diff options
Diffstat (limited to 'samples/SampleBase/blast/BlastFamily.cpp')
| -rwxr-xr-x[-rw-r--r--] | samples/SampleBase/blast/BlastFamily.cpp | 1166 |
1 files changed, 583 insertions, 583 deletions
diff --git a/samples/SampleBase/blast/BlastFamily.cpp b/samples/SampleBase/blast/BlastFamily.cpp index ff86ea2..5d41eb7 100644..100755 --- a/samples/SampleBase/blast/BlastFamily.cpp +++ b/samples/SampleBase/blast/BlastFamily.cpp @@ -1,583 +1,583 @@ -// This code contains NVIDIA Confidential Information and is disclosed to you -// under a form of NVIDIA software license agreement provided separately to you. -// -// Notice -// NVIDIA Corporation and its licensors retain all intellectual property and -// proprietary rights in and to this software and related documentation and -// any modifications thereto. Any use, reproduction, disclosure, or -// distribution of this software and related documentation without an express -// license agreement from NVIDIA Corporation is strictly prohibited. -// -// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES -// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO -// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, -// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. -// -// Information and code furnished is believed to be accurate and reliable. -// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such -// information or for any infringement of patents or other rights of third parties that may -// result from its use. No license is granted by implication or otherwise under any patent -// or patent rights of NVIDIA Corporation. Details are subject to change without notice. -// This code supersedes and replaces all information previously supplied. -// NVIDIA Corporation products are not authorized for use as critical -// components in life support devices or systems without express written approval of -// NVIDIA Corporation. -// -// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. - - -#include "BlastFamily.h" -#include "SampleProfiler.h" -#include "PhysXController.h" -#include "RenderUtils.h" -#include "SampleTime.h" -#include "UIHelpers.h" - -#include "NvBlast.h" -#include "NvBlastTkFamily.h" -#include "NvBlastTkActor.h" -#include "NvBlastTkAsset.h" -#include "NvBlastTkJoint.h" -#include "NvBlastExtPxAsset.h" -#include "NvBlastExtPxActor.h" -#include "NvBlastExtPxFamily.h" -#include "NvBlastExtPxManager.h" - -#include "PxRigidDynamic.h" -#include "PxScene.h" -#include "PxJoint.h" - - -const float RIGIDBODY_DENSITY = 2000.0f; - -BlastFamily::BlastFamily(PhysXController& physXController, ExtPxManager& pxManager, const BlastAsset& blastAsset) - : m_physXController(physXController) - , m_pxManager(pxManager) - , m_blastAsset(blastAsset) - , m_listener(this) - , m_totalVisibleChunkCount(0) - , m_stressSolver(nullptr) - , m_spawned(false) - , m_debugRenderDepth(-1) -{ - m_settings.stressSolverEnabled = false; - m_settings.stressDamageEnabled = false; - m_settings.damageAcceleratorEnabled = true; -} - -BlastFamily::~BlastFamily() -{ - if (m_stressSolver) - { - m_stressSolver->release(); - } - - m_pxFamily->unsubscribe(m_listener); - - m_pxFamily->release(); -} - -void BlastFamily::initialize(const BlastAsset::ActorDesc& desc) -{ - ExtPxFamilyDesc familyDesc; - familyDesc.actorDesc = nullptr; // if you use it one day, consider changing code which needs getBondHealthMax() from BlastAsset. - familyDesc.group = desc.group; - familyDesc.pxAsset = m_blastAsset.getPxAsset(); - m_pxFamily = m_pxManager.createFamily(familyDesc); - m_pxFamily->setMaterial(&m_settings.material); - - - m_tkFamily = &m_pxFamily->getTkFamily(); - m_tkFamily->setID(desc.id); - - refreshDamageAcceleratorSettings(); - - m_familySize = NvBlastFamilyGetSize(m_tkFamily->getFamilyLL(), nullptr); - - m_pxFamily->subscribe(m_listener); - - m_initialTransform = desc.transform; -} - -void BlastFamily::updatePreSplit(float dt) -{ - if (!m_spawned) - { - ExtPxSpawnSettings spawnSettings = { - &m_physXController.getPhysXScene(), - m_physXController.getDefaultMaterial(), - RIGIDBODY_DENSITY - }; - - m_pxFamily->spawn(m_initialTransform, PxVec3(1.0f), spawnSettings); - reloadStressSolver(); - - m_spawned = true; - } - - // collect potential actors to health update - m_actorsToUpdateHealth.clear(); - for (const ExtPxActor* actor : m_actors) - { - if (actor->getTkActor().isPending()) - { - m_actorsToUpdateHealth.emplace(actor); - } - } -} - -void BlastFamily::updateAfterSplit(float dt) -{ - PROFILER_BEGIN("Actor Health Update"); - for (const ExtPxActor* actor : m_actors) - { - onActorUpdate(*actor); - - // update health if neccessary - if (m_actorsToUpdateHealth.find(actor) != m_actorsToUpdateHealth.end()) - { - onActorHealthUpdate(*actor); - } - } - PROFILER_END(); - - PROFILER_BEGIN("Stress Solver"); - // update stress - m_stressSolveTime = 0; - if (m_stressSolver) - { - Time t; - m_stressSolver->update(m_settings.stressDamageEnabled); - m_stressSolveTime += t.getElapsedSeconds(); - } - PROFILER_END(); - - PROFILER_BEGIN("Actor Misc Update"); - onUpdate(); - PROFILER_END(); - - m_pxFamily->postSplitUpdate(); -} - -void BlastFamily::processActorCreated(ExtPxFamily&, ExtPxActor& actor) -{ - m_totalVisibleChunkCount += actor.getChunkCount(); - m_actors.emplace(&actor); - - onActorCreated(actor); - onActorHealthUpdate(actor); -} - -void BlastFamily::processActorDestroyed(ExtPxFamily&, ExtPxActor& actor) -{ - m_totalVisibleChunkCount -= actor.getChunkCount(); - m_physXController.notifyRigidDynamicDestroyed(&actor.getPhysXActor()); - - onActorDestroyed(actor); - - m_actors.erase(m_actors.find(&actor)); -} - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Data Helpers -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -uint32_t BlastFamily::getActorCount() const -{ - return (uint32_t)m_tkFamily->getActorCount(); -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// UI -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -void BlastFamily::drawUI() -{ - // Blast Material - ImGui::Spacing(); - ImGui::Text("Blast Material:"); - ImGui::DragFloat("Health", &m_settings.material.health); - ImGui::DragFloat("Min Damage Threshold", &m_settings.material.minDamageThreshold, 0.01f, 0.f, m_settings.material.maxDamageThreshold); - ImGui::DragFloat("Max Damage Threshold", &m_settings.material.maxDamageThreshold, 0.01f, m_settings.material.minDamageThreshold, 1.f); - - if (ImGui::Checkbox("AABB Tree (Damage Accelerator)", &m_settings.damageAcceleratorEnabled)) - { - refreshDamageAcceleratorSettings(); - } - if (m_settings.damageAcceleratorEnabled) - { - ImGui::DragInt("AABB Tree debug depth", &m_debugRenderDepth); - } - - - ImGui::Spacing(); - - // Stress Solver Settings - if (ImGui::Checkbox("Stress Solver Enabled", &m_settings.stressSolverEnabled)) - { - reloadStressSolver(); - } - - if (m_settings.stressSolverEnabled) - { - // Settings - bool changed = false; - - changed |= ImGui::DragInt("Bond Iterations Per Frame", (int*)&m_settings.stressSolverSettings.bondIterationsPerFrame, 100, 0, 500000); - changed |= ImGui::DragFloat("Material Hardness", &m_settings.stressSolverSettings.hardness, 10.0f, 0.01f, 100000.0f, "%.2f"); - changed |= ImGui::DragFloat("Stress Linear Factor", &m_settings.stressSolverSettings.stressLinearFactor, 0.01f, 0.0f, 100.0f, "%.2f"); - changed |= ImGui::DragFloat("Stress Angular Factor", &m_settings.stressSolverSettings.stressAngularFactor, 0.01f, 0.0f, 100.0f, "%.2f"); - changed |= ImGui::SliderInt("Graph Reduction Level", (int*)&m_settings.stressSolverSettings.graphReductionLevel, 0, 32); - if (changed) - { - refreshStressSolverSettings(); - } - - ImGui::Checkbox("Stress Damage Enabled", &m_settings.stressDamageEnabled); - - if (ImGui::Button("Recalculate Stress")) - { - resetStress(); - } - } -} - -void BlastFamily::drawStatsUI() -{ - ImGui::PushStyleColor(ImGuiCol_Text, ImColor(10, 255, 10, 255)); - if (m_stressSolver) - { - const ExtStressSolver& stressSolver = m_stressSolver->getSolver(); - const float errorLinear = stressSolver.getStressErrorLinear(); - const float errorAngular = stressSolver.getStressErrorAngular(); - - ImGui::Text("Stress Bond Count: %d", stressSolver.getBondCount()); - ImGui::Text("Stress Frame Iter: %d", stressSolver.getIterationsPerFrame()); - ImGui::Text("Stress Frames: %d", stressSolver.getFrameCount()); - ImGui::Text("Stress Error Lin / Ang: %.4f / %.4f", errorLinear, errorAngular); - ImGui::Text("Stress Solve Time: %.3f ms", m_stressSolveTime * 1000); - - // plot errors - { - static float scale = 1.0f; - scale = stressSolver.getFrameCount() <= 1 ? 