
|
|
const PxQuat rightRot(angle, PxVec3(1.f, 0.f, 0.f));
|
|
|
|
//(1) Create base...
|
|
PxArticulationLink* base = gArticulation->createLink(NULL, PxTransform(PxVec3(0.f, 0.25f, 0.f)));
|
|
PxRigidActorExt::createExclusiveShape(*base, PxBoxGeometry(0.5f, 0.25f, 1.5f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*base, 3.f);
|
|
|
|
//Now create the slider and fixed joints...
|
|
|
|
gArticulation->setSolverIterationCounts(32);
|
|
|
|
PxArticulationLink* leftRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, -0.9f)));
|
|
PxRigidActorExt::createExclusiveShape(*leftRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*leftRoot, 1.f);
|
|
|
|
PxArticulationLink* rightRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, 0.9f)));
|
|
PxRigidActorExt::createExclusiveShape(*rightRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*rightRoot, 1.f);
|
|
|
|
PxArticulationJointReducedCoordinate* joint = leftRoot->getInboundJoint();
|
|
joint->setJointType(PxArticulationJointType::eFIX);
|
|
joint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, -0.9f)));
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
|
|
|
|
//Set up the drive joint...
|
|
gDriveJoint = rightRoot->getInboundJoint();
|
|
gDriveJoint->setJointType(PxArticulationJointType::ePRISMATIC);
|
|
gDriveJoint->setMotion(PxArticulationAxis::eZ, PxArticulationMotion::eLIMITED);
|
|
gDriveJoint->setLimitParams(PxArticulationAxis::eZ, PxArticulationLimit(-1.4f, 0.2f));
|
|
gDriveJoint->setDriveParams(PxArticulationAxis::eZ, PxArticulationDrive(100000.f, 0.f, PX_MAX_F32));
|
|
|
|
gDriveJoint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, 0.9f)));
|
|
gDriveJoint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
|
|
|
|
|
|
const PxU32 linkHeight = 3;
|
|
PxArticulationLink* currLeft = leftRoot, *currRight = rightRoot;
|
|
|
|
PxQuat rightParentRot(PxIdentity);
|
|
PxQuat leftParentRot(PxIdentity);
|
|
for (PxU32 i = 0; i < linkHeight; ++i)
|
|
{
|
|
const PxVec3 pos(0.5f, 0.55f + 0.1f*(1 + i), 0.f);
|
|
PxArticulationLink* leftLink = gArticulation->createLink(currLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
|
|
PxRigidActorExt::createExclusiveShape(*leftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*leftLink, 1.f);
|
|
|
|
const PxVec3 leftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
|
|
|
|
joint = leftLink->getInboundJoint();
|
|
joint->setParentPose(PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
|
|
leftParentRot = leftRot;
|
|
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
|
|
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
|
|
|
|
|
|
PxArticulationLink* rightLink = gArticulation->createLink(currRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
|
|
PxRigidActorExt::createExclusiveShape(*rightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*rightLink, 1.f);
|
|
|
|
const PxVec3 rightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
|
|
|
|
joint = rightLink->getInboundJoint();
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
joint->setParentPose(PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
|
|
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
|
|
|
|
rightParentRot = rightRot;
|
|
|
|
PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, leftLink, PxTransform(PxIdentity), rightLink, PxTransform(PxIdentity));
|
|
|
|
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
|
|
|
|
currLeft = rightLink;
|
|
currRight = leftLink;
|
|
}
|
|
|
|
|
|
PxArticulationLink* leftTop = gArticulation->createLink(currLeft, currLeft->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, -1.0f), leftParentRot)));
|
|
PxRigidActorExt::createExclusiveShape(*leftTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*leftTop, 1.f);
|
|
|
|
PxArticulationLink* rightTop = gArticulation->createLink(currRight, currRight->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, 1.0f), rightParentRot)));
|
|
PxRigidActorExt::createExclusiveShape(*rightTop, PxCapsuleGeometry(0.05f, 0.8f), *gMaterial);
|
|
//PxRigidActorExt::createExclusiveShape(*rightTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*rightTop, 1.f);
|
|
|
|
joint = leftTop->getInboundJoint();
|
|
joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, -1.f), currLeft->getGlobalPose().q.getConjugate()));
|
|
joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), leftTop->getGlobalPose().q.getConjugate()));
