611 lines
24 KiB
C++
611 lines
24 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 illustrates the use of the Direct GPU API for articulations.
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "cudamanager/PxCudaContext.h"
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#include "../snippetutils/SnippetUtils.h"
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using namespace physx;
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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 PxArticulationReducedCoordinate* gArticulation = NULL;
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static PxArticulationJointReducedCoordinate* gDriveJoint = NULL;
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static PxCudaContextManager* gCudaContextManager = NULL;
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static const PxVec3 gGravity(0.0f, -9.81f, 0.0f);
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static const PxU32 gNbIterPos = 32;
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static const PxReal gContactOffset = 0.2f;
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static const PxReal gLinearDamping = 0.2f;
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static const PxReal gAngularDamping = 0.2f;
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static const PxReal gMaxLinearVelocity = 100.0f;
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static const PxReal gMaxAngularVelocity = 20.0f;
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static const PxReal gDriveStiffness = 100000.f;
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static const PxReal gDriveDamping = 0.0f;
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static PxArray<PxU32> gRBIndices;
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static PxArray<PxGeometryHolder> gRBGeometries;
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static PxArray<PxTransform> gRBPoses;
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static PxArray<PxU32> gArtiIndices;
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static PxArray<PxGeometryHolder> gLinkGeometries;
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static PxArray<PxTransform> gLinkPoses;
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static PxArray<PxReal> gDriveValue;
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static CUdeviceptr gRBIndicesD;
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static CUdeviceptr gRBPosesD;
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static CUdeviceptr gLinkPosesD;
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static CUdeviceptr gArtiIndicesD;
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static CUdeviceptr gDriveD;
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PxU32 getRBCount()
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{
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return gRBIndices.size();
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}
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PxU32 getLinkCount()
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{
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return gLinkPoses.size();
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}
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const PxGeometryHolder* getRBGeometries()
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{
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return gRBGeometries.empty() ? NULL : &gRBGeometries[0];
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}
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const PxGeometryHolder* getLinkGeometries()
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{
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return gLinkGeometries.empty() ? NULL : &gLinkGeometries[0];
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}
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const PxTransform* getRBPoses()
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{
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return gRBPoses.empty() ? NULL : &gRBPoses[0];
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}
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const PxTransform* getLinkPoses()
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{
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return gLinkPoses.empty() ? NULL : &gLinkPoses[0];
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}
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static PxFilterFlags scissorFilter( PxFilterObjectAttributes attributes0, PxFilterData filterData0,
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PxFilterObjectAttributes attributes1, PxFilterData filterData1,
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PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
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{
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PX_UNUSED(attributes0);
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PX_UNUSED(attributes1);
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PX_UNUSED(constantBlock);
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PX_UNUSED(constantBlockSize);
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if (filterData0.word2 != 0 && filterData0.word2 == filterData1.word2)
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return PxFilterFlag::eKILL;
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pairFlags |= PxPairFlag::eCONTACT_DEFAULT;
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return PxFilterFlag::eDEFAULT;
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}
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static void createScissorLift()
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{
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const PxReal runnerLength = 2.f;
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const PxReal placementDistance = 1.8f;
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const PxReal cosAng = (placementDistance) / (runnerLength);
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const PxReal angle = PxAcos(cosAng);
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const PxReal sinAng = PxSin(angle);
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const PxQuat leftRot(-angle, PxVec3(1.f, 0.f, 0.f));
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const PxQuat rightRot(angle, PxVec3(1.f, 0.f, 0.f));
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// create base...
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PxArticulationLink* base = gArticulation->createLink(NULL, PxTransform(PxVec3(0.f, 0.25f, 0.f)));
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PxRigidActorExt::createExclusiveShape(*base, PxBoxGeometry(0.5f, 0.25f, 1.5f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*base, 3.f);
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// now create the slider and fixed joints...
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gArticulation->setSolverIterationCounts(gNbIterPos);
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PxArticulationLink* leftRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, -0.9f)));
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PxRigidActorExt::createExclusiveShape(*leftRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftRoot, 1.f);
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PxArticulationLink* rightRoot = gArticulation->createLink(base, PxTransform(PxVec3(0.f, 0.55f, 0.9f)));
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PxRigidActorExt::createExclusiveShape(*rightRoot, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightRoot, 1.f);
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PxArticulationJointReducedCoordinate* joint = leftRoot->getInboundJoint();
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joint->setJointType(PxArticulationJointType::eFIX);
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, -0.9f)));
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joint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
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// set up the drive joint...