1.0f : scale; - scale = std::max<float>(scale, errorLinear); - scale = std::max<float>(scale, errorAngular); - - static PlotLinesInstance<> linearErrorPlot; - linearErrorPlot.plot("Stress Linear Error", errorLinear, "error/frame", 0.0f, 1.0f * scale); - static PlotLinesInstance<> angularErrorPlot; - angularErrorPlot.plot("Stress Angular Error", errorAngular, "error/frame", 0.0f, 1.0f * scale); - } - } - else - { - ImGui::Text("No Stress Solver"); - } - ImGui::PopStyleColor(); -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// Stress Solver -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -void BlastFamily::setSettings(const Settings& settings) -{ - bool reloadStressSolverNeeded = (m_settings.stressSolverEnabled != settings.stressSolverEnabled); - - m_settings = settings; - refreshStressSolverSettings(); - refreshDamageAcceleratorSettings(); - - if (reloadStressSolverNeeded) - { - reloadStressSolver(); - } - - m_pxFamily->setMaterial(&m_settings.material); -} - -void BlastFamily::refreshDamageAcceleratorSettings() -{ - m_pxFamily->getPxAsset().setAccelerator(m_settings.damageAcceleratorEnabled ? m_blastAsset.getAccelerator() : nullptr); -} - -void BlastFamily::refreshStressSolverSettings() -{ - if (m_stressSolver) - { - m_stressSolver->getSolver().setSettings(m_settings.stressSolverSettings); - } -} - -void BlastFamily::resetStress() -{ - if (m_stressSolver) - { - m_stressSolver->getSolver().reset(); - } -} - -void BlastFamily::reloadStressSolver() -{ - if (m_stressSolver) - { - m_stressSolver->release(); - m_stressSolver = nullptr; - } - - if (m_settings.stressSolverEnabled) - { - m_stressSolver = ExtPxStressSolver::create(*m_pxFamily, m_settings.stressSolverSettings); - m_pxFamily->userData = m_stressSolver; - } -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// debug render -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -const DirectX::XMFLOAT4 BOND_NORMAL_COLOR(0.0f, 0.8f, 1.0f, 1.0f); -const DirectX::XMFLOAT4 BOND_INVISIBLE_COLOR(0.65f, 0.16f, 0.16f, 1.0f); -const DirectX::XMFLOAT4 BOND_IMPULSE_LINEAR_COLOR(0.0f, 1.0f, 0.0f, 1.0f); -const DirectX::XMFLOAT4 BOND_IMPULSE_ANGULAR_COLOR(1.0f, 0.0f, 0.0f, 1.0f); -const DirectX::XMFLOAT4 JOINT_COLOR(0.5f, 0.6f, 7.0f, 1.0f); - - -inline void pushCentroid(std::vector<PxDebugLine>& lines, PxVec3 pos, PxU32 color, const float& area, const PxVec3& normal) -{ - // draw square of area 'area' rotated by normal - { - // build world rotation - PxVec3 n0(0, 0, 1); - PxVec3 n1 = normal; - PxVec3 axis = n0.cross(n1); - float d = n0.dot(n1); - PxQuat q(axis.x, axis.y, axis.z, 1.f + d); - q.normalize(); - float e = PxSqrt(1.0f / 2.0f); - float r = PxSqrt(area); - - // transform all 4 square points - PxTransform t(pos, q); - PxVec3 p0 = t.transform(PxVec3(-e, e, 0) * r); - PxVec3 p1 = t.transform(PxVec3( e, e, 0) * r); - PxVec3 p2 = t.transform(PxVec3( e, -e, 0) * r); - PxVec3 p3 = t.transform(PxVec3(-e, -e, 0) * r); - - // push square edges - lines.push_back(PxDebugLine(p0, p1, color)); - lines.push_back(PxDebugLine(p3, p2, color)); - lines.push_back(PxDebugLine(p1, p2, color)); - lines.push_back(PxDebugLine(p0, p3, color)); - } - - // draw normal - lines.push_back(PxDebugLine(pos, pos + normal * 0.5f, XMFLOAT4ToU32Color(BOND_NORMAL_COLOR))); -} - -inline DirectX::XMFLOAT4 bondHealthColor(float healthFraction) -{ - const DirectX::XMFLOAT4 BOND_HEALTHY_COLOR(0.0f, 1.0f, 0.0f, 1.0f); - const DirectX::XMFLOAT4 BOND_MID_COLOR(1.0f, 1.0f, 0.0f, 1.0f); - const DirectX::XMFLOAT4 BOND_BROKEN_COLOR(1.0f, 0.0f, 0.0f, 1.0f); - - return healthFraction < 0.5 ? XMFLOAT4Lerp(BOND_BROKEN_COLOR, BOND_MID_COLOR, 2.0f * healthFraction) : XMFLOAT4Lerp(BOND_MID_COLOR, BOND_HEALTHY_COLOR, 2.0f * healthFraction - 1.0f); -} - -void BlastFamily::fillDebugRender(DebugRenderBuffer& debugRenderBuffer, DebugRenderMode mode, float renderScale) -{ - const NvBlastChunk* chunks = m_tkFamily->getAsset()->getChunks(); - const NvBlastBond* bonds = m_tkFamily->getAsset()->getBonds(); - const NvBlastSupportGraph graph = m_tkFamily->getAsset()->getGraph(); - const float bondHealthMax = m_blastAsset.getBondHealthMax(); - const uint32_t chunkCount = m_tkFamily->getAsset()->getChunkCount(); - - for (const ExtPxActor* pxActor : m_actors) - { - TkActor& actor = pxActor->getTkActor(); - uint32_t lineStartIndex = (uint32_t)debugRenderBuffer.m_lines.size(); - - uint32_t nodeCount = actor.getGraphNodeCount(); - if (nodeCount == 0) // subsupport chunks don't have graph nodes - continue; - - std::vector<uint32_t> nodes(nodeCount); - actor.getGraphNodeIndices(nodes.data(), static_cast<uint32_t>(nodes.size())); - - if (DEBUG_RENDER_HEALTH_GRAPH <= mode && mode <= DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS) - { - const float* bondHealths = actor.getBondHealths(); - - const ExtPxChunk* pxChunks = m_blastAsset.getPxAsset()->getChunks(); - - for (uint32_t node0 : nodes) - { - const uint32_t chunkIndex0 = graph.chunkIndices[node0]; - const NvBlastChunk& blastChunk0 = chunks[chunkIndex0]; - const ExtPxChunk& assetChunk0 = pxChunks[chunkIndex0]; - - for (uint32_t adjacencyIndex = graph.adjacencyPartition[node0]; adjacencyIndex < graph.adjacencyPartition[node0 + 1]; adjacencyIndex++) - { - uint32_t node1 = graph.adjacentNodeIndices[adjacencyIndex]; - const uint32_t chunkIndex1 = graph.chunkIndices[node1]; - const NvBlastChunk& blastChunk1 = chunks[chunkIndex1]; - const ExtPxChunk& assetChunk1 = pxChunks[chunkIndex1]; - if (node0 > node1) - continue; - - bool invisibleBond = chunkIndex0 >= chunkCount || chunkIndex1 >= chunkCount || assetChunk0.subchunkCount == 0 || assetChunk1.subchunkCount == 0; - - // health - uint32_t bondIndex = graph.adjacentBondIndices[adjacencyIndex]; - float healthVal = PxClamp(bondHealths[bondIndex] / bondHealthMax, 0.0f, 1.0f); - - DirectX::XMFLOAT4 color = bondHealthColor(healthVal); - - const NvBlastBond& solverBond = bonds[bondIndex]; - const PxVec3& centroid = reinterpret_cast<const PxVec3&>(solverBond.centroid); - - // centroid - if (mode == DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS || mode == DEBUG_RENDER_CENTROIDS) - { - const PxVec3& normal = reinterpret_cast<const PxVec3&>(solverBond.normal); - pushCentroid(debugRenderBuffer.m_lines, centroid, XMFLOAT4ToU32Color(invisibleBond ? BOND_INVISIBLE_COLOR : color), solverBond.area, normal.getNormalized()); - } - - // chunk connection (bond) - if ((mode == DEBUG_RENDER_HEALTH_GRAPH || mode == DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS) && !invisibleBond) - { - const PxVec3& c0 = reinterpret_cast<const PxVec3&>(blastChunk0.centroid); - const PxVec3& c1 = reinterpret_cast<const PxVec3&>(blastChunk1.centroid); - debugRenderBuffer.m_lines.push_back(PxDebugLine(c0, c1, XMFLOAT4ToU32Color(color))); - } - } - } - } - - // stress - if (DEBUG_RENDER_STRESS_GRAPH <= mode && mode <= DEBUG_RENDER_STRESS_GRAPH_BONDS_IMPULSES) - { - if (m_stressSolver) - { - const auto buffer = m_stressSolver->getSolver().fillDebugRender(nodes.data(), (uint32_t)nodes.size(), (ExtStressSolver::DebugRenderMode)(mode - DEBUG_RENDER_STRESS_GRAPH), renderScale); - if (buffer.lineCount) - { - const auto lines = reinterpret_cast<const PxDebugLine*>(buffer.lines); - debugRenderBuffer.m_lines.insert(debugRenderBuffer.m_lines.end(), lines, lines + buffer.lineCount); - } - } - } - - // AABB tree - if (mode == DEBUG_RENDER_AABB_TREE_CENTROIDS || mode == DEBUG_RENDER_AABB_TREE_SEGMENTS) - { - if (m_settings.damageAcceleratorEnabled && m_blastAsset.getAccelerator() && nodeCount > graph.nodeCount / 2) - { - const auto buffer = m_blastAsset.getAccelerator()->fillDebugRender(m_debugRenderDepth, mode == DEBUG_RENDER_AABB_TREE_SEGMENTS); - if (buffer.lineCount) - { - const auto lines = reinterpret_cast<const PxDebugLine*>(buffer.lines); - debugRenderBuffer.m_lines.insert(debugRenderBuffer.m_lines.end(), lines, lines + buffer.lineCount); - } - } - } - - // transform all added lines from local to global - PxTransform localToGlobal = pxActor->getPhysXActor().getGlobalPose(); - for (uint32_t i = lineStartIndex; i < debugRenderBuffer.m_lines.size(); i++) - { - PxDebugLine& line = debugRenderBuffer.m_lines[i]; - line.pos0 = localToGlobal.transform(line.pos0); - line.pos1 = localToGlobal.transform(line.pos1); - } - } - - // joints debug render - if (mode == DEBUG_RENDER_JOINTS) - { - for (const ExtPxActor* pxActor : m_actors) - { - TkActor& actor = pxActor->getTkActor(); - const uint32_t jointCount = actor.getJointCount(); - if (jointCount > 0) - { - std::vector<TkJoint*> joints(jointCount); - actor.getJoints(joints.data(), jointCount); - for (auto joint : joints) - { - PxJoint* pxJoint = reinterpret_cast<PxJoint*>(joint->userData); - if (pxJoint) - { - PxRigidActor *actor0, *actor1; - pxJoint->getActors(actor0, actor1); - auto lp0 = pxJoint->getLocalPose(PxJointActorIndex::eACTOR0); - auto lp1 = pxJoint->getLocalPose(PxJointActorIndex::eACTOR1); - PxVec3 p0 = actor0 ? actor0->getGlobalPose().transform(lp0).p : lp0.p; - PxVec3 p1 = actor1 ? actor1->getGlobalPose().transform(lp1).p : lp1.p; - debugRenderBuffer.m_lines.push_back(PxDebugLine(p0, p1, XMFLOAT4ToU32Color(JOINT_COLOR))); - } - } - } - } - } -} - - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// action!!! -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - -class BlastOverlapCallback : public PxOverlapCallback -{ -public: - BlastOverlapCallback(ExtPxManager& pxManager, std::set<ExtPxActor*>& actorBuffer) - : m_pxManager(pxManager), m_actorBuffer(actorBuffer), PxOverlapCallback(m_hitBuffer, sizeof(m_hitBuffer) / sizeof(m_hitBuffer[0])) {} - - PxAgain processTouches(const PxOverlapHit* buffer, PxU32 nbHits) - { - for (PxU32 i = 0; i < nbHits; ++i) - { - PxRigidDynamic* rigidDynamic = buffer[i].actor->is<PxRigidDynamic>(); - if (rigidDynamic) - { - ExtPxActor* actor = m_pxManager.getActorFromPhysXActor(*rigidDynamic); - if (actor != nullptr) - { - m_actorBuffer.insert(actor); - } - } - } - return true; - } - -private: - ExtPxManager& m_pxManager; - std::set<ExtPxActor*>& m_actorBuffer; - PxOverlapHit m_hitBuffer[1000]; -}; - -bool BlastFamily::overlap(const PxGeometry& geometry, const PxTransform& pose, std::function<void(ExtPxActor*, BlastFamily&)> hitCall) -{ - std::set<ExtPxActor*> actorsToDamage; -#if 1 - BlastOverlapCallback overlapCallback(m_pxManager, actorsToDamage); - m_physXController.getPhysXScene().overlap(geometry, pose, overlapCallback); -#else - for (std::map<NvBlastActor*, PhysXController::Actor*>::iterator it = m_actorsMap.begin(); it != m_actorsMap.end(); it++) - { - actorsToDamage.insert(it->first); - } -#endif - - for (auto actor : actorsToDamage) - { - hitCall(actor, *this); - } - - return !actorsToDamage.empty(); -} - +// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
+
+
+#include "BlastFamily.h"
+#include "SampleProfiler.h"
+#include "PhysXController.h"
+#include "RenderUtils.h"
+#include "SampleTime.h"
+#include "UIHelpers.h"
+
+#include "NvBlast.h"
+#include "NvBlastTkFamily.h"
+#include "NvBlastTkActor.h"
+#include "NvBlastTkAsset.h"
+#include "NvBlastTkJoint.h"
+#include "NvBlastExtPxAsset.h"
+#include "NvBlastExtPxActor.h"
+#include "NvBlastExtPxFamily.h"
+#include "NvBlastExtPxManager.h"
+
+#include "PxRigidDynamic.h"
+#include "PxScene.h"
+#include "PxJoint.h"
+
+
+const float RIGIDBODY_DENSITY = 2000.0f;
+
+BlastFamily::BlastFamily(PhysXController& physXController, ExtPxManager& pxManager, const BlastAsset& blastAsset)
+ : m_physXController(physXController)
+ , m_pxManager(pxManager)
+ , m_blastAsset(blastAsset)
+ , m_listener(this)
+ , m_totalVisibleChunkCount(0)
+ , m_stressSolver(nullptr)
+ , m_spawned(false)
+ , m_debugRenderDepth(-1)
+{
+ m_settings.stressSolverEnabled = false;
+ m_settings.stressDamageEnabled = false;
+ m_settings.damageAcceleratorEnabled = true;
+}
+
+BlastFamily::~BlastFamily()
+{
+ if (m_stressSolver)
+ {
+ m_stressSolver->release();
+ }
+
+ m_pxFamily->unsubscribe(m_listener);
+
+ m_pxFamily->release();
+}
+
+void BlastFamily::initialize(const BlastAsset::ActorDesc& desc)
+{
+ ExtPxFamilyDesc familyDesc;
+ familyDesc.actorDesc = nullptr; // if you use it one day, consider changing code which needs getBondHealthMax() from BlastAsset.
+ familyDesc.group = desc.group;
+ familyDesc.pxAsset = m_blastAsset.getPxAsset();
+ m_pxFamily = m_pxManager.createFamily(familyDesc);
+ m_pxFamily->setMaterial(&m_settings.material);
+
+
+ m_tkFamily = &m_pxFamily->getTkFamily();
+ m_tkFamily->setID(desc.id);
+
+ refreshDamageAcceleratorSettings();
+
+ m_familySize = NvBlastFamilyGetSize(m_tkFamily->getFamilyLL(), nullptr);
+
+ m_pxFamily->subscribe(m_listener);
+
+ m_initialTransform = desc.transform;
+}
+
+void BlastFamily::updatePreSplit(float dt)
+{
+ if (!m_spawned)
+ {
+ ExtPxSpawnSettings spawnSettings = {
+ &m_physXController.getPhysXScene(),
+ m_physXController.getDefaultMaterial(),
+ RIGIDBODY_DENSITY
+ };
+
+ m_pxFamily->spawn(m_initialTransform, PxVec3(1.0f), spawnSettings);
+ reloadStressSolver();
+
+ m_spawned = true;
+ }
+
+ // collect potential actors to health update
+ m_actorsToUpdateHealth.clear();
+ for (const ExtPxActor* actor : m_actors)
+ {
+ if (actor->getTkActor().isPending())
+ {
+ m_actorsToUpdateHealth.emplace(actor);
+ }
+ }
+}
+
+void BlastFamily::updateAfterSplit(float dt)
+{
+ PROFILER_BEGIN("Actor Health Update");
+ for (const ExtPxActor* actor : m_actors)
+ {
+ onActorUpdate(*actor);
+
+ // update health if neccessary
+ if (m_actorsToUpdateHealth.find(actor) != m_actorsToUpdateHealth.end())
+ {
+ onActorHealthUpdate(*actor);
+ }
+ }
+ PROFILER_END();
+
+ PROFILER_BEGIN("Stress Solver");
+ // update stress
+ m_stressSolveTime = 0;
+ if (m_stressSolver)
+ {
+ Time t;
+ m_stressSolver->update(m_settings.stressDamageEnabled);
+ m_stressSolveTime += t.getElapsedSeconds();
+ }
+ PROFILER_END();
+
+ PROFILER_BEGIN("Actor Misc Update");
+ onUpdate();
+ PROFILER_END();
+
+ m_pxFamily->postSplitUpdate();
+}
+
+void BlastFamily::processActorCreated(ExtPxFamily&, ExtPxActor& actor)
+{
+ m_totalVisibleChunkCount += actor.getChunkCount();
+ m_actors.emplace(&actor);
+
+ onActorCreated(actor);
+ onActorHealthUpdate(actor);
+}
+
+void BlastFamily::processActorDestroyed(ExtPxFamily&, ExtPxActor& actor)
+{
+ m_totalVisibleChunkCount -= actor.getChunkCount();
+ m_physXController.notifyRigidDynamicDestroyed(&actor.getPhysXActor());
