270 lines
10 KiB
C++
270 lines
10 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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// ****************************************************************************
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// This snippet shows how to implement custom geometries queries
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// callbacks, using PhysX geometry queries.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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// temporary disable this snippet, cannot work without rendering we cannot include GL directly
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#ifdef RENDER_SNIPPET
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#include "../snippetutils/SnippetUtils.h"
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#include "../snippetrender/SnippetRender.h"
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using namespace physx;
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void renderRaycast(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxRaycastHit* hit);
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void renderSweepBox(const PxVec3& origin, const PxVec3& unitDir, float maxDist, const PxVec3& halfExtents, const PxSweepHit* hit);
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void renderOverlapBox(const PxVec3& origin, const PxVec3& halfExtents, bool hit);
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/*
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Two crossed bars.
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*/
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struct BarCrosss : PxCustomGeometry::Callbacks
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{
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PxVec3 barExtents;
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DECLARE_CUSTOM_GEOMETRY_TYPE
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BarCrosss() : barExtents(27, 9, 3) {}
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virtual PxBounds3 getLocalBounds(const PxGeometry&) const
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{
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return PxBounds3(-PxVec3(barExtents.x * 0.5f, barExtents.y * 0.5f, barExtents.x * 0.5f),
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PxVec3(barExtents.x * 0.5f, barExtents.y * 0.5f, barExtents.x * 0.5f));
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}
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virtual bool generateContacts(const PxGeometry&, const PxGeometry&, const PxTransform&, const PxTransform&,
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const PxReal, const PxReal, const PxReal,
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PxContactBuffer&) const
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{
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return false;
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}
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virtual PxU32 raycast(const PxVec3& origin, const PxVec3& unitDir, const PxGeometry&, const PxTransform& pose,
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PxReal maxDist, PxHitFlags hitFlags, PxU32, PxGeomRaycastHit* rayHits, PxU32, PxRaycastThreadContext*) const
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{
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PxBoxGeometry barGeom(barExtents * 0.5f);
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PxTransform p0 = pose;
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PxGeomRaycastHit hits[2];
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PxGeometryQuery::raycast(origin, unitDir, barGeom, p0, maxDist, hitFlags, 1, hits + 0);
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p0 = pose.transform(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 1, 0))));
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PxGeometryQuery::raycast(origin, unitDir, barGeom, p0, maxDist, hitFlags, 1, hits + 1);
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rayHits[0] = hits[0].distance < hits[1].distance ? hits[0] : hits[1];
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return hits[0].distance < PX_MAX_REAL || hits[1].distance < PX_MAX_REAL ? 1 : 0;
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}
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virtual bool overlap(const PxGeometry&, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1, PxOverlapThreadContext*) const
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{
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PxBoxGeometry barGeom(barExtents * 0.5f);
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PxTransform p0 = pose0;
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if (PxGeometryQuery::overlap(barGeom, p0, geom1, pose1, PxGeometryQueryFlags(0)))
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return true;
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p0 = pose0.transform(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 1, 0))));
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if (PxGeometryQuery::overlap(barGeom, p0, geom1, pose1, PxGeometryQueryFlags(0)))
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return true;
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return false;
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}
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virtual bool sweep(const PxVec3& unitDir, const PxReal maxDist,
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const PxGeometry&, const PxTransform& pose0, const PxGeometry& geom1, const PxTransform& pose1,
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PxGeomSweepHit& sweepHit, PxHitFlags hitFlags, const PxReal inflation, PxSweepThreadContext*) const
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{
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PxBoxGeometry barGeom(barExtents * 0.5f);
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PxTransform p0 = pose0;
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PxGeomSweepHit hits[2];
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PxGeometryQuery::sweep(unitDir, maxDist, geom1, pose1, barGeom, p0, hits[0], hitFlags, inflation);
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p0 = pose0.transform(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 1, 0))));
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PxGeometryQuery::sweep(unitDir, maxDist, geom1, pose1, barGeom, p0, hits[1], hitFlags, inflation);
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sweepHit = hits[0].distance < hits[1].distance ? hits[0] : hits[1];
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return hits[0].distance < PX_MAX_REAL || hits[1].distance < PX_MAX_REAL;
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}
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virtual void visualize(const PxGeometry&, PxRenderOutput&, const PxTransform&, const PxBounds3&) const {}
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virtual void computeMassProperties(const PxGeometry&, PxMassProperties&) const {}
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virtual bool usePersistentContactManifold(const PxGeometry&, PxReal&) const { return false; }
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};
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IMPLEMENT_CUSTOM_GEOMETRY_TYPE(BarCrosss)
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static PxDefaultAllocator gAllocator;
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static PxDefaultErrorCallback gErrorCallback;
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static PxFoundation* gFoundation = NULL;
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static PxPhysics* gPhysics = NULL;
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static PxDefaultCpuDispatcher* gDispatcher = NULL;
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static PxScene* gScene = NULL;
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static PxMaterial* gMaterial = NULL;
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static PxPvd* gPvd = NULL;
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static PxRigidDynamic* gActor = NULL;
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static BarCrosss gBarCrosss;
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static PxReal gTime = 0;
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static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity = PxVec3(0), PxReal density = 1.0f)
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, density);
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dynamic->setLinearVelocity(velocity);
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gScene->addActor(*dynamic);
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return dynamic;
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}
