100 lines
3.3 KiB
C++
100 lines
3.3 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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#ifdef RENDER_SNIPPET
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#include "PxPhysicsAPI.h"
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#include "../snippetrender/SnippetRender.h"
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#include "../snippetrender/SnippetCamera.h"
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using namespace physx;
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extern void initPhysics(bool interactive);
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extern void stepPhysics(bool interactive);
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extern void cleanupPhysics(bool interactive);
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namespace
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{
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Snippets::Camera* sCamera;
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void renderCallback()
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{
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stepPhysics(true);
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Snippets::startRender(sCamera);
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const PxVec3 dynLinkColor(1.0f, 0.5f, 0.25f);
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const PxVec3 baseLinkColor(0.5f, 0.25f, 1.0f);
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PxScene* scene;
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PxGetPhysics().getScenes(&scene,1);
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PxU32 nbArticulations = scene->getNbArticulations();
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for(PxU32 i=0;i<nbArticulations;i++)
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{
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PxArticulationReducedCoordinate* articulation;
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scene->getArticulations(&articulation, 1, i);
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const PxU32 nbLinks = articulation->getNbLinks();
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PxArray<PxArticulationLink*> links(nbLinks);
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articulation->getLinks(&links[0], nbLinks);
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PxReal colorScale = 1.0f;
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if(articulation->isSleeping())
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colorScale = 0.4f;
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const PxU32 numLinks = static_cast<PxU32>(links.size());
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Snippets::renderActors(reinterpret_cast<PxRigidActor**>(&links[0]), 1, true, colorScale * baseLinkColor);
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Snippets::renderActors(reinterpret_cast<PxRigidActor**>(&links[1]), numLinks - 1, true, colorScale * dynLinkColor);
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}
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Snippets::finishRender();
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}
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void exitCallback()
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{
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delete sCamera;
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cleanupPhysics(true);
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}
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}
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void renderLoop()
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{
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const PxVec3 camEye(3.3f, 2.95f, 3.2f);
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const PxVec3 camDir(-0.5f, -0.078f, -0.86f);
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sCamera = new Snippets::Camera(camEye, camDir);
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Snippets::setupDefault("PhysX Snippet Articulation Fixed Tendon", sCamera, NULL, renderCallback, exitCallback);
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initPhysics(true);
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glutMainLoop();
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}
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#endif
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