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gDriveJoint = rightRoot->getInboundJoint();
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gDriveJoint->setJointType(PxArticulationJointType::ePRISMATIC);
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gDriveJoint->setMotion(PxArticulationAxis::eZ, PxArticulationMotion::eLIMITED);
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gDriveJoint->setLimitParams(PxArticulationAxis::eZ, PxArticulationLimit(-1.4f, 0.2f));
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gDriveJoint->setDriveParams(PxArticulationAxis::eZ, PxArticulationDrive(gDriveStiffness, gDriveDamping, PX_MAX_F32));
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gDriveJoint->setParentPose(PxTransform(PxVec3(0.f, 0.25f, 0.9f)));
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gDriveJoint->setChildPose(PxTransform(PxVec3(0.f, -0.05f, 0.f)));
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const PxU32 linkHeight = 3;
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PxArticulationLink* currFrontLeft = leftRoot, *currFrontRight = rightRoot;
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PxArticulationLink* currBackLeft = leftRoot, *currBackRight = rightRoot;
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// set up the scissor
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PxQuat frontRightParentRot(PxIdentity);
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PxQuat frontLeftParentRot(PxIdentity);
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PxQuat backRightParentRot(PxIdentity);
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PxQuat backLeftParentRot(PxIdentity);
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for (PxU32 i = 0; i < linkHeight; ++i)
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{
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PxVec3 pos(0.5f, 0.55f + 0.1f*(1 + i), 0.f);
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PxArticulationLink* frontLeftLink = gArticulation->createLink(currFrontLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
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PxRigidActorExt::createExclusiveShape(*frontLeftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*frontLeftLink, 1.f);
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const PxVec3 frontLeftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
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joint = frontLeftLink->getInboundJoint();
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joint->setParentPose(PxTransform(currFrontLeft->getGlobalPose().transformInv(frontLeftAnchorLocation), frontLeftParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
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frontLeftParentRot = leftRot;
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PxArticulationLink* frontRightLink = gArticulation->createLink(currFrontRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
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PxRigidActorExt::createExclusiveShape(*frontRightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*frontRightLink, 1.f);
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const PxVec3 frontRightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
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joint = frontRightLink->getInboundJoint();
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setParentPose(PxTransform(currFrontRight->getGlobalPose().transformInv(frontRightAnchorLocation), frontRightParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
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frontRightParentRot = rightRot;
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pos = PxVec3(-0.5f, 0.55f + 0.1f*(1 + i), 0.f);
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PxArticulationLink* backLeftLink = gArticulation->createLink(currBackLeft, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), leftRot));
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PxRigidActorExt::createExclusiveShape(*backLeftLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*backLeftLink, 1.f);
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const PxVec3 backLeftAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), -0.9f);
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joint = backLeftLink->getInboundJoint();
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setParentPose(PxTransform(currBackLeft->getGlobalPose().transformInv(backLeftAnchorLocation), backLeftParentRot));
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, -1.f), rightRot));
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-PxPi, angle));
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backLeftParentRot = leftRot;
