372 lines
13 KiB
C++
372 lines
13 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 how to setup triangle meshes with SDFs.
|
|
// ****************************************************************************
|
|
|
|
#include <ctype.h>
|
|
#include "PxPhysicsAPI.h"
|
|
#include "extensions/PxDeformableSurfaceExt.h"
|
|
#include "../snippetcommon/SnippetPrint.h"
|
|
#include "../snippetcommon/SnippetPVD.h"
|
|
#include "../snippetutils/SnippetUtils.h"
|
|
#include "../snippetdeformablesurface/SnippetDeformableSurface.h"
|
|
|
|
using namespace physx;
|
|
|
|
static PxDefaultAllocator gAllocator;
|
|
static PxDefaultErrorCallback gErrorCallback;
|
|
static PxFoundation* gFoundation = NULL;
|
|
static PxPhysics* gPhysics = NULL;
|
|
static PxCudaContextManager* gCudaContextManager = NULL;
|
|
static PxDefaultCpuDispatcher* gDispatcher = NULL;
|
|
static PxScene* gScene = NULL;
|
|
static PxMaterial* gMaterial = NULL;
|
|
static PxPvd* gPvd = NULL;
|
|
static bool gIsRunning = true;
|
|
PxArray<TestSurface> gTestSurfaces;
|
|
|
|
PxRigidDynamic* sphere;
|
|
|
|
static void initObstacles()
|
|
{
|
|
PxShape* shape = gPhysics->createShape(PxSphereGeometry(3.0f), *gMaterial);
|
|
sphere = gPhysics->createRigidDynamic(PxTransform(PxVec3(0.f, 5.0f, 0.f)));
|
|
sphere->attachShape(*shape);
|
|
sphere->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
|
|
gScene->addActor(*sphere);
|
|
shape->release();
|
|
}
|
|
|
|
static PxDeformableSurface* createDeformableSurface(PxPhysics& physics, PxTriangleMesh* triangleMesh, PxDeformableSurfaceMaterial** materials, const PxU32 nbMaterials, PxCudaContextManager* cudaContextManager)
|
|
{
|
|
if (!triangleMesh)
|
|
return NULL;
|
|
|
|
PxDeformableSurface* deformableSurface = physics.createDeformableSurface(*cudaContextManager);
|
|
if (deformableSurface)
|
|
{
|
|
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE;
|
|
|
|
PxTriangleMeshGeometry geometry(triangleMesh);
|
|
PxShape* shape = physics.createShape(geometry, materials, PxU16(nbMaterials), true, shapeFlags);
|
|
if (shape)
|
|
{
|
|
deformableSurface->attachShape(*shape);
|
|
}
|
|
}
|
|
|
|
return deformableSurface;
|
|
}
|
|
|
|
static PxDeformableSurface* createDeformableSurface(PxPhysics& physics, const PxCookingParams& ckParams, PxArray<PxVec3>& vertices, PxArray<PxU32>& triangles,
|
|
PxDeformableSurfaceMaterial** materials, const PxU32 nbMaterials, PxCudaContextManager* cudaContextManager)
|
|
{
|
|
PxTriangleMeshDesc meshDesc;
|
|
meshDesc.points.count = vertices.size();
|
|
meshDesc.triangles.count = triangles.size() / 3;
|
|
meshDesc.points.stride = sizeof(float) * 3;
|
|
meshDesc.triangles.stride = sizeof(int) * 3;
|
|
meshDesc.points.data = vertices.begin();
|
|
meshDesc.triangles.data = triangles.begin();
|
|
|
|
PxDeformableMaterialTableIndex* materialIndices = NULL;
|
|
if (nbMaterials > 1)
|
|
{
|
|
const PxU32 totalTriangles = meshDesc.triangles.count;
|
|
materialIndices = new PxDeformableMaterialTableIndex[totalTriangles];
|
|
const PxU32 averageTrianglePerMaterials = totalTriangles / nbMaterials;
|
|
|
|
PxU32 accumulatedTriangle = averageTrianglePerMaterials;
|
|
|
|
PxU32 index = 0;
|
|
for (PxU32 i = 0; i < totalTriangles; ++i)
|
|
{
|
|
materialIndices[i] = PxDeformableMaterialTableIndex(index);
|
|
if (i == accumulatedTriangle)
|
|
{
|
|
index = index < (nbMaterials - 1) ? index + 1 : index;
|
|
accumulatedTriangle += averageTrianglePerMaterials;
|
|
}
|
|
}
|
|
meshDesc.materialIndices.stride = sizeof(PxDeformableMaterialTableIndex);
|
|
meshDesc.materialIndices.data = materialIndices;
|
|
}
|
|
|
|
PxTriangleMesh* triangleMesh = PxCreateTriangleMesh(ckParams, meshDesc, physics.getPhysicsInsertionCallback());
|
|
|
|
return createDeformableSurface(physics, triangleMesh, materials, nbMaterials, cudaContextManager);
|
|