+
+ onActorDestroyed(actor);
+
+ m_actors.erase(m_actors.find(&actor));
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Data Helpers
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+uint32_t BlastFamily::getActorCount() const
+{
+ return (uint32_t)m_tkFamily->getActorCount();
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// UI
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BlastFamily::drawUI()
+{
+ // Blast Material
+ ImGui::Spacing();
+ ImGui::Text("Blast Material:");
+ ImGui::DragFloat("Health", &m_settings.material.health);
+ ImGui::DragFloat("Min Damage Threshold", &m_settings.material.minDamageThreshold, 0.01f, 0.f, m_settings.material.maxDamageThreshold);
+ ImGui::DragFloat("Max Damage Threshold", &m_settings.material.maxDamageThreshold, 0.01f, m_settings.material.minDamageThreshold, 1.f);
+
+ if (ImGui::Checkbox("AABB Tree (Damage Accelerator)", &m_settings.damageAcceleratorEnabled))
+ {
+ refreshDamageAcceleratorSettings();
+ }
+ if (m_settings.damageAcceleratorEnabled)
+ {
+ ImGui::DragInt("AABB Tree debug depth", &m_debugRenderDepth);
+ }
+
+
+ ImGui::Spacing();
+
+ // Stress Solver Settings
+ if (ImGui::Checkbox("Stress Solver Enabled", &m_settings.stressSolverEnabled))
+ {
+ reloadStressSolver();
+ }
+
+ if (m_settings.stressSolverEnabled)
+ {
+ // Settings
+ bool changed = false;
+
+ changed |= ImGui::DragInt("Bond Iterations Per Frame", (int*)&m_settings.stressSolverSettings.bondIterationsPerFrame, 100, 0, 500000);
+ changed |= ImGui::DragFloat("Material Hardness", &m_settings.stressSolverSettings.hardness, 10.0f, 0.01f, 100000.0f, "%.2f");
+ changed |= ImGui::DragFloat("Stress Linear Factor", &m_settings.stressSolverSettings.stressLinearFactor, 0.01f, 0.0f, 100.0f, "%.2f");
+ changed |= ImGui::DragFloat("Stress Angular Factor", &m_settings.stressSolverSettings.stressAngularFactor, 0.01f, 0.0f, 100.0f, "%.2f");
+ changed |= ImGui::SliderInt("Graph Reduction Level", (int*)&m_settings.stressSolverSettings.graphReductionLevel, 0, 32);
+ if (changed)
+ {
+ refreshStressSolverSettings();
+ }
+
+ ImGui::Checkbox("Stress Damage Enabled", &m_settings.stressDamageEnabled);
+
+ if (ImGui::Button("Recalculate Stress"))
+ {
+ resetStress();
+ }
+ }
+}
+
+void BlastFamily::drawStatsUI()
+{
+ ImGui::PushStyleColor(ImGuiCol_Text, ImColor(10, 255, 10, 255));
+ if (m_stressSolver)
+ {
+ const ExtStressSolver& stressSolver = m_stressSolver->getSolver();
+ const float errorLinear = stressSolver.getStressErrorLinear();
+ const float errorAngular = stressSolver.getStressErrorAngular();
+
+ ImGui::Text("Stress Bond Count: %d", stressSolver.getBondCount());
+ ImGui::Text("Stress Frame Iter: %d", stressSolver.getIterationsPerFrame());
+ ImGui::Text("Stress Frames: %d", stressSolver.getFrameCount());
+ ImGui::Text("Stress Error Lin / Ang: %.4f / %.4f", errorLinear, errorAngular);
+ ImGui::Text("Stress Solve Time: %.3f ms", m_stressSolveTime * 1000);
+
+ // plot errors
+ {
+ static float scale = 1.0f;
+ scale = stressSolver.getFrameCount() <= 1 ? 1.0f : scale;
+ scale = std::max<float>(scale, errorLinear);
+ scale = std::max<float>(scale, errorAngular);
+
+ static PlotLinesInstance<> linearErrorPlot;
+ linearErrorPlot.plot("Stress Linear Error", errorLinear, "error/frame", 0.0f, 1.0f * scale);
+ static PlotLinesInstance<> angularErrorPlot;
+ angularErrorPlot.plot("Stress Angular Error", errorAngular, "error/frame", 0.0f, 1.0f * scale);
+ }
+ }
+ else
+ {
+ ImGui::Text("No Stress Solver");
+ }
+ ImGui::PopStyleColor();
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Stress Solver
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BlastFamily::setSettings(const Settings& settings)
+{
+ bool reloadStressSolverNeeded = (m_settings.stressSolverEnabled != settings.stressSolverEnabled);
+
+ m_settings = settings;
+ refreshStressSolverSettings();
+ refreshDamageAcceleratorSettings();
+
+ if (reloadStressSolverNeeded)
+ {
+ reloadStressSolver();
+ }
+
+ m_pxFamily->setMaterial(&m_settings.material);
+}
+
+void BlastFamily::refreshDamageAcceleratorSettings()
+{
+ m_pxFamily->getPxAsset().setAccelerator(m_settings.damageAcceleratorEnabled ? m_blastAsset.getAccelerator() : nullptr);
+}
+
+void BlastFamily::refreshStressSolverSettings()
+{
+ if (m_stressSolver)
+ {
+ m_stressSolver->getSolver().setSettings(m_settings.stressSolverSettings);
+ }
+}
+
+void BlastFamily::resetStress()
+{
+ if (m_stressSolver)
+ {
+ m_stressSolver->getSolver().reset();
+ }
+}
+
+void BlastFamily::reloadStressSolver()
+{
+ if (m_stressSolver)
+ {
+ m_stressSolver->release();