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PxArticulationLink* backRightLink = gArticulation->createLink(currBackRight, PxTransform(pos + PxVec3(0.f, sinAng*(2 * i + 1), 0.f), rightRot));
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PxRigidActorExt::createExclusiveShape(*backRightLink, PxBoxGeometry(0.05f, 0.05f, 1.f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*backRightLink, 1.f);
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const PxVec3 backRightAnchorLocation = pos + PxVec3(0.f, sinAng*(2 * i), 0.9f);
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joint = backRightLink->getInboundJoint();
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joint->setParentPose(PxTransform(currBackRight->getGlobalPose().transformInv(backRightAnchorLocation), backRightParentRot));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setChildPose(PxTransform(PxVec3(0.f, 0.f, 1.f), leftRot));
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eLIMITED);
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joint->setLimitParams(PxArticulationAxis::eTWIST, PxArticulationLimit(-angle, PxPi));
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backRightParentRot = rightRot;
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PxD6Joint* d6FrontJoint = PxD6JointCreate(*gPhysics, frontLeftLink, PxTransform(PxIdentity), frontRightLink, PxTransform(PxIdentity));
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d6FrontJoint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6FrontJoint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6FrontJoint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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PxD6Joint* d6BackJoint = PxD6JointCreate(*gPhysics, backLeftLink, PxTransform(PxIdentity), backRightLink, PxTransform(PxIdentity));
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d6BackJoint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6BackJoint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6BackJoint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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currFrontLeft = frontRightLink;
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currFrontRight = frontLeftLink;
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currBackLeft = backRightLink;
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currBackRight = backLeftLink;
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}
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// set up the top
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PxArticulationLink* rightTop = gArticulation->createLink(currFrontRight, currFrontRight->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, 1.0f), frontRightParentRot)));
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PxRigidActorExt::createExclusiveShape(*rightTop, PxCapsuleGeometry(0.05f, 0.8f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*rightTop, 1.f);
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PxArticulationLink* leftTop = gArticulation->createLink(currFrontLeft, currFrontLeft->getGlobalPose().transform(PxTransform(PxVec3(-0.5f, 0.f, -1.0f), frontLeftParentRot)));
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PxRigidActorExt::createExclusiveShape(*leftTop, PxBoxGeometry(0.5f, 0.05f, 0.05f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*leftTop, 1.f);
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joint = leftTop->getInboundJoint();
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, -1.f), currFrontLeft->getGlobalPose().q.getConjugate()));
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joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), leftTop->getGlobalPose().q.getConjugate()));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
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joint = rightTop->getInboundJoint();
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.f, 1.f), currFrontRight->getGlobalPose().q.getConjugate()));
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joint->setChildPose(PxTransform(PxVec3(0.5f, 0.f, 0.f), rightTop->getGlobalPose().q.getConjugate()));
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joint->setJointType(PxArticulationJointType::eREVOLUTE);
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joint->setMotion(PxArticulationAxis::eTWIST, PxArticulationMotion::eFREE);
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PxD6Joint* d6joint = PxD6JointCreate(*gPhysics, currBackLeft, PxTransform(PxVec3(0.f, 0.f, -1.f)), leftTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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d6joint = PxD6JointCreate(*gPhysics, currBackRight, PxTransform(PxVec3(0.f, 0.f, 1.f)), rightTop, PxTransform(PxVec3(-0.5f, 0.f, 0.f)));