}
|
|
|
|
static PX_FORCE_INLINE PxU32 id(PxU32 x, PxU32 y, PxU32 numY)
|
|
{
|
|
return x * numY + y;
|
|
}
|
|
|
|
static PX_FORCE_INLINE PxReal computeTriangleMass(const PxU32* triangle, const PxVec3* vertices, PxReal thickness, PxReal density)
|
|
{
|
|
PxReal area = 0.5f * (vertices[triangle[1]] - vertices[triangle[0]]).cross(vertices[triangle[2]] - vertices[triangle[0]]).magnitude();
|
|
return area * thickness * density;
|
|
}
|
|
|
|
static PxDeformableSurface* addQuadDeformableSurface(PxPhysics& physics, const PxCookingParams& ckParams, const PxTransform& transform, PxU32 numX, PxU32 numZ, PxReal sizeX, PxReal sizeZ,
|
|
PxDeformableSurfaceMaterial** materials, const PxU32 nbMaterials, PxCudaContextManager* cudaContextManager, PxReal thickness, PxReal density)
|
|
{
|
|
if (gCudaContextManager == NULL)
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
PxArray<PxVec3> vertices;
|
|
PxArray<PxU32> triangles;
|
|
PxArray<PxVec3> velocity;
|
|
PxArray<PxReal> triangleMasses;
|
|
|
|
vertices.reserve(numX * numZ);
|
|
velocity.reserve(numX * numZ);
|
|
triangles.reserve(3 * 2 * (numX - 1) * (numZ - 1));
|
|
triangleMasses.reserve(2 * (numX - 1) * (numZ - 1));
|
|
|
|
PxReal scalingX = sizeX / (numX - 1);
|
|
PxReal scalingZ = sizeZ / (numZ - 1);
|
|
|
|
for (PxU32 i = 0; i < numX; ++i)
|
|
{
|
|
for (PxU32 j = 0; j < numZ; ++j)
|
|
{
|
|
PxVec3 pos(i * scalingX, 0.0f, j * scalingZ);
|
|
vertices.pushBack(pos);
|
|
velocity.pushBack(PxVec3(0.0f));
|
|
}
|
|
}
|
|
|
|
for (PxU32 i = 1; i < numX; ++i)
|
|
{
|
|
for (PxU32 j = 1; j < numZ; ++j)
|
|
{
|
|
triangles.pushBack(id(i - 1, j - 1, numZ));
|
|
triangles.pushBack(id(i, j - 1, numZ));
|
|
triangles.pushBack(id(i - 1, j, numZ));
|
|
triangleMasses.pushBack(computeTriangleMass(&triangles[triangles.size() - 3], vertices.begin(), thickness, density));
|
|
|
|
triangles.pushBack(id(i - 1, j, numZ));
|
|
triangles.pushBack(id(i, j - 1, numZ));
|
|
triangles.pushBack(id(i, j, numZ));
|
|
triangleMasses.pushBack(computeTriangleMass(&triangles[triangles.size() - 3], vertices.begin(), thickness, density));
|
|
}
|
|
}
|
|
|
|
PxDeformableSurface* deformableSurface = createDeformableSurface(physics, ckParams, vertices, triangles, materials, nbMaterials, cudaContextManager);
|
|
gScene->addActor(*deformableSurface);
|
|
|
|
PxVec4* posInvMassPinned;
|
|
PxVec4* velocityPinned;
|
|
PxVec4* restPositionPinned;
|
|
PxDeformableSurfaceExt::allocateAndInitializeHostMirror(*deformableSurface, vertices.begin(), velocity.begin(), vertices.begin(), 0.5f,
|
|
transform, cudaContextManager, posInvMassPinned, velocityPinned, restPositionPinned);
|
|
|
|
PxDeformableSurfaceExt::distributeTriangleMassToVertices(*deformableSurface, triangleMasses.begin(), posInvMassPinned);
|
|
|
|
PxShape* surfaceShape = deformableSurface->getShape();
|
|
surfaceShape->setContactOffset(2.0f * thickness);
|
|
surfaceShape->setRestOffset(thickness);
|
|
surfaceShape->setDeformableSurfaceMaterials(materials, PxU16(nbMaterials));
|
|
|
|
PxDeformableSurfaceExt::copyToDevice(*deformableSurface, PxDeformableSurfaceDataFlag::eALL, vertices.size(), posInvMassPinned, velocityPinned, restPositionPinned);
|
|
|
|
TestSurface testSurface(deformableSurface, gCudaContextManager);
|
|
|
|
gTestSurfaces.pushBack(testSurface);
|
|
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, posInvMassPinned);
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, velocityPinned);
|
|
PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, restPositionPinned);
|
|
|
|
return deformableSurface;
|
|
}
|
|
|
|
static void createScene(PxCookingParams& cookingParams)
|
|
{
|
|
PxReal thickness = 0.01f;
|
|
PxReal bendingStiffness = 0.00001f;
|
|
|
|
PxDeformableSurfaceMaterial* deformableSurfaceMaterial = gPhysics->createDeformableSurfaceMaterial(1.e10f, 0.3f, 0.5f, thickness, bendingStiffness);
