1 files changed, 448 insertions, 0 deletions
diff --git a/NvBlast/sdk/extensions/physx/source/physics/NvBlastExtImpactDamageManager.cpp b/NvBlast/sdk/extensions/physx/source/physics/NvBlastExtImpactDamageManager.cpp
new file mode 100644
index 0000000..54d2696
--- /dev/null
+++ b/NvBlast/sdk/extensions/physx/source/physics/NvBlastExtImpactDamageManager.cpp
@@ -0,0 +1,448 @@
+/*
+* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
+*
+* NVIDIA CORPORATION and its licensors retain all intellectual property
+* and proprietary rights in and to this software, 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.
+*/
+
+#include "NvBlastExtImpactDamageManager.h"
+#include "NvBlastExtPxManager.h"
+#include "NvBlastExtPxFamily.h"
+#include "NvBlastExtPxActor.h"
+#include "NvBlastExtPxListener.h"
+
+#include "NvBlastAssert.h"
+
+#include "NvBlastExtDamageShaders.h"
+#include "NvBlastExtArray.h"
+#include "NvBlastExtDefs.h"
+
+#include "PxRigidDynamic.h"
+#include "PxSimulationEventCallback.h"
+#include "PxRigidBodyExt.h"
+
+#include "NvBlastTkFramework.h"
+#include "NvBlastTkActor.h"
+#include "NvBlastTkFamily.h"
+#include "NvBlastTkAsset.h"
+
+
+namespace Nv
+{
+namespace Blast
+{
+
+using namespace physx;
+
+const float MIN_IMPACT_VELOCITY_SQUARED = 1.0f;
+
+
+class ExtImpactDamageManagerImpl final : public ExtImpactDamageManager
+{
+public:
+	ExtImpactDamageManagerImpl(ExtPxManager* pxManager, ExtImpactSettings settings)
+		: m_pxManager(pxManager), m_settings(settings), m_listener(this), m_usePxUserData(m_pxManager->isPxUserDataUsed())
+	{
+		NVBLAST_ASSERT_WITH_MESSAGE(pxManager != nullptr, "ExtImpactDamageManager creation: input ExtPxManager is nullptr.");
+		m_pxManager->subscribe(m_listener);
+
+		m_impactDamageBuffer.reserve(32);
+	}
+
+	~ExtImpactDamageManagerImpl()
+	{
+		m_pxManager->unsubscribe(m_listener);
+	}
+
+	virtual void					release() override
+	{
+		NVBLASTEXT_DELETE(this, ExtImpactDamageManagerImpl);
+	}
+
+
+	//////// interface ////////
+
+	virtual void					setSettings(const ExtImpactSettings& settings) override
+	{
+		m_settings = settings;
+	}
+
+	virtual void					onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, uint32_t nbPairs) override;
+
+	virtual void					applyDamage() override;
+
+
+	//////// public methods ////////
+
+	void							queueImpactDamage(ExtPxActor* actor, PxVec3 force, PxVec3 position, PxShape* shape)
+	{
+		ImpactDamageData data = { actor, force, position, shape };
+		m_impactDamageBuffer.pushBack(data);
+	}
+
+
+private:
+	//////// physics manager listener ////////
+
+	class PxManagerListener : public ExtPxListener
+	{
+	public:
+		PxManagerListener(ExtImpactDamageManagerImpl* manager) : m_manager(manager) {}
+
+		virtual void onActorCreated(ExtPxFamily&, ExtPxActor&) override {}
+		virtual void onActorDestroyed(ExtPxFamily& family, ExtPxActor& actor) override
+		{
+			NV_UNUSED(family);
+
+			// filter out actor from queued buffer
+			auto& buffer = m_manager->m_impactDamageBuffer;
+			for (int32_t i = 0; i < (int32_t)buffer.size(); ++i)
+			{
+				if (buffer[i].actor == &actor)
+				{
+					buffer.replaceWithLast(i);
+					i--;
+				}
+			}
+		}
+	private:
+		ExtImpactDamageManagerImpl* m_manager;
+	};
+
+
+	//////// private methods ////////
+
+	void ensureBuffersSize(ExtPxActor* actor);
+	void damageActor(ExtPxActor* actor, PxShape* shape, PxVec3 position, PxVec3 force);
+
+
+	//////// data ////////
+
+	ExtPxManager*						m_pxManager;
+	ExtImpactSettings					m_settings;
+	PxManagerListener					m_listener;
+	ExtArray<PxContactPairPoint>::type	m_pairPointBuffer;
+	bool								m_usePxUserData;
+
+	struct ImpactDamageData
+	{
+		ExtPxActor*	actor;
+		PxVec3				force;
+		PxVec3				position;
+		PxShape*			shape;
+	};
+
+	ExtArray<ImpactDamageData>::type	m_impactDamageBuffer;
+
+	NvBlastFractureBuffers				m_fractureBuffers;
+	ExtArray<uint8_t>::type				m_fractureData;
+};
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//												ExtImpactDamageManagerImpl
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ExtImpactDamageManager* ExtImpactDamageManager::create(ExtPxManager* pxManager, ExtImpactSettings settings)
+{
+	return NVBLASTEXT_NEW(ExtImpactDamageManagerImpl) (pxManager, settings);