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d6joint->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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d6joint->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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const PxTransform topPose(PxVec3(0.f, leftTop->getGlobalPose().p.y + 0.15f, 0.f));
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PxArticulationLink* top = gArticulation->createLink(leftTop, topPose);
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PxRigidActorExt::createExclusiveShape(*top, PxBoxGeometry(0.5f, 0.1f, 1.5f), *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*top, 1.f);
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joint = top->getInboundJoint();
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joint->setJointType(PxArticulationJointType::eFIX);
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joint->setParentPose(PxTransform(PxVec3(0.f, 0.0f, 0.f)));
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joint->setChildPose(PxTransform(PxVec3(0.f, -0.15f, -0.9f)));
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gScene->addArticulation(*gArticulation);
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for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
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{
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PxArticulationLink* link;
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gArticulation->getLinks(&link, 1, i);
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link->setLinearDamping(gLinearDamping);
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link->setAngularDamping(gAngularDamping);
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link->setMaxAngularVelocity(gMaxAngularVelocity);
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link->setMaxLinearVelocity(gMaxLinearVelocity);
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if (link != top)
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{
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for (PxU32 b = 0; b < link->getNbShapes(); ++b)
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{
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PxShape* shape;
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link->getShapes(&shape, 1, b);
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shape->setSimulationFilterData(PxFilterData(0, 0, 1, 0));
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}
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}
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}
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// set up the box stack
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const PxVec3 halfExt(0.25f);
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const PxReal density(0.5f);
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PxBoxGeometry boxGeometryBox0(halfExt);
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PxTransform poseBox0(PxVec3(-0.25f, 5.f, 0.5f));
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PxRigidDynamic* box0 = gPhysics->createRigidDynamic(poseBox0);
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PxShape* shape0 = PxRigidActorExt::createExclusiveShape(*box0, boxGeometryBox0, *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box0, density);
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gScene->addActor(*box0);
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gRBIndices.pushBack(box0->getGPUIndex());
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gRBGeometries.pushBack(boxGeometryBox0);
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gRBPoses.pushBack(poseBox0);
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PxBoxGeometry boxGeometryBox1(halfExt);
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PxTransform poseBox1(PxVec3(0.25f, 5.f, 0.5f));
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PxRigidDynamic* box1 = gPhysics->createRigidDynamic(poseBox1);
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PxShape* shape1 = PxRigidActorExt::createExclusiveShape(*box1, boxGeometryBox1, *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box1, density);
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gScene->addActor(*box1);
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gRBIndices.pushBack(box1->getGPUIndex());
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gRBGeometries.pushBack(boxGeometryBox1);
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gRBPoses.pushBack(poseBox1);
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PxBoxGeometry boxGeometryBox2(halfExt);
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PxTransform poseBox2(PxVec3(-0.25f, 4.5f, 0.5f));