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
|
|
|
|
joint = rightTop->getInboundJoint();
|
|
joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, 1.f), currRight->getGlobalPose().q.getConjugate()));
|
|
joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), rightTop->getGlobalPose().q.getConjugate()));
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
|
|
|
|
|
|
currLeft = leftRoot;
|
|
currRight = rightRoot;
|
|
|
|
rightParentRot = PxQuat(PxIdentity);
|
|
leftParentRot = PxQuat(PxIdentity);
|
|
|
|
for (PxU32 i = 0; i < linkHeight; ++i)
|
|
{
|
|
const PxVec3 pos(-0.5f, 0.55f + 0.1f*(1 + i), 0.f);
|
|
PxArticulationLink* leftLink = gArticulation->createLink(currLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
|
|
PxRigidActorExt::createExclusiveShape(*leftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*leftLink, 1.f);
|
|
|
|
const PxVec3 leftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
|
|
|
|
joint = leftLink->getInboundJoint();
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
joint->setParentPose(PxTransform(currLeft->getGlobalPose().transformInv(leftAnchorLocation), leftParentRot));
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
|
|
|
|
leftParentRot = leftRot;
|
|
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
|
|
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
|
|
|
|
PxArticulationLink* rightLink = gArticulation->createLink(currRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
|
|
PxRigidActorExt::createExclusiveShape(*rightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*rightLink, 1.f);
|
|
|
|
const PxVec3 rightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
|
|
|
|
/*joint = PxD6JointCreate(getPhysics(), currRight, PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation)),
|
|
rightLink, PxTransform(PxVec3(0.f, 0.f, 1.f)));*/
|
|
|
|
joint = rightLink->getInboundJoint();
|
|
joint->setParentPose(PxTransform(currRight->getGlobalPose().transformInv(rightAnchorLocation), rightParentRot));
|
|
joint->setJointType(PxArticulationJointType::eREVOLUTE);
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
|
|
joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
|
|
joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
|
|
|
|
rightParentRot = rightRot;
|
|
|
|
PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, leftLink, PxTransform(PxIdentity), rightLink, PxTransform(PxIdentity));
|
|
|
|
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
|
|
|
|
currLeft = rightLink;
|
|
currRight = leftLink;
|
|
}
|
|
|
|
PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, currLeft, PxTransform(PxVec3(0.f, 0.f, -1.f)), leftTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
|
|
|
|
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
|
|
|
|
d6joint = PxD6JointCreate(*gPhysics, currRight, PxTransform(PxVec3(0.f, 0.f, 1.f)), rightTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
|
|
|
|
d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
|
|
d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
|
|
|
|
|
|
const PxTransform topPose(PxVec3(0.f, leftTop->getGlobalPose().p.y + 0.15f, 0.f));
|
|
|
|
PxArticulationLink* top = gArticulation->createLink(leftTop, topPose);
|
|
PxRigidActorExt::createExclusiveShape(*top, PxBoxGeometry(0.5f, 0.1f, 1.5f), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*top, 1.f);
|
|
|
|
joint = top->getInboundJoint();
|
|
joint->setJointType(PxArticulationJointType::eFIX);
|
|
joint->setParentPose(PxTransform(PxVec3(0.f, 0.0f, 0.f)));
|
|
joint->setChildPose(PxTransform(PxVec3(0.f, -0.15f, -0.9f)));
|
|
|
|
gScene->addArticulation(*gArticulation);
|
|
|
|
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
|
|
{
|
|
PxArticulationLink* link;
|
|
gArticulation->getLinks(&link, 1, i);
|
|
|
|
link->setLinearDamping(0.2f);
|
|
link->setAngularDamping(0.2f);
|
|
|
|
link->setMaxAngularVelocity(20.f);
|
|
link->setMaxLinearVelocity(100.f);
|
|
|
|
if (link != top)
|
|
{
|
|
for (PxU32 b = 0; b < link->getNbShapes(); ++b)
|
|
{
|
|
PxShape* shape;
|
|
link->getShapes(&shape, 1, b);
|
|
|
|
shape->setSimulationFilterData(PxFilterData(0, 0, 1, 0));
|
|
}
|
|
}
|
|
}
|
|
|
|
const PxVec3 halfExt(0.25f);
|
|
const PxReal density(0.5f);
|
|
|
|
PxRigidDynamic* box0 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 5.f, 0.5f)));
|
|
PxShape* shape0 = PxRigidActorExt::createExclusiveShape(*box0, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box0, density);
