234 lines
7.5 KiB
C++
234 lines
7.5 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 rack & pinion joints
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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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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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static PxRigidDynamic* createGearWithBoxes(PxPhysics& sdk, const PxBoxGeometry& boxGeom, const PxTransform& transform, PxMaterial& material, int nbShapes)
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{
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PxRigidDynamic* actor = sdk.createRigidDynamic(transform);
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PxMat33 m(PxIdentity);
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for(int i=0;i<nbShapes;i++)
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{
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const float coeff = float(i)/float(nbShapes);
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const float angle = PxPi * 0.5f * coeff;
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PxShape* shape = sdk.createShape(boxGeom, material, true);
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const PxReal cos = cosf(angle);
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const PxReal sin = sinf(angle);
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m[0][0] = m[1][1] = cos;
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m[0][1] = sin;
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m[1][0] = -sin;
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PxTransform localPose;
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localPose.p = PxVec3(0.0f);
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localPose.q = PxQuat(m);
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shape->setLocalPose(localPose);
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actor->attachShape(*shape);
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}
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PxRigidBodyExt::updateMassAndInertia(*actor, 1.0f);
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return actor;
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}
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static PxRigidDynamic* createRackWithBoxes(PxPhysics& sdk, const PxTransform& transform, PxMaterial& material, int nbTeeth, float rackLength)
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{
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PxRigidDynamic* actor = sdk.createRigidDynamic(transform);
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{
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const PxBoxGeometry boxGeom(rackLength*0.5f, 0.25f, 0.25f);
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PxShape* shape = sdk.createShape(boxGeom, material, true);
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actor->attachShape(*shape);
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}
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PxMat33 m(PxIdentity);
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const float angle = PxPi * 0.25f;
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const PxReal cos = cosf(angle);
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const PxReal sin = sinf(angle);
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m[0][0] = m[1][1] = cos;
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m[0][1] = sin;
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m[1][0] = -sin;
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PxTransform localPose;
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localPose.p = PxVec3(0.0f);
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localPose.q = PxQuat(m);
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const float offset = rackLength / float(nbTeeth);
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localPose.p.x = (offset - rackLength)*0.5f;
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for(int i=0;i<nbTeeth;i++)
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{
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const PxBoxGeometry boxGeom(0.75f, 0.75f, 0.25f);
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PxShape* shape = sdk.createShape(boxGeom, material, true);
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shape->setLocalPose(localPose);
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actor->attachShape(*shape);
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localPose.p.x += offset;
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}
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PxRigidBodyExt::updateMassAndInertia(*actor, 1.0f);
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return actor;
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}
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static PxRevoluteJoint* gHinge0 = NULL;
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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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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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gScene = gPhysics->createScene(sceneDesc);
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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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const float velocityTarget = 0.5f;
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const float radius = 3.0f;
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const float rackLength = 3.0f*10.0f;
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const int nbPinionTeeth = int(radius)*4; // 'radius' teeth for PI/2
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const int nbRackTeeth = 5*3;
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const PxBoxGeometry boxGeom0(radius, radius, 0.5f);
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const PxVec3 boxPos0(0.0f, 10.0f, 0.0f);
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const PxVec3 boxPos1(0.0f, 10.0f+radius+1.5f, 0.0f);
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PxRigidDynamic* actor0 = createGearWithBoxes(*gPhysics, boxGeom0, PxTransform(boxPos0), *gMaterial, int(radius));
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gScene->addActor(*actor0);
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PxRigidDynamic* actor1 = createRackWithBoxes(*gPhysics, PxTransform(boxPos1), *gMaterial, nbRackTeeth, rackLength);
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gScene->addActor(*actor1);
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const PxQuat x2z = PxShortestRotation(PxVec3(1.0f, 0.0f, 0.0f), PxVec3(0.0f, 0.0f, 1.0f));
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PxRevoluteJoint* hinge = PxRevoluteJointCreate(*gPhysics, NULL, PxTransform(boxPos0, x2z), actor0, PxTransform(PxVec3(0.0f), x2z));
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PxPrismaticJoint* prismatic = PxPrismaticJointCreate(*gPhysics, NULL, PxTransform(boxPos1), actor1, PxTransform(PxVec3(0.0f)));
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if(1)
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{
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hinge->setDriveVelocity(velocityTarget);
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hinge->setRevoluteJointFlag(PxRevoluteJointFlag::eDRIVE_ENABLED, true);
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gHinge0 = hinge;
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}
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PxRackAndPinionJoint* rackJoint = PxRackAndPinionJointCreate(*gPhysics, actor0, PxTransform(PxVec3(0.0f), x2z), actor1, PxTransform(PxVec3(0.0f)));
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rackJoint->setJoints(hinge, prismatic);
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rackJoint->setData(nbRackTeeth, nbPinionTeeth, rackLength);
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}
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void stepPhysics(bool /*interactive*/)
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{
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if(gHinge0)
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{
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static float globalTime = 0.0f;
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globalTime += 1.0f/60.0f;
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const float velocityTarget = cosf(globalTime)*3.0f;
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gHinge0->setDriveVelocity(velocityTarget);
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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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}
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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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PX_RELEASE(gFoundation);
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printf("SnippetRackJoint done.\n");
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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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