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PxRigidDynamic* box2 = gPhysics->createRigidDynamic(poseBox2);
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PxShape* shape2 = PxRigidActorExt::createExclusiveShape(*box2, boxGeometryBox2, *gMaterial);
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PxRigidBodyExt::updateMassAndInertia(*box2, density);
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gScene->addActor(*box2);
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gRBIndices.pushBack(box2->getGPUIndex());
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gRBGeometries.pushBack(boxGeometryBox2);
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gRBPoses.pushBack(poseBox2);
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PxBoxGeometry boxGeometryBox3(halfExt);
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PxTransform poseBox3(PxVec3(0.25f, 4.5f, 0.5f));
|
|
PxRigidDynamic* box3 = gPhysics->createRigidDynamic(poseBox3);
|
|
PxShape* shape3 = PxRigidActorExt::createExclusiveShape(*box3, boxGeometryBox3, *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box3, density);
|
|
gScene->addActor(*box3);
|
|
|
|
gRBIndices.pushBack(box3->getGPUIndex());
|
|
gRBGeometries.pushBack(boxGeometryBox3);
|
|
gRBPoses.pushBack(poseBox3);
|
|
|
|
PxBoxGeometry boxGeometryBox4(halfExt);
|
|
PxTransform poseBox4(PxVec3(-0.25f, 5.f, 0.f));
|
|
PxRigidDynamic* box4 = gPhysics->createRigidDynamic(poseBox4);
|
|
PxShape* shape4 = PxRigidActorExt::createExclusiveShape(*box4, boxGeometryBox4, *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box4, density);
|
|
gScene->addActor(*box4);
|
|
|
|
gRBIndices.pushBack(box4->getGPUIndex());
|
|
gRBGeometries.pushBack(boxGeometryBox4);
|
|
gRBPoses.pushBack(poseBox4);
|
|
|
|
PxBoxGeometry boxGeometryBox5(halfExt);
|
|
PxTransform poseBox5(PxVec3(0.25f, 5.f, 0.f));
|
|
PxRigidDynamic* box5 = gPhysics->createRigidDynamic(poseBox5);
|
|
PxShape* shape5 = PxRigidActorExt::createExclusiveShape(*box5, boxGeometryBox5, *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box5, density);
|
|
gScene->addActor(*box5);
|
|
|
|
gRBIndices.pushBack(box5->getGPUIndex());
|
|
gRBGeometries.pushBack(boxGeometryBox5);
|
|
gRBPoses.pushBack(poseBox5);
|
|
|
|
PxBoxGeometry boxGeometryBox6(halfExt);
|
|
PxTransform poseBox6(PxVec3(-0.25f, 4.5f, 0.f));
|
|
PxRigidDynamic* box6 = gPhysics->createRigidDynamic(poseBox6);
|
|
PxShape* shape6 = PxRigidActorExt::createExclusiveShape(*box6, boxGeometryBox6, *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box6, density);
|
|
gScene->addActor(*box6);
|
|
|
|
gRBIndices.pushBack(box6->getGPUIndex());
|
|
gRBGeometries.pushBack(boxGeometryBox6);
|
|
gRBPoses.pushBack(poseBox6);
|
|
|
|
PxBoxGeometry boxGeometryBox7(halfExt);
|
|
PxTransform poseBox7(PxVec3(0.25f, 4.5f, 0.f));
|
|
PxRigidDynamic* box7 = gPhysics->createRigidDynamic(poseBox7);
|
|
PxShape* shape7 = PxRigidActorExt::createExclusiveShape(*box7, boxGeometryBox7, *gMaterial);
|
|
PxRigidBodyExt::updateMassAndInertia(*box7, density);
|
|
gScene->addActor(*box7);
|
|
|
|
gRBIndices.pushBack(box7->getGPUIndex());
|
|
gRBGeometries.pushBack(boxGeometryBox7);
|
|
gRBPoses.pushBack(poseBox7);
|
|
|
|
shape0->setContactOffset(gContactOffset);
|
|
shape1->setContactOffset(gContactOffset);
|
|
shape2->setContactOffset(gContactOffset);
|
|
shape3->setContactOffset(gContactOffset);
|
|
shape4->setContactOffset(gContactOffset);
|
|
shape5->setContactOffset(gContactOffset);
|
|
shape6->setContactOffset(gContactOffset);
|
|
shape7->setContactOffset(gContactOffset);
|
|
}
|
|
|
|
void initPhysics(bool /*interactive*/)
|
|
{
|
|
gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
|
|
gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale());
|
|
|
|
PxCudaContextManagerDesc cudaContextManagerDesc;
|
|
gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc);
|
|
if (!gCudaContextManager || !gCudaContextManager->contextIsValid())
|
|
{
|
|
PX_RELEASE(gCudaContextManager);
|
|
printf("Failed to initialize cuda context.\n");
|
|
printf("The direct GPU API feature is only supported on the GPU.\n");
|
|
return;
|
|
}
|
|
|
|
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
|
|
sceneDesc.gravity = gGravity;
|
|
|
|
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
|
|
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
|
|
sceneDesc.cpuDispatcher = gDispatcher;
|
|
sceneDesc.filterShader = PxDefaultSimulationFilterShader;
|
|
|
|
sceneDesc.cudaContextManager = gCudaContextManager;
|
|
|
|
// enable GPU simulation and direct GPU access
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
|
|
sceneDesc.flags |= PxSceneFlag::eENABLE_DIRECT_GPU_API;
|
|
sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
|
|
|
|
sceneDesc.solverType = PxSolverType::eTGS;
|
|
