472 lines
13 KiB
C++
472 lines
13 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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#ifdef RENDER_SNIPPET
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#include "PxPhysicsAPI.h"
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#include "../snippetrender/SnippetRender.h"
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#include "../snippetrender/SnippetCamera.h"
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using namespace physx;
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extern void initPhysics(bool interactive);
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extern void stepPhysics(bool interactive);
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extern void cleanupPhysics(bool interactive);
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extern void keyPress(unsigned char key, const PxTransform& camera);
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extern void debugRender();
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namespace
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{
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Snippets::Camera* sCamera;
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void renderCallback()
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{
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stepPhysics(true);
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Snippets::startRender(sCamera);
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PxScene* scene;
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PxGetPhysics().getScenes(&scene, 1);
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PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
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if (nbActors)
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{
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const PxVec3 dynColor(1.0f, 0.5f, 0.25f);
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PxArray<PxRigidActor*> actors(nbActors);
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scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
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Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true, dynColor);
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}
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debugRender();
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Snippets::finishRender();
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}
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void exitCallback()
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{
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delete sCamera;
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cleanupPhysics(true);
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}
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}
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void renderLoop()
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{
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sCamera = new Snippets::Camera(PxVec3(-20.0f, 20.0f, -20.0f), PxVec3(0.6f, -0.4f, 0.6f));
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Snippets::setupDefault("PhysX Snippet CustomConvex", sCamera, keyPress, renderCallback, exitCallback);
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initPhysics(true);
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glutMainLoop();
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}
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struct RenderMesh
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{
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PxArray<PxVec3> positions, normals;
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};
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RenderMesh* createRenderCylinder(float height, float radius, float margin)
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{
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struct InternalRenderHelper
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{
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InternalRenderHelper(float height_, float radius_, float margin_)
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:
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height(height_), radius(radius_), margin(margin_)
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{
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mesh = new RenderMesh();
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halfHeight = height * 0.5f;
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sides = (int)ceilf(6.2832f / (2 * acosf((radius - err) / radius)));
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step = 6.2832f / sides;
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}
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float height, radius, margin;
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RenderMesh* mesh;
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PxArray<PxVec3> positions;
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PxArray<PxVec3> normals;
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float halfHeight;
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float err = 0.001f;
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int sides;
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float step;
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void addVertex(int index)
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{
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mesh->positions.pushBack(positions[index]);
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mesh->normals.pushBack(normals[index]);
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}
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void addTop(const PxVec3& p0, const PxVec3& n0, const PxVec3& p1, const PxVec3& n1, const PxVec3& ax)
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{
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int base = int(positions.size());
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positions.pushBack(p0);
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normals.pushBack(n0);
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for (int i = 0; i < sides; ++i)
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{
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positions.pushBack(PxQuat(i * step, ax).rotate(p1));
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normals.pushBack(PxQuat(i * step, ax).rotate(n1));
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}
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base);
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addVertex(base + 1 + i);
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addVertex(base + 1 + (i + 1) % sides);
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}
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}
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void addRing(const PxVec3& p0, const PxVec3& n0, const PxVec3& ax)
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{
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int base = int(positions.size());
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for (int i = 0; i < sides; ++i)
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{
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positions.pushBack(PxQuat(i * step, ax).rotate(p0));
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normals.pushBack(PxQuat(i * step, ax).rotate(n0));
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}
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base - sides + i);
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addVertex(base + i);
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addVertex(base - sides + (i + 1) % sides);
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addVertex(base - sides + (i + 1) % sides);
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addVertex(base + i);
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addVertex(base + (i + 1) % sides);
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}
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}
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void addBottom(const PxVec3& p0, const PxVec3& n0, const PxVec3& /*ax*/)
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{
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int base = int(positions.size());
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positions.pushBack(p0);
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normals.pushBack(n0);
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base - sides + i);
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addVertex(base);
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addVertex(base - sides + (i + 1) % sides);
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}
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}
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void run()
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{
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int sides2 = margin > 0 ? (int)ceilf(1.5708f / (2 * acosf((margin - err) / margin))) : 1;
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float step2 = 1.5708f / sides2;
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addTop(PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(halfHeight + margin, radius, 0), PxVec3(1, 0, 0), PxVec3(1, 0, 0));
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for (int i = 1; i <= sides2; ++i)
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{
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PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
