342 lines
10 KiB
C++
342 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 illustrates simple use of joint drives in physx
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#ifdef RENDER_SNIPPET
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#include "../snippetrender/SnippetRender.h"
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#endif
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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 PxPvd* gPvd = NULL;
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#if PX_SUPPORT_GPU_PHYSX
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static PxCudaContextManager* gCudaContextManager = NULL;
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#endif
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static bool gPause = false;
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static bool gOneFrame = false;
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static bool gChangeObjectAType = false;
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static bool gChangeObjectBRotation = false;
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static bool gChangeJointFrameARotation = false;
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static bool gChangeJointFrameBRotation = false;
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#if PX_SUPPORT_GPU_PHYSX
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static bool gUseGPU = false;
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#endif
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static PxU32 gSceneIndex = 0;
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static const PxU32 gMaxSceneIndex = 4;
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static void setupActor(PxRigidActor* actor)
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{
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actor->setActorFlag(PxActorFlag::eVISUALIZATION, true);
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gScene->addActor(*actor);
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}
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static void createScene()
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{
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PX_RELEASE(gScene);
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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// Disable gravity so that the motion is only produced by the drive
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sceneDesc.gravity = PxVec3(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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#if PX_SUPPORT_GPU_PHYSX
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if(gUseGPU)
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{
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sceneDesc.cudaContextManager = gCudaContextManager;
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sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
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sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
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sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
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sceneDesc.gpuMaxNumPartitions = 8;
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}
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#endif
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gScene = gPhysics->createScene(sceneDesc);
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// Visualize joint local frames
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gScene->setVisualizationParameter(PxVisualizationParameter::eSCALE, 1.0f);
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gScene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES, 1.0f);
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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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PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
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gScene->addActor(*groundPlane);
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if(gSceneIndex<gMaxSceneIndex)
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{
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const PxQuat rotZ = PxGetRotZQuat(-PxPi/4.0f);
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const PxBoxGeometry boxGeom(0.5f, 0.5f, 0.5f);
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PxTransform tr(PxVec3(0.0f, 2.0f, -20.0f));
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PxRigidActor* actor0;
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if(gChangeObjectAType)
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{
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PxRigidDynamic* actor = PxCreateDynamic(*gPhysics, tr, boxGeom, *gMaterial, 1.0f);
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actor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
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actor0 = actor;
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}
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else
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{
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actor0 = PxCreateStatic(*gPhysics, tr, boxGeom, *gMaterial);
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}
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setupActor(actor0);
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tr.p.x += boxGeom.halfExtents.x * 2.0f;
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if(gChangeObjectBRotation)
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tr.q = rotZ;
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PxRigidDynamic* actor1 = PxCreateDynamic(*gPhysics, tr, boxGeom, *gMaterial, 1.0f);
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setupActor(actor1);
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PxTransform jointFrame0(PxIdentity);
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PxTransform jointFrame1(PxIdentity);
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// We're going to setup a linear drive along "X" = actor0's joint frame's X axis.
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// That axis will be either aligned with the actors' X axis or tilted 45 degrees.
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if(gChangeJointFrameARotation)
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jointFrame0.q = rotZ;
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else
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jointFrame0.q = PxQuat(PxIdentity);
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if(gChangeJointFrameBRotation)
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jointFrame1.q = rotZ;
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else
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jointFrame1.q = PxQuat(PxIdentity);
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PxD6Joint* j = PxD6JointCreate(*gPhysics, actor0, jointFrame0, actor1, jointFrame1);
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j->setAngularDriveConfig(PxD6AngularDriveConfig::eSWING_TWIST);
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j->setConstraintFlag(PxConstraintFlag::eVISUALIZATION, true);
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// Locked axes would move the joint frames & snap them together. In this test we explicitly want them disjoint,
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// to check in which direction the drives operates. So we set all DOFs free to make sure none of that interferes
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// with the drive.