sceneDesc.filterShader = scissorFilter;
|
|
|
|
gScene = gPhysics->createScene(sceneDesc);
|
|
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();
|
|
|
|
// run one step to initialize the direct GPU API
|
|
gScene->simulate(1.0f / 60.f);
|
|
gScene->fetchResults(true);
|
|
|
|
// note that the link indexing in the direct GPU API does not follow the order
|
|
// in which the links are created, link geometries must follow the low level indexing,
|
|
// this is critical to render the scene properly.
|
|
// first put placeholders in the arrays
|
|
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
|
|
{
|
|
gLinkGeometries.pushBack(PxGeometryHolder());
|
|
gLinkPoses.pushBack(PxTransform(PxIdentity));
|
|
}
|
|
// then populate the array in the correct order
|
|
for (PxU32 i = 0; i < gArticulation->getNbLinks(); ++i)
|
|
{
|
|
// getting the link
|
|
PxArticulationLink* link;
|
|
gArticulation->getLinks(&link, 1, i);
|
|
// getting the link geometry
|
|
PxShape* shape;
|
|
link->getShapes(&shape, 1, 0);
|
|
// adding the link geometry at the correct index
|
|
gLinkGeometries[link->getLinkIndex()] = shape->getGeometry();
|
|
}
|
|
|
|
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
|
|
|
|
// prepare RBs indices
|
|
cudaContext->memAlloc(&gRBIndicesD, getRBCount() * sizeof(PxU32));
|
|
cudaContext->memcpyHtoD(gRBIndicesD, &gRBIndices[0], getRBCount() * sizeof(PxU32));
|
|
// a buffer to read box pose for rendering
|
|
cudaContext->memAlloc(&gRBPosesD, getRBCount() * sizeof(PxTransform));
|
|
|
|
// prepare link indices
|
|
const PxArticulationGPUIndex gpuIndex = gArticulation->getGPUIndex();
|
|
PX_ASSERT(gpuIndex != 0xFFffFFff);
|
|
gArtiIndices.pushBack(gpuIndex);
|
|
cudaContext->memAlloc(&gArtiIndicesD, sizeof(PxU32));
|
|
cudaContext->memcpyHtoD(gArtiIndicesD, &gArtiIndices[0], sizeof(PxU32));
|
|
// a buffer to read link pose for rendering
|
|
cudaContext->memAlloc(&gLinkPosesD, getLinkCount() * sizeof(PxTransform));
|
|
|
|
// prepare joint target position
|
|
gDriveValue.pushBack(0.0);
|
|
const PxU32 nbDofs = gArticulation->getDofs();
|
|
cudaContext->memAlloc(&gDriveD, sizeof(PxReal) * nbDofs);
|
|
cudaContext->memcpyHtoD(gDriveD, &gDriveValue[0], sizeof(PxReal));
|
|
}
|
|
|
|
static bool gClosing = true;
|
|
|
|
void stepPhysics(bool /*interactive*/)
|
|
{
|
|
if (gCudaContextManager)
|
|
{
|
|
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
|
|
|
|
const PxReal dt = 1.0f / 60.f;
|
|
|
|
// get drive value
|
|
gScene->getDirectGPUAPI().getArticulationData(
|
|
(void*)gDriveD, (const PxArticulationGPUIndex*)(gArtiIndicesD),
|
|
PxArticulationGPUAPIReadType::eJOINT_TARGET_POSITION, 1);
|
|
cudaContext->memcpyDtoH(&gDriveValue[0], gDriveD, sizeof(PxReal));
|
|
|
|
if (gClosing && gDriveValue[0] < -1.2f)
|
|
gClosing = false;
|
|
else if (!gClosing && gDriveValue[0] > 0.f)
|
|
gClosing = true;
|
|
|
|
if (gClosing)
|
|
gDriveValue[0] -= dt*0.25f;
|
|
else
|
|
gDriveValue[0] += dt*0.25f;
|
|
// set drive value
|
|
cudaContext->memcpyHtoD(gDriveD, &gDriveValue[0], sizeof(PxReal));
|
|
|
|
gScene->getDirectGPUAPI().setArticulationData(
|
|
(void*)gDriveD, (const PxArticulationGPUIndex*)(gArtiIndicesD),
|
|
PxArticulationGPUAPIWriteType::eJOINT_TARGET_POSITION, 1);
|
|
|
|
gScene->simulate(dt);
|
|
gScene->fetchResults(true);
|
|
|
|
// read current poses of boxes for rendering
|
|
gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBPosesD),
|
|
reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
|
|
PxRigidDynamicGPUAPIReadType::eGLOBAL_POSE,
|
|
getRBCount());
|
|
cudaContext->memcpyDtoH(&gRBPoses[0], gRBPosesD, getRBCount() * sizeof(PxTransform));
|
|
|
|
// read current poses of the scissor lift for rendering
|
|
gScene->getDirectGPUAPI().getArticulationData(reinterpret_cast<void*>(gLinkPosesD),
|
|
reinterpret_cast<const PxArticulationGPUIndex*>(gArtiIndicesD),
|
|
PxArticulationGPUAPIReadType::eLINK_GLOBAL_POSE,
|
|
1);
|
|
cudaContext->memcpyDtoH(&gLinkPoses[0], gLinkPosesD, getLinkCount() * sizeof(PxTransform));
|
|
}
|
|
}
|
|
|
|
void cleanupPhysics(bool /*interactive*/)
|
|
{
|
|
if (gCudaContextManager)
|
|
{
|
|
PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
|
|
cudaContext->memFree(gArtiIndicesD);
|
|
cudaContext->memFree(gDriveD);
|
|
cudaContext->memFree(gRBPosesD);
|
|
cudaContext->memFree(gRBIndicesD);
|
|
cudaContext->memFree(gLinkPosesD);
|
|
}
|
|
gRBIndices.reset();
|
|
gRBGeometries.reset();
|
|
gRBPoses.reset();
|
|
gArtiIndices.reset();
|
|
gLinkGeometries.reset();
|
|
gLinkPoses.reset();
|
|
gDriveValue.reset();
|
|
|
|
PX_RELEASE(gArticulation);
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
PX_RELEASE(gCudaContextManager);
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetDirectGPUAPIArticulation 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;
|
|
}
|