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addRing(PxVec3(halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
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}
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for (int i = 0; i <= sides2; ++i)
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{
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PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(0, 1, 0));
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addRing(PxVec3(-halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
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}
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addBottom(PxVec3(-halfHeight - margin, 0, 0), PxVec3(-1, 0, 0), PxVec3(1, 0, 0));
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}
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};
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InternalRenderHelper renderHelper(height, radius, margin);
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renderHelper.run();
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return renderHelper.mesh;
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}
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RenderMesh* createRenderCone(float height, float radius, float margin)
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{
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struct InternalRenderHelper
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{
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InternalRenderHelper(float height_, float radius_, float margin_)
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:
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height(height_), radius(radius_), margin(margin_)
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{
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mesh = new RenderMesh();
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halfHeight = height * 0.5f;
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sides = (int)ceilf(6.2832f / (2 * acosf(((radius + margin) - err) / (radius + margin))));
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step = 6.2832f / sides;
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}
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float height, radius, margin;
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RenderMesh* mesh;
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PxArray<PxVec3> positions;
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PxArray<PxVec3> normals;
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float halfHeight;
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float err = 0.001f;
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int sides;
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float step;
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void addVertex(int index)
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{
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mesh->positions.pushBack(positions[index]);
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mesh->normals.pushBack(normals[index]);
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}
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void addTop(const PxVec3& p0, const PxVec3& n0, const PxVec3& p1, const PxVec3& n1, const PxVec3& ax)
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{
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int base = int(positions.size());
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positions.pushBack(p0);
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normals.pushBack(n0);
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for (int i = 0; i < sides; ++i)
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{
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positions.pushBack(PxQuat(i * step, ax).rotate(p1));
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normals.pushBack(PxQuat(i * step, ax).rotate(n1));
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}
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base);
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addVertex(base + 1 + i);
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addVertex(base + 1 + (i + 1) % sides);
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}
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}
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void addRing(const PxVec3& p0, const PxVec3& n0, const PxVec3& ax)
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{
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int base = int(positions.size());
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for (int i = 0; i < sides; ++i)
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{
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positions.pushBack(PxQuat(i * step, ax).rotate(p0));
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normals.pushBack(PxQuat(i * step, ax).rotate(n0));
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}
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base - sides + i);
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addVertex(base + i);
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addVertex(base - sides + (i + 1) % sides);
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addVertex(base - sides + (i + 1) % sides);
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addVertex(base + i);
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addVertex(base + (i + 1) % sides);
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}
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}
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void addBottom(const PxVec3& p0, const PxVec3& n0, const PxVec3& /*ax*/)
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{
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int base = int(positions.size());
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positions.pushBack(p0);
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normals.pushBack(n0);
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for (int i = 0; i < sides; ++i)
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{
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addVertex(base - sides + i);
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addVertex(base);
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addVertex(base - sides + (i + 1) % sides);
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}
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}
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void run()
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{
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addTop(PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(halfHeight + margin, 0, 0), PxVec3(1, 0, 0), PxVec3(1, 0, 0));
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float cosAlph = radius / sqrtf(height * height + radius * radius);
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float alph = acosf(cosAlph);
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int sides2 = margin > 0 ? (int)ceilf(alph / (2 * acosf((margin - err) / margin))) : 1;
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float step2 = alph / sides2;
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for (int i = 1; i <= sides2; ++i)
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{
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PxVec3 n = PxQuat(i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
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addRing(PxVec3(halfHeight, 0, 0) + n * margin, n, PxVec3(1, 0, 0));
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}
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sides2 = margin > 0 ? (int)ceilf((3.1416f - alph) / (2 * acosf((margin - err) / margin))) : 1;
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step2 = (3.1416f - alph) / sides2;
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for (int i = 0; i <= sides2; ++i)
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{
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PxVec3 n = PxQuat(alph + i * step2, PxVec3(0, 0, 1)).rotate(PxVec3(1, 0, 0));
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addRing(PxVec3(-halfHeight, radius, 0) + n * margin, n, PxVec3(1, 0, 0));
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}
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addBottom(PxVec3(-halfHeight - margin, 0, 0), PxVec3(-1, 0, 0), PxVec3(1, 0, 0));
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}
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};
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InternalRenderHelper renderHelper(height, radius, margin);
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renderHelper.run();
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return renderHelper.mesh;
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}
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void destroyRenderMesh(RenderMesh* mesh)
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{
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delete mesh;
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}
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void renderMesh(const RenderMesh& mesh, const PxTransform& pose, bool sleeping)
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{
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const PxVec3 color(1.0f, 0.5f, 0.25f);
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const PxMat44 shapePose(pose);
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glPushMatrix();
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glMultMatrixf(&shapePose.column0.x);