|
|
gScene->addActor(*box0);
|
|
|
|
PxRigidDynamic* box1 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 5.f, 0.5f)));
|
|
PxShape* shape1 = PxRigidActorExt::createExclusiveShape(*box1, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box1, density);
|
|
gScene->addActor(*box1);
|
|
|
|
PxRigidDynamic* box2 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 4.5f, 0.5f)));
|
|
PxShape* shape2 = PxRigidActorExt::createExclusiveShape(*box2, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box2, density);
|
|
gScene->addActor(*box2);
|
|
|
|
PxRigidDynamic* box3 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 4.5f, 0.5f)));
|
|
PxShape* shape3 = PxRigidActorExt::createExclusiveShape(*box3, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box3, density);
|
|
gScene->addActor(*box3);
|
|
|
|
PxRigidDynamic* box4 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 5.f, 0.f)));
|
|
PxShape* shape4 = PxRigidActorExt::createExclusiveShape(*box4, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box4, density);
|
|
gScene->addActor(*box4);
|
|
|
|
PxRigidDynamic* box5 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 5.f, 0.f)));
|
|
PxShape* shape5 = PxRigidActorExt::createExclusiveShape(*box5, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box5, density);
|
|
gScene->addActor(*box5);
|
|
|
|
PxRigidDynamic* box6 = gPhysics->createRigidDynamic(PxTransform(PxVec3(-0.25f, 4.5f, 0.f)));
|
|
PxShape* shape6 = PxRigidActorExt::createExclusiveShape(*box6, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box6, density);
|
|
gScene->addActor(*box6);
|
|
|
|
PxRigidDynamic* box7 = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.25f, 4.5f, 0.f)));
|
|
PxShape* shape7 = PxRigidActorExt::createExclusiveShape(*box7, PxBoxGeometry(halfExt), *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box7, density);
|
|
gScene->addActor(*box7);
|
|
|
|
const float contactOffset = 0.2f;
|
|
shape0->setContactOffset(contactOffset);
|
|
shape1->setContactOffset(contactOffset);
|
|
shape2->setContactOffset(contactOffset);
|
|
shape3->setContactOffset(contactOffset);
|
|
shape4->setContactOffset(contactOffset);
|
|
shape5->setContactOffset(contactOffset);
|
|
shape6->setContactOffset(contactOffset);
|
|
shape7->setContactOffset(contactOffset);
|
|
}
|
|
|
|
void initPhysics(bool /*interactive*/)
|
|
{
|
|
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
|
gPvd = PxCreatePvd(*gFoundation);
|
|
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
|
|
gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
|
|
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
|
|
PxInitExtensions(*gPhysics, gPvd);
|
|
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
|
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
|
|
|
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
|
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
|
|
|
sceneDesc.solverType = PxSolverType::eTGS;
|
|
sceneDesc.filterShader = scissorFilter;
|
|
|
|
gScene = gPhysics->createScene(sceneDesc);
|
|
PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
|
|
if(pvdClient)
|
|
{
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
|
|
pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
|
|
}
|
|
|
|
gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.f);
|
|
|
|
PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
|
|
gScene->addActor(*groundPlane);
|
|
|
|
gArticulation = gPhysics->createArticulationReducedCoordinate();
|
|
|
|
createScissorLift();
|
|
}
|
|
|
|
static bool gClosing = true;
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
const PxReal dt = 1.0f / 60.f;
|
|
PxReal driveValue = gDriveJoint->getDriveTarget(PxArticulationAxis::eZ);
|
|
|
|
if (gClosing && driveValue < -1.2f)
|
|
gClosing = false;
|
|
else if (!gClosing && driveValue > 0.f)
|
|
gClosing = true;
|
|
|
|
if (gClosing)
|
|
driveValue -= dt*0.25f;
|
|
else
|
|
driveValue += dt*0.25f;
|
|
gDriveJoint->setDriveTarget(PxArticulationAxis::eZ, driveValue);
|
|
|
|
gScene->simulate(dt);
|
|
gScene->fetchResults(true);
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
gArticulation->release();
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
PX_RELEASE(gPvd);
|
|
PX_RELEASE(transport);
|
|
PxCloseExtensions();
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetArticulation 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;
|
|
}
|