271 lines
9.8 KiB
C++
271 lines
9.8 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 GPU-accelerated rigid body simulation with
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// .the direct GPU API feature on and used for rendering and resetting.
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//
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// It creates a number of box stacks on a plane, and a rolling ball that
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// hits the stacks. User can reset the simulation by pressing 'R'.
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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 PxCudaContextManager* gCudaContextManager = NULL;
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static PxReal stackZ = 10.0f;
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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 CUdeviceptr gRBIndicesD;
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static CUdeviceptr gRBPosesD;
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static CUdeviceptr gRBInitPosesD;
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static CUdeviceptr gRBInitLinVelsD;
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static CUdeviceptr gRBInitAngVelsD;
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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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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 PxTransform* getRBPoses()
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{
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return gRBPoses.empty() ? NULL : &gRBPoses[0];
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}
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static PxRigidDynamic* createDynamic(const PxTransform& pose, const PxGeometry& geometry, const PxVec3& velocity = PxVec3(0))
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{
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PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, pose, geometry, *gMaterial, 10.0f);
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dynamic->setAngularDamping(0.5f);
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dynamic->setLinearVelocity(velocity);
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gScene->addActor(*dynamic);
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gRBIndices.pushBack(dynamic->getGPUIndex());
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gRBGeometries.pushBack(geometry);
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gRBPoses.pushBack(pose);
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return dynamic;
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}
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static void createStack(const PxTransform& pose, PxU32 size, PxReal halfExtent)
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{
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PxBoxGeometry boxGeometry(halfExtent, halfExtent, halfExtent);
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PxShape* shape = gPhysics->createShape(boxGeometry, *gMaterial);
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for (PxU32 i = 0; i < size; i++)
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{
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for (PxU32 j = 0; j < size - i; j++)
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{
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PxTransform localPose(PxVec3(PxReal(j * 2) - PxReal(size - i), PxReal(i * 2 + 1), 0) * halfExtent);
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PxTransform globalPose = pose.transform(localPose);
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PxRigidDynamic* body = gPhysics->createRigidDynamic(globalPose);
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body->attachShape(*shape);
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PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
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gScene->addActor(*body);
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gRBIndices.pushBack(body->getGPUIndex());
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gRBGeometries.pushBack(boxGeometry);
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gRBPoses.pushBack(globalPose);
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}
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}
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shape->release();
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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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gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale());
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PxCudaContextManagerDesc cudaContextManagerDesc;
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gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc);
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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 direct GPU API feature is only supported on the GPU.\n");
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return;
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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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PxU32 numCores = SnippetUtils::getNbPhysicalCores();
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gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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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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// enable GPU simulstion and direct GPU access
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sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;
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sceneDesc.flags |= PxSceneFlag::eENABLE_DIRECT_GPU_API;
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sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;
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gScene = gPhysics->createScene(sceneDesc);
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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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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for (PxU32 i = 0; i < 40; i++)
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createStack(PxTransform(PxVec3(0, 0, stackZ -= 10.0f)), 20, 1.0f);
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PxRigidDynamic* ball = createDynamic(PxTransform(PxVec3(0, 20, 100)), PxSphereGeometry(5), PxVec3(0, -25, -100));
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PxRigidBodyExt::updateMassAndInertia(*ball, 1000.f);
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PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
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// prepare RBs indices
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cudaContext->memAlloc(&gRBIndicesD, getRBCount() * sizeof(PxU32));
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cudaContext->memcpyHtoD(gRBIndicesD, &gRBIndices[0], getRBCount() * sizeof(PxU32));
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// a buffer to read poses for rendering
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cudaContext->memAlloc(&gRBPosesD, getRBCount() * sizeof(PxTransform));
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// direct GPU API data is only valid *after*
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// the 1st simulation step. so we step.
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gScene->simulate(1.0f / 60.0f);
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gScene->fetchResults(true);
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// store initial poses and velocities for reset
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cudaContext->memAlloc(&gRBInitPosesD, getRBCount() * sizeof(PxTransform));
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gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBInitPosesD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIReadType::eGLOBAL_POSE,
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getRBCount());
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cudaContext->memAlloc(&gRBInitLinVelsD, getRBCount() * sizeof(PxVec3));
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gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBInitLinVelsD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIReadType::eLINEAR_VELOCITY,
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getRBCount());
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cudaContext->memAlloc(&gRBInitAngVelsD, getRBCount() * sizeof(PxVec3));
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gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBInitAngVelsD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIReadType::eANGULAR_VELOCITY,
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getRBCount());
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}
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void stepPhysics(bool /*interactive*/)
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{
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if (gCudaContextManager)
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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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// read current poses for rendering
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gScene->getDirectGPUAPI().getRigidDynamicData(reinterpret_cast<void*>(gRBPosesD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIReadType::eGLOBAL_POSE,
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getRBCount());
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PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
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cudaContext->memcpyDtoH(&gRBPoses[0], gRBPosesD, getRBCount() * sizeof(PxTransform));
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}
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}
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void cleanupPhysics(bool /*interactive*/)
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{
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if (gCudaContextManager)
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{
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PxCudaContext* cudaContext = gCudaContextManager->getCudaContext();
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cudaContext->memFree(gRBInitAngVelsD);
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cudaContext->memFree(gRBInitLinVelsD);
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cudaContext->memFree(gRBInitPosesD);
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cudaContext->memFree(gRBPosesD);
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cudaContext->memFree(gRBIndicesD);
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gRBIndices.reset();
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gRBGeometries.reset();
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gRBPoses.reset();
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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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PX_RELEASE(gFoundation);
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printf("SnippetRBDirectGPUAPI 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 'R':
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{
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// reset poses and velocities
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gScene->getDirectGPUAPI().setRigidDynamicData(reinterpret_cast<void*>(gRBInitPosesD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIWriteType::eGLOBAL_POSE,
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getRBCount());
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gScene->getDirectGPUAPI().setRigidDynamicData(reinterpret_cast<void*>(gRBInitLinVelsD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIWriteType::eLINEAR_VELOCITY,
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getRBCount());
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gScene->getDirectGPUAPI().setRigidDynamicData(reinterpret_cast<void*>(gRBInitAngVelsD),
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reinterpret_cast<const PxRigidDynamicGPUIndex*>(gRBIndicesD),
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PxRigidDynamicGPUAPIWriteType::eANGULAR_VELOCITY,
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getRBCount());
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}
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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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