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if (sleeping)
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{
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const PxVec3 darkColor = color * 0.25f;
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glColor4f(darkColor.x, darkColor.y, darkColor.z, 1.0f);
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}
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else
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{
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glColor4f(color.x, color.y, color.z, 1.0f);
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}
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glEnableClientState(GL_NORMAL_ARRAY);
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glEnableClientState(GL_VERTEX_ARRAY);
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glVertexPointer(3, GL_FLOAT, 3 * sizeof(float), mesh.positions.begin());
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glNormalPointer(GL_FLOAT, 3 * sizeof(float), mesh.normals.begin());
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glDrawArrays(GL_TRIANGLES, 0, int(mesh.positions.size()));
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glDisableClientState(GL_VERTEX_ARRAY);
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glDisableClientState(GL_NORMAL_ARRAY);
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glPopMatrix();
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bool shadows = true;
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if (shadows)
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{
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const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
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const PxReal shadowMat[] = { 1,0,0,0, -shadowDir.x / shadowDir.y,0,-shadowDir.z / shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
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glPushMatrix();
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glMultMatrixf(shadowMat);
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glMultMatrixf(&shapePose.column0.x);
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glDisable(GL_LIGHTING);
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//glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
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glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
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glEnableClientState(GL_NORMAL_ARRAY);
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glEnableClientState(GL_VERTEX_ARRAY);
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glVertexPointer(3, GL_FLOAT, 3 * sizeof(float), mesh.positions.begin());
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glNormalPointer(GL_FLOAT, 3 * sizeof(float), mesh.normals.begin());
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glDrawArrays(GL_TRIANGLES, 0, int(mesh.positions.size()));
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glDisableClientState(GL_VERTEX_ARRAY);
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glDisableClientState(GL_NORMAL_ARRAY);
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glEnable(GL_LIGHTING);
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glPopMatrix();
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}
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}
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static void PxVertex3f(const PxVec3& v) { ::glVertex3f(v.x, v.y, v.z); };
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static void PxScalef(const PxVec3& v) { ::glScalef(v.x, v.y, v.z); };
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void renderRaycast(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxRaycastHit* hit)
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{
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glDisable(GL_LIGHTING);
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if (hit)
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{
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glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
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glBegin(GL_LINES);
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PxVertex3f(origin);
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PxVertex3f(origin + unitDir * hit->distance);
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PxVertex3f(hit->position);
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PxVertex3f(hit->position + hit->normal);
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glEnd();
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}
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else
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{
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glColor4f(0.6f, 0.0f, 0.0f, 1.0f);
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glBegin(GL_LINES);
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PxVertex3f(origin);
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PxVertex3f(origin + unitDir * maxDist);
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glEnd();
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}
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glEnable(GL_LIGHTING);
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}
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void renderSweepBox(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxVec3& halfExtents, const PxSweepHit* hit)
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{
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glDisable(GL_LIGHTING);
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if (hit)
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{
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glColor4f(0.0f, 0.6f, 0.0f, 1.0f);
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glBegin(GL_LINES);
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PxVertex3f(origin);
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PxVertex3f(origin + unitDir * hit->distance);
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PxVertex3f(hit->position);
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PxVertex3f(hit->position + hit->normal);
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glEnd();
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PxTransform boxPose(origin + unitDir * hit->distance);
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PxMat44 boxMat(boxPose);
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glPushMatrix();
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glMultMatrixf(&boxMat.column0.x);
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PxScalef(halfExtents * 2);
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glutWireCube(1);
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glPopMatrix();
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}
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else
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{
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glColor4f(0.0f, 0.3f, 0.0f, 1.0f);
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glBegin(GL_LINES);
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PxVertex3f(origin);
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PxVertex3f(origin + unitDir * maxDist);
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glEnd();
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}
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glEnable(GL_LIGHTING);
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}
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void renderOverlapBox(const PxVec3& origin, const PxVec3& halfExtents, bool hit)
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{
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glDisable(GL_LIGHTING);
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if (hit)
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{
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glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
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PxTransform boxPose(origin);
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PxMat44 boxMat(boxPose);
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glPushMatrix();
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glMultMatrixf(&boxMat.column0.x);
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PxScalef(halfExtents * 2);
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glutWireCube(1);
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glPopMatrix();
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}
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else
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{
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glColor4f(0.0f, 0.0f, 0.6f, 1.0f);
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PxTransform boxPose(origin);
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PxMat44 boxMat(boxPose);
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glPushMatrix();
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glMultMatrixf(&boxMat.column0.x);
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PxScalef(halfExtents * 2);
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glutWireCube(1);
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glPopMatrix();
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}
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glEnable(GL_LIGHTING);
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}
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#endif
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