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void initPhysics(bool /*interactive*/)
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{
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gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
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gPvd = PxCreatePvd(*gFoundation);
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PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
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gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
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gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f * 3, 0.0f);
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gDispatcher = PxDefaultCpuDispatcherCreate(2);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = PxDefaultSimulationFilterShader;
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gScene = gPhysics->createScene(sceneDesc);
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PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
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if (pvdClient)
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{
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
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}
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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// Create bar cross actor
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PxRigidDynamic* barCrossActor = gPhysics->createRigidDynamic(PxTransform(PxVec3(0, gBarCrosss.barExtents.y * 0.5f, 0)));
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barCrossActor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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PxRigidActorExt::createExclusiveShape(*barCrossActor, PxCustomGeometry(gBarCrosss), *gMaterial);
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gScene->addActor(*barCrossActor);
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gActor = barCrossActor;
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}
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void debugRender()
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{
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PxGeometryHolder geom;
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geom.storeAny(PxBoxGeometry(gBarCrosss.barExtents * 0.5f));
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PxTransform pose = gActor->getGlobalPose();
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Snippets::renderGeoms(1, &geom, &pose, false, PxVec3(0.7f));
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pose = pose.transform(PxTransform(PxQuat(PX_PIDIV2, PxVec3(0, 1, 0))));
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Snippets::renderGeoms(1, &geom, &pose, false, PxVec3(0.7f));
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// Raycast
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{
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PxVec3 origin((gBarCrosss.barExtents.x + 10) * 0.5f, 0, 0);
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PxVec3 unitDir(-1, 0, 0);
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float maxDist = gBarCrosss.barExtents.x + 20;
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PxRaycastBuffer buffer;
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gScene->raycast(origin, unitDir, maxDist, buffer);
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renderRaycast(origin, unitDir, maxDist, buffer.hasBlock ? &buffer.block : nullptr);
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}
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// Sweep
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{
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PxVec3 origin(0, 0, (gBarCrosss.barExtents.x + 10) * 0.5f);
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PxVec3 unitDir(0, 0, -1);
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float maxDist = gBarCrosss.barExtents.x + 20;
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PxVec3 halfExtents(1.5f, 0.5f, 1.0f);
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PxSweepBuffer buffer;
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gScene->sweep(PxBoxGeometry(halfExtents), PxTransform(origin), unitDir, maxDist, buffer);
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renderSweepBox(origin, unitDir, maxDist, halfExtents, buffer.hasBlock ? &buffer.block : nullptr);
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}
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// Overlap
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{
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PxVec3 origin((gBarCrosss.barExtents.x) * -0.4f, 0, (gBarCrosss.barExtents.x) * -0.4f);
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PxVec3 halfExtents(gBarCrosss.barExtents.z * 1.5f, gBarCrosss.barExtents.y * 1.1f, gBarCrosss.barExtents.z * 1.5f);
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PxOverlapBuffer buffer;
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gScene->overlap(PxBoxGeometry(halfExtents), PxTransform(origin), buffer, PxQueryFilterData(PxQueryFlag::eANY_HIT | PxQueryFlag::eDYNAMIC));
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renderOverlapBox(origin, halfExtents, buffer.hasAnyHits());
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}
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}
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void stepPhysics(bool /*interactive*/)
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{
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gTime += 1.0f / 60.0f;
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gActor->setKinematicTarget(PxTransform(PxQuat(gTime * 0.3f, PxVec3(0, 1, 0))));
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gScene->simulate(1.0f / 60.0f);
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gScene->fetchResults(true);
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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PX_RELEASE(gScene);
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PX_RELEASE(gDispatcher);
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PX_RELEASE(gPhysics);
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if (gPvd)
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{
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PxPvdTransport* transport = gPvd->getTransport();
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PX_RELEASE(gPvd);
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PX_RELEASE(transport);
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}
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PX_RELEASE(gFoundation);
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printf("SnippetCustomGeometryQueries done.\n");
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}
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void keyPress(unsigned char key, const PxTransform& camera)
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{
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switch (toupper(key))
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{
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case ' ': createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0, 0, -1)) * 200, 3.0f); break;
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}
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}
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int snippetMain(int, const char* const*)
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{
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#ifdef RENDER_SNIPPET
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extern void renderLoop();
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renderLoop();
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#else
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static const PxU32 frameCount = 100;
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initPhysics(false);
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for (PxU32 i = 0; i < frameCount; i++)
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stepPhysics(false);
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cleanupPhysics(false);
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#endif
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return 0;
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}
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#else
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int snippetMain(int, const char* const*)
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{
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return 0;
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}
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#endif
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