272 lines
9.9 KiB
C++
272 lines
9.9 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 fluid simulation using multiple materials. It
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// creates a container and drops a body of water. The dynamics of the fluid
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// is computed using Position-based Fluid (PBF) which is a purely
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// particle-based algorithm.
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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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#include "../snippetutils/SnippetUtils.h"
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#include "extensions/PxParticleExt.h"
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#include "extensions/PxCudaHelpersExt.h"
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using namespace physx;
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using namespace ExtGpu;
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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 PxCudaContextManager* gCudaContextManager = 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 PxPBDParticleSystem* gParticleSystem = NULL;
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static PxParticleBuffer* gParticleBuffer = NULL;
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static bool gIsRunning = true;
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static void initScene()
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{
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 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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sceneDesc.cudaContextManager = gCudaContextManager;
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sceneDesc.staticStructure = PxPruningStructureType::eDYNAMIC_AABB_TREE;
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sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
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sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
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sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
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gScene = gPhysics->createScene(sceneDesc);
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}
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static void initParticles(const PxU32 numX, const PxU32 numY, const PxU32 numZ, const PxVec3& position = PxVec3(0, 0, 0), const PxReal particleSpacing = 0.2f, const PxReal fluidDensity = 1000.f)
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{
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PxCudaContextManager* cudaContextManager = gScene->getCudaContextManager();
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if (cudaContextManager == NULL)
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return;
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const PxU32 maxParticles = numX * numY * numZ;
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gParticleSystem = gPhysics->createPBDParticleSystem(*cudaContextManager, 96);
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// General particle system setting
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const PxReal restOffset = 0.5f * particleSpacing / 0.6f;
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const PxReal solidRestOffset = restOffset;
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const PxReal fluidRestOffset = restOffset * 0.6f;
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const PxReal particleMass = fluidDensity * 1.333f * 3.14159f * particleSpacing * particleSpacing * particleSpacing;
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gParticleSystem->setRestOffset(restOffset);
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gParticleSystem->setContactOffset(restOffset + 0.01f);
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gParticleSystem->setParticleContactOffset(PxMax(solidRestOffset + 0.01f, fluidRestOffset / 0.6f));
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gParticleSystem->setSolidRestOffset(solidRestOffset);
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gParticleSystem->setFluidRestOffset(fluidRestOffset);
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gParticleSystem->setParticleFlag(PxParticleFlag::eENABLE_SPECULATIVE_CCD, false);
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gScene->addActor(*gParticleSystem);
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// Create particles and add them to the particle system
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PxU32* phase = PX_EXT_PINNED_MEMORY_ALLOC(PxU32, *cudaContextManager, maxParticles);
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PxVec4* positionInvMass = PX_EXT_PINNED_MEMORY_ALLOC(PxVec4, *cudaContextManager, maxParticles);
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PxVec4* velocity = PX_EXT_PINNED_MEMORY_ALLOC(PxVec4, *cudaContextManager, maxParticles);
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// We are applying different material parameters for each section
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const PxU32 maxMaterials = 3;
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PxU32 phases[maxMaterials];
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for (PxU32 i = 0; i < maxMaterials; ++i)
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{
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PxPBDMaterial* mat = gPhysics->createPBDMaterial(0.05f, i / (maxMaterials - 1.0f), 0.f, 10.002f* (i + 1), 0.5f, 0.005f * i, 0.01f, 0.f, 0.f);
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phases[i] = gParticleSystem->createPhase(mat, PxParticlePhaseFlags(PxParticlePhaseFlag::eParticlePhaseFluid | PxParticlePhaseFlag::eParticlePhaseSelfCollide));
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}
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PxReal x = position.x;
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PxReal y = position.y;
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PxReal z = position.z;
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for (PxU32 i = 0; i < numX; ++i)
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{
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for (PxU32 j = 0; j < numY; ++j)
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{
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for (PxU32 k = 0; k < numZ; ++k)
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{
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const PxU32 index = i * (numY * numZ) + j * numZ + k;
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const PxU16 matIndex = (PxU16)(i * maxMaterials / numX);
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const PxVec4 pos(x, y, z, 1.0f / particleMass);
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phase[index] = phases[matIndex];
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positionInvMass[index] = pos;
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velocity[index] = PxVec4(0.0f);
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z += particleSpacing;
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}
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z = position.z;
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y += particleSpacing;
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}
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y = position.y;
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x += particleSpacing;
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}
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ExtGpu::PxParticleBufferDesc bufferDesc;
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bufferDesc.maxParticles = maxParticles;
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bufferDesc.numActiveParticles = maxParticles;
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bufferDesc.positions = positionInvMass;
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bufferDesc.velocities = velocity;
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bufferDesc.phases = phase;
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gParticleBuffer = physx::ExtGpu::PxCreateAndPopulateParticleBuffer(bufferDesc, cudaContextManager);
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gParticleSystem->addParticleBuffer(gParticleBuffer);
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PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, positionInvMass);
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PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, velocity);
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PX_EXT_PINNED_MEMORY_FREE(*cudaContextManager, phase);
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}
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PxParticleSystem* getParticleSystem()
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{
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return gParticleSystem;
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}
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PxParticleBuffer* getParticleBuffer()
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{
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return gParticleBuffer;
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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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// initialize cuda
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PxCudaContextManagerDesc cudaContextManagerDesc;
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gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc, PxGetProfilerCallback());
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if (gCudaContextManager && !gCudaContextManager->contextIsValid())
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{
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PX_RELEASE(gCudaContextManager);
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printf("Failed to initialize cuda context.\n");
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printf("The particle feature is currently only supported on GPU.\n");
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}
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initScene();
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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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// Setup PBF
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const PxReal fluidDensity = 1000.0f;
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initParticles(60, 80, 30, PxVec3(-2.5f, 3.f, -2.5f), 0.1f, fluidDensity);
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// Setup container
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gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(0.f, 1.f, 0.f, 0.f), *gMaterial));
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gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(1.f, 0.f, 0.f, 6.f), *gMaterial));
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gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(-1.f, 0.f, 0.f, 6.f), *gMaterial));
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gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(0.f, 0.f, 1.f, 6.f), *gMaterial));
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gScene->addActor(*PxCreatePlane(*gPhysics, PxPlane(0.f, 0.f, -1.f, 6.f), *gMaterial));
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// Setup rigid bodies
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const PxReal dynamicsDensity = fluidDensity * 0.2f;
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const PxReal boxSize = 1.0f;
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const PxReal boxMass = boxSize * boxSize * boxSize * dynamicsDensity;
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PxShape* shape = gPhysics->createShape(PxBoxGeometry(0.5f * boxSize, 0.5f * boxSize, 0.5f * boxSize), *gMaterial);
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for (int i = 0; i < 5; ++i)
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{
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PxRigidDynamic* body = gPhysics->createRigidDynamic(PxTransform(PxVec3(i - 3.0f, 10, 1)));
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body->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*body, boxMass);
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gScene->addActor(*body);
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}
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shape->release();
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}
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void stepPhysics(bool /*interactive*/)
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{
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if (gIsRunning)
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{
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gScene->simulate(1.0f / 60.0f);
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gScene->fetchResults(true);
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gScene->fetchResultsParticleSystem();
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}
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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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PX_RELEASE(gCudaContextManager);
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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("SnippetPBFMultiMat 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 'P': gIsRunning = !gIsRunning; 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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