+ m_stressSolver = nullptr;
+ }
+
+ if (m_settings.stressSolverEnabled)
+ {
+ m_stressSolver = ExtPxStressSolver::create(*m_pxFamily, m_settings.stressSolverSettings);
+ m_pxFamily->userData = m_stressSolver;
+ }
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// debug render
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const DirectX::XMFLOAT4 BOND_NORMAL_COLOR(0.0f, 0.8f, 1.0f, 1.0f);
+const DirectX::XMFLOAT4 BOND_INVISIBLE_COLOR(0.65f, 0.16f, 0.16f, 1.0f);
+const DirectX::XMFLOAT4 BOND_IMPULSE_LINEAR_COLOR(0.0f, 1.0f, 0.0f, 1.0f);
+const DirectX::XMFLOAT4 BOND_IMPULSE_ANGULAR_COLOR(1.0f, 0.0f, 0.0f, 1.0f);
+const DirectX::XMFLOAT4 JOINT_COLOR(0.5f, 0.6f, 7.0f, 1.0f);
+
+
+inline void pushCentroid(std::vector<PxDebugLine>& lines, PxVec3 pos, PxU32 color, const float& area, const PxVec3& normal)
+{
+ // draw square of area 'area' rotated by normal
+ {
+ // build world rotation
+ PxVec3 n0(0, 0, 1);
+ PxVec3 n1 = normal;
+ PxVec3 axis = n0.cross(n1);
+ float d = n0.dot(n1);
+ PxQuat q(axis.x, axis.y, axis.z, 1.f + d);
+ q.normalize();
+ float e = PxSqrt(1.0f / 2.0f);
+ float r = PxSqrt(area);
+
+ // transform all 4 square points
+ PxTransform t(pos, q);
+ PxVec3 p0 = t.transform(PxVec3(-e, e, 0) * r);
+ PxVec3 p1 = t.transform(PxVec3( e, e, 0) * r);
+ PxVec3 p2 = t.transform(PxVec3( e, -e, 0) * r);
+ PxVec3 p3 = t.transform(PxVec3(-e, -e, 0) * r);
+
+ // push square edges
+ lines.push_back(PxDebugLine(p0, p1, color));
+ lines.push_back(PxDebugLine(p3, p2, color));
+ lines.push_back(PxDebugLine(p1, p2, color));
+ lines.push_back(PxDebugLine(p0, p3, color));
+ }
+
+ // draw normal
+ lines.push_back(PxDebugLine(pos, pos + normal * 0.5f, XMFLOAT4ToU32Color(BOND_NORMAL_COLOR)));
+}
+
+inline DirectX::XMFLOAT4 bondHealthColor(float healthFraction)
+{
+ const DirectX::XMFLOAT4 BOND_HEALTHY_COLOR(0.0f, 1.0f, 0.0f, 1.0f);
+ const DirectX::XMFLOAT4 BOND_MID_COLOR(1.0f, 1.0f, 0.0f, 1.0f);
+ const DirectX::XMFLOAT4 BOND_BROKEN_COLOR(1.0f, 0.0f, 0.0f, 1.0f);
+
+ return healthFraction < 0.5 ? XMFLOAT4Lerp(BOND_BROKEN_COLOR, BOND_MID_COLOR, 2.0f * healthFraction) : XMFLOAT4Lerp(BOND_MID_COLOR, BOND_HEALTHY_COLOR, 2.0f * healthFraction - 1.0f);
+}
+
+void BlastFamily::fillDebugRender(DebugRenderBuffer& debugRenderBuffer, DebugRenderMode mode, float renderScale)
+{
+ const NvBlastChunk* chunks = m_tkFamily->getAsset()->getChunks();
+ const NvBlastBond* bonds = m_tkFamily->getAsset()->getBonds();
+ const NvBlastSupportGraph graph = m_tkFamily->getAsset()->getGraph();
+ const float bondHealthMax = m_blastAsset.getBondHealthMax();
+ const uint32_t chunkCount = m_tkFamily->getAsset()->getChunkCount();
+
+ for (const ExtPxActor* pxActor : m_actors)
+ {
+ TkActor& actor = pxActor->getTkActor();
+ uint32_t lineStartIndex = (uint32_t)debugRenderBuffer.m_lines.size();
+
+ uint32_t nodeCount = actor.getGraphNodeCount();
+ if (nodeCount == 0) // subsupport chunks don't have graph nodes
+ continue;
+
+ std::vector<uint32_t> nodes(nodeCount);
+ actor.getGraphNodeIndices(nodes.data(), static_cast<uint32_t>(nodes.size()));
+
+ if (DEBUG_RENDER_HEALTH_GRAPH <= mode && mode <= DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS)
+ {
+ const float* bondHealths = actor.getBondHealths();
+
+ const ExtPxChunk* pxChunks = m_blastAsset.getPxAsset()->getChunks();
+
+ for (uint32_t node0 : nodes)
+ {
+ const uint32_t chunkIndex0 = graph.chunkIndices[node0];
+ const NvBlastChunk& blastChunk0 = chunks[chunkIndex0];
+ const ExtPxChunk& assetChunk0 = pxChunks[chunkIndex0];
+
+ for (uint32_t adjacencyIndex = graph.adjacencyPartition[node0]; adjacencyIndex < graph.adjacencyPartition[node0 + 1]; adjacencyIndex++)
+ {
+ uint32_t node1 = graph.adjacentNodeIndices[adjacencyIndex];
+ const uint32_t chunkIndex1 = graph.chunkIndices[node1];
+ const NvBlastChunk& blastChunk1 = chunks[chunkIndex1];
+ const ExtPxChunk& assetChunk1 = pxChunks[chunkIndex1];
+ if (node0 > node1)
+ continue;
+
+ bool invisibleBond = chunkIndex0 >= chunkCount || chunkIndex1 >= chunkCount || assetChunk0.subchunkCount == 0 || assetChunk1.subchunkCount == 0;
+
+ // health
+ uint32_t bondIndex = graph.adjacentBondIndices[adjacencyIndex];
+ float healthVal = PxClamp(bondHealths[bondIndex] / bondHealthMax, 0.0f, 1.0f);
+
+ DirectX::XMFLOAT4 color = bondHealthColor(healthVal);
+
+ const NvBlastBond& solverBond = bonds[bondIndex];
+ const PxVec3& centroid = reinterpret_cast<const PxVec3&>(solverBond.centroid);
+
+ // centroid
+ if (mode == DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS || mode == DEBUG_RENDER_CENTROIDS)
+ {