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j->setMotion(PxD6Axis::eX, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eY, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eZ, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
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j->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
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if(gSceneIndex==0)
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{
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// Linear drive along "X" = actor0's joint frame's X axis
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j->setDrive(PxD6Drive::eX, PxD6JointDrive(0, 1000, FLT_MAX, true));
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j->setDriveVelocity(PxVec3(1.0f, 0.0f, 0.0f), PxVec3(0.0f), true);
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}
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else if(gSceneIndex==1)
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{
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j->setDrive(PxD6Drive::eTWIST, PxD6JointDrive(0, 1000, FLT_MAX, true));
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j->setDriveVelocity(PxVec3(0.0f), PxVec3(1.0f, 0.0f, 0.0f), true);
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}
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else if(gSceneIndex==2)
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{
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j->setDrive(PxD6Drive::eSWING1, PxD6JointDrive(0, 1000, FLT_MAX, true));
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j->setDriveVelocity(PxVec3(0.0f), PxVec3(0.0f, 1.0f, 0.0f), true);
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}
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else if(gSceneIndex==3)
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{
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j->setAngularDriveConfig(PxD6AngularDriveConfig::eSLERP);
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j->setDrive(PxD6Drive::eSLERP, PxD6JointDrive(0, 1000, FLT_MAX, true));
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j->setDriveVelocity(PxVec3(0.0f), PxVec3(0.0f, 1.0f, 0.0f), true);
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}
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}
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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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PxInitExtensions(*gPhysics, gPvd);
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#if PX_SUPPORT_GPU_PHYSX
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PxCudaContextManagerDesc cudaContextManagerDesc;
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gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc, PxGetProfilerCallback());
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if(gCudaContextManager)
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{
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if(!gCudaContextManager->contextIsValid())
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PX_RELEASE(gCudaContextManager);
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}
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#endif
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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createScene();
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}
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void stepPhysics(bool /*interactive*/)
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{
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if(gPause && !gOneFrame)
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return;
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gOneFrame = false;
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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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PxCloseExtensions();
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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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#if PX_SUPPORT_GPU_PHYSX
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PX_RELEASE(gCudaContextManager);
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#endif
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PX_RELEASE(gFoundation);
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printf("SnippetJointDrive done.\n");
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}
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void renderText()
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{
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#ifdef RENDER_SNIPPET
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Snippets::print("Press F1 to change body0's joint frame orientation");
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Snippets::print("Press F2 to change body0's type (static/kinematic)");
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Snippets::print("Press F3 to change body1's joint frame orientation");
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Snippets::print("Press F4 to change body1's orientation");
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#if PX_SUPPORT_GPU_PHYSX
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Snippets::print("Press F5 to use CPU or GPU");
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#endif
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Snippets::print("Press F6 to select the next drive");
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switch(gSceneIndex)
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{
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case 0:
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Snippets::print("Current drive: linear X");
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break;
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case 1:
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Snippets::print("Current drive: angular twist (around X)");
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break;
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case 2:
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Snippets::print("Current drive: angular swing (around Y)");
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break;
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case 3:
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Snippets::print("Current drive: angular slerp (around Y)");
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break;
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}
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#if PX_SUPPORT_GPU_PHYSX
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if(gUseGPU)
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Snippets::print("Current mode: GPU");
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else
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Snippets::print("Current mode: CPU");
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#endif
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Snippets::print("body1's translation or rotation (drive) axis should only depend on body0's joint axes.");
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#endif
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}
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void keyPress(unsigned char key, const PxTransform&)
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{
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if(key=='p' || key=='P')
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gPause = !gPause;
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if(key=='o' || key=='O')
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{
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gPause = true;
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gOneFrame = true;
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}
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if(key==1)
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{
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gChangeJointFrameARotation = !gChangeJointFrameARotation;
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createScene();
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}
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else if(key==2)
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{
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gChangeObjectAType = !gChangeObjectAType;
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createScene();
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}
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else if(key==3)
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{
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gChangeJointFrameBRotation = !gChangeJointFrameBRotation;
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createScene();
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}
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else if(key==4)
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{
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gChangeObjectBRotation = !gChangeObjectBRotation;
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createScene();
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}
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#if PX_SUPPORT_GPU_PHYSX
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else if(key==5)
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{
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gUseGPU = !gUseGPU;
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createScene();
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}
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#endif
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else if(key==6)
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{
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gSceneIndex = gSceneIndex + 1;
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if(gSceneIndex==gMaxSceneIndex)
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gSceneIndex = 0;
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createScene();
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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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