|
|
|
|
PxReal size = 15.0f;
|
|
PxDeformableSurface* deformableSurface = addQuadDeformableSurface(*gPhysics, cookingParams,
|
|
PxTransform(PxVec3(-0.5f * size, 10.0f, -0.5f * size)), 200, 200, size, size, &deformableSurfaceMaterial, 1, gCudaContextManager, thickness, 500.0f);
|
|
if (deformableSurface)
|
|
{
|
|
deformableSurface->setSelfCollisionFilterDistance(thickness * 2.5f);
|
|
deformableSurface->setLinearDamping(0.f);
|
|
deformableSurface->setDeformableBodyFlag(PxDeformableBodyFlag::eDISABLE_SELF_COLLISION, false);
|
|
|
|
deformableSurface->setMaxVelocity(1000.0f);
|
|
|
|
PxU32 collisionPairUpdateFrequency = 1;
|
|
PxU32 nbCollisionSubsteps = 1;
|
|
deformableSurface->setNbCollisionPairUpdatesPerTimestep(collisionPairUpdateFrequency);
|
|
deformableSurface->setNbCollisionSubsteps(nbCollisionSubsteps);
|
|
}
|
|
|
|
initObstacles();
|
|
}
|
|
|
|
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);
|
|
|
|
// initialize cuda
|
|
PxCudaContextManagerDesc cudaContextManagerDesc;
|
|
gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc, PxGetProfilerCallback());
|
|
if (gCudaContextManager && !gCudaContextManager->contextIsValid())
|
|
{
|
|
PX_RELEASE(gCudaContextManager);
|
|
printf("Failed to initialize cuda context.\n");
|
|
printf("The deformable surface feature is currently only supported on GPU.\n");
|
|
}
|
|
|
|
PxTolerancesScale scale;
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, scale, true, gPvd);
|
|
PxInitExtensions(*gPhysics, gPvd);
|
|
|
|
PxCookingParams params(scale);
|
|
params.meshWeldTolerance = 0.001f;
|
|
params.meshPreprocessParams = PxMeshPreprocessingFlags(PxMeshPreprocessingFlag::eWELD_VERTICES);
|
|
params.buildTriangleAdjacencies = false;
|
|
params.buildGPUData = true;
|
|
params.midphaseDesc = PxMeshMidPhase::eBVH34;
|
|
//params.meshPreprocessParams |= PxMeshPreprocessingFlag::eFORCE_32BIT_INDICES;
|
|
params.meshPreprocessParams |= PxMeshPreprocessingFlag::eENABLE_VERT_MAPPING;
|
|
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
|
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
|
|
|
|
if (!sceneDesc.cudaContextManager)
|
|
sceneDesc.cudaContextManager = gCudaContextManager;
|
|
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
|
|
|
|
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
|
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
|
|
|
sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
|
|
sceneDesc.gpuMaxNumPartitions = 8;
|
|
|
|
sceneDesc.solverType = PxSolverType::eTGS;
|
|
|
|
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);
|
|
|
|
createScene(params);
|
|
}
|
|
|
|
PxReal simTime = 0;
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
if (gIsRunning)
|
|
{
|
|
const PxReal dt = 1.0f / 60.0f;
|
|
|
|
bool rotatingSphere = true;
|
|
if (rotatingSphere)
|
|
{
|
|
const PxReal speed = 2.0f;
|
|
PxTransform pose = sphere->getGlobalPose();
|
|
sphere->setKinematicTarget(PxTransform(pose.p, PxQuat(PxCos(simTime*speed), PxVec3(0, 1, 0))));
|
|
}
|
|
|
|
gScene->simulate(dt);
|
|
gScene->fetchResults(true);
|
|
|
|
for (PxU32 i = 0; i < gTestSurfaces.size(); i++)
|
|
{
|
|
TestSurface* c = &gTestSurfaces[i];
|
|
c->copyDeformedVerticesFromGPU();
|
|
}
|
|
|
|
simTime += dt;
|
|
}
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
for (PxU32 i = 0; i < gTestSurfaces.size(); i++)
|
|
gTestSurfaces[i].release();
|
|
gTestSurfaces.reset();
|
|
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
if (gPvd)
|
|
{
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
PX_RELEASE(gPvd);
|
|
PX_RELEASE(transport);
|
|
}
|
|
PxCloseExtensions();
|
|
PX_RELEASE(gCudaContextManager);
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetDeformableSurface 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;
|
|
}
|