+ const PxVec3& normal = reinterpret_cast<const PxVec3&>(solverBond.normal);
+ pushCentroid(debugRenderBuffer.m_lines, centroid, XMFLOAT4ToU32Color(invisibleBond ? BOND_INVISIBLE_COLOR : color), solverBond.area, normal.getNormalized());
+ }
+
+ // chunk connection (bond)
+ if ((mode == DEBUG_RENDER_HEALTH_GRAPH || mode == DEBUG_RENDER_HEALTH_GRAPH_CENTROIDS) && !invisibleBond)
+ {
+ const PxVec3& c0 = reinterpret_cast<const PxVec3&>(blastChunk0.centroid);
+ const PxVec3& c1 = reinterpret_cast<const PxVec3&>(blastChunk1.centroid);
+ debugRenderBuffer.m_lines.push_back(PxDebugLine(c0, c1, XMFLOAT4ToU32Color(color)));
+ }
+ }
+ }
+ }
+
+ // stress
+ if (DEBUG_RENDER_STRESS_GRAPH <= mode && mode <= DEBUG_RENDER_STRESS_GRAPH_BONDS_IMPULSES)
+ {
+ if (m_stressSolver)
+ {
+ const auto buffer = m_stressSolver->getSolver().fillDebugRender(nodes.data(), (uint32_t)nodes.size(), (ExtStressSolver::DebugRenderMode)(mode - DEBUG_RENDER_STRESS_GRAPH), renderScale);
+ if (buffer.lineCount)
+ {
+ const auto lines = reinterpret_cast<const PxDebugLine*>(buffer.lines);
+ debugRenderBuffer.m_lines.insert(debugRenderBuffer.m_lines.end(), lines, lines + buffer.lineCount);
+ }
+ }
+ }
+
+ // AABB tree
+ if (mode == DEBUG_RENDER_AABB_TREE_CENTROIDS || mode == DEBUG_RENDER_AABB_TREE_SEGMENTS)
+ {
+ if (m_settings.damageAcceleratorEnabled && m_blastAsset.getAccelerator() && nodeCount > graph.nodeCount / 2)
+ {
+ const auto buffer = m_blastAsset.getAccelerator()->fillDebugRender(m_debugRenderDepth, mode == DEBUG_RENDER_AABB_TREE_SEGMENTS);
+ if (buffer.lineCount)
+ {
+ const auto lines = reinterpret_cast<const PxDebugLine*>(buffer.lines);
+ debugRenderBuffer.m_lines.insert(debugRenderBuffer.m_lines.end(), lines, lines + buffer.lineCount);
+ }
+ }
+ }
+
+ // transform all added lines from local to global
+ PxTransform localToGlobal = pxActor->getPhysXActor().getGlobalPose();
+ for (uint32_t i = lineStartIndex; i < debugRenderBuffer.m_lines.size(); i++)
+ {
+ PxDebugLine& line = debugRenderBuffer.m_lines[i];
+ line.pos0 = localToGlobal.transform(line.pos0);
+ line.pos1 = localToGlobal.transform(line.pos1);
+ }
+ }
+
+ // joints debug render
+ if (mode == DEBUG_RENDER_JOINTS)
+ {
+ for (const ExtPxActor* pxActor : m_actors)
+ {
+ TkActor& actor = pxActor->getTkActor();
+ const uint32_t jointCount = actor.getJointCount();
+ if (jointCount > 0)
+ {
+ std::vector<TkJoint*> joints(jointCount);
+ actor.getJoints(joints.data(), jointCount);
+ for (auto joint : joints)
+ {
+ PxJoint* pxJoint = reinterpret_cast<PxJoint*>(joint->userData);
+ if (pxJoint)
+ {
+ PxRigidActor *actor0, *actor1;
+ pxJoint->getActors(actor0, actor1);
+ auto lp0 = pxJoint->getLocalPose(PxJointActorIndex::eACTOR0);
+ auto lp1 = pxJoint->getLocalPose(PxJointActorIndex::eACTOR1);
+ PxVec3 p0 = actor0 ? actor0->getGlobalPose().transform(lp0).p : lp0.p;
+ PxVec3 p1 = actor1 ? actor1->getGlobalPose().transform(lp1).p : lp1.p;
+ debugRenderBuffer.m_lines.push_back(PxDebugLine(p0, p1, XMFLOAT4ToU32Color(JOINT_COLOR)));
+ }
+ }
+ }
+ }
+ }
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// action!!!
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class BlastOverlapCallback : public PxOverlapCallback
+{
+public:
+ BlastOverlapCallback(ExtPxManager& pxManager, std::set<ExtPxActor*>& actorBuffer)
+ : m_pxManager(pxManager), m_actorBuffer(actorBuffer), PxOverlapCallback(m_hitBuffer, sizeof(m_hitBuffer) / sizeof(m_hitBuffer[0])) {}
+
+ PxAgain processTouches(const PxOverlapHit* buffer, PxU32 nbHits)
+ {
+ for (PxU32 i = 0; i < nbHits; ++i)
+ {
+ PxRigidDynamic* rigidDynamic = buffer[i].actor->is<PxRigidDynamic>();
+ if (rigidDynamic)
+ {
+ ExtPxActor* actor = m_pxManager.getActorFromPhysXActor(*rigidDynamic);
+ if (actor != nullptr)
+ {
+ m_actorBuffer.insert(actor);
+ }
+ }
+ }
+ return true;
+ }
+
+private:
+ ExtPxManager& m_pxManager;
+ std::set<ExtPxActor*>& m_actorBuffer;
+ PxOverlapHit m_hitBuffer[1000];
+};
+
+bool BlastFamily::overlap(const PxGeometry& geometry, const PxTransform& pose, std::function<void(ExtPxActor*, BlastFamily&)> hitCall)
+{
+ std::set<ExtPxActor*> actorsToDamage;
+#if 1
+ BlastOverlapCallback overlapCallback(m_pxManager, actorsToDamage);
+ m_physXController.getPhysXScene().overlap(geometry, pose, overlapCallback);
+#else
+ for (std::map<NvBlastActor*, PhysXController::Actor*>::iterator it = m_actorsMap.begin(); it != m_actorsMap.end(); it++)
+ {
+ actorsToDamage.insert(it->first);
+ }
+#endif
+
+ for (auto actor : actorsToDamage)
+ {
+ hitCall(actor, *this);
+ }
+
+ return !actorsToDamage.empty();
+}
+
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