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//												onContact callback call
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void ExtImpactDamageManagerImpl::onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, uint32_t nbPairs)
+{
+	if (pairHeader.flags & physx::PxContactPairHeaderFlag::eREMOVED_ACTOR_0 ||
+		pairHeader.flags & physx::PxContactPairHeaderFlag::eREMOVED_ACTOR_1 ||
+		pairHeader.actors[0] == nullptr ||
+		pairHeader.actors[1] == nullptr)
+	{
+		return;
+	}
+
+	PxRigidActor* rigidActor0 = pairHeader.actors[0];
+	PxRigidActor* rigidActor1 = pairHeader.actors[1];
+
+	ExtPxActor* actors[2];
+
+	if (m_usePxUserData)
+	{
+		actors[0] = (ExtPxActor*)rigidActor0->userData;
+		actors[1] = (ExtPxActor*)rigidActor1->userData;
+	}
+	else
+	{
+		PxRigidDynamic* rigidDynamic0 = rigidActor0->is<PxRigidDynamic>();
+		PxRigidDynamic* rigidDynamic1 = rigidActor1->is<PxRigidDynamic>();
+		actors[0] = rigidDynamic0 ? m_pxManager->getActorFromPhysXActor(*rigidDynamic0) : nullptr;
+		actors[1] = rigidDynamic1 ? m_pxManager->getActorFromPhysXActor(*rigidDynamic1) : nullptr;
+	}
+	
+
+	// check one of them is blast actor
+	if (actors[0] == nullptr && actors[1] == nullptr)
+	{
+		return;
+	}
+
+	// self-collision check
+	if (actors[0] != nullptr && actors[1] != nullptr)
+	{
+		if (&actors[0]->getFamily() == &actors[1]->getFamily() && !m_settings.isSelfCollissionEnabled)
+			return;
+	}
+
+	for (uint32_t pairIdx = 0; pairIdx < nbPairs; pairIdx++)
+	{
+		const PxContactPair& currentPair = pairs[pairIdx];
+
+		if (currentPair.flags & physx::PxContactPairFlag::eREMOVED_SHAPE_0 ||
+			currentPair.flags & physx::PxContactPairFlag::eREMOVED_SHAPE_1 ||
+			currentPair.shapes[0] == nullptr ||
+			currentPair.shapes[1] == nullptr)
+		{
+			continue;
+		}
+
+		float masses[2] = { 0, 0 };
+		{
+			for (int i = 0; i < 2; ++i)
+			{
+				PxRigidDynamic* rigidDynamic = pairHeader.actors[i]->is<physx::PxRigidDynamic>();
+				if (rigidDynamic)
+				{
+					if (!(rigidDynamic->getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC))
+					{
+						masses[i] = rigidDynamic->getMass();
+					}
+				}
+			}
+		};
+
+		float reducedMass;
+		if (masses[0] == 0.0f)
+		{
+			reducedMass = masses[1];
+		}
+		else if (masses[1] == 0.0f)
+		{
+			reducedMass = masses[0];
+		}
+		else
+		{
+			reducedMass = masses[0] * masses[1] / (masses[0] + masses[1]);
+		}
+
+
+		PxVec3 destructibleForces[2] = { PxVec3(0.0f), PxVec3(0.0f) };
+		PxVec3 avgContactPosition = PxVec3(0.0f);
+		PxVec3 avgContactNormal = PxVec3(0.0f);
+		uint32_t  numContacts = 0;
+
+		m_pairPointBuffer.resize(currentPair.contactCount);
+		uint32_t numContactsInStream = currentPair.contactCount > 0 ? currentPair.extractContacts(m_pairPointBuffer.begin(), currentPair.contactCount) : 0;
+
+		for (uint32_t contactIdx = 0; contactIdx < numContactsInStream; contactIdx++)
+		{
+			PxContactPairPoint& currentPoint = m_pairPointBuffer[contactIdx];
+
+			const PxVec3& patchNormal = currentPoint.normal;
+			const PxVec3& position = currentPoint.position;
+			PxVec3 velocities[2] = { PxVec3(0.0f), PxVec3(0.0f) };
+			for (int i = 0; i < 2; ++i)
+			{
+				PxRigidBody* rigidBody = pairHeader.actors[i]->is<physx::PxRigidBody>();
+				if (rigidBody)
+				{
+					velocities[i] = physx::PxRigidBodyExt::getVelocityAtPos(*rigidBody, position);
+				}
+			}
+
+			const PxVec3 velocityDelta = velocities[0] - velocities[1];
+			if (velocityDelta.magnitudeSquared() >= MIN_IMPACT_VELOCITY_SQUARED || reducedMass == 0.0f)	// If reduced mass == 0, this is kineamtic vs. kinematic.  Generate damage.
+			{
+				for (int i = 0; i < 2; ++i)
+				{
+					if (actors[i])
+					{
+						// this is not really physically correct, but at least its deterministic...
+						destructibleForces[i] += (patchNormal * patchNormal.dot(velocityDelta)) * reducedMass * (i ? 1.0f : -1.0f);
+					}
+				}
+				avgContactPosition += position;
+				avgContactNormal += patchNormal;
+				numContacts++;
+			}
+		}
+
+		if (numContacts)
+		{
+			avgContactPosition /= (float)numContacts;
+			avgContactNormal.normalize();
+			for (uint32_t i = 0; i < 2; i++)
+			{
+				const PxVec3 force = destructibleForces[i] / (float)numContacts;
+				ExtPxActor* actor = actors[i];
+				if (actor != nullptr)
+				{
+					if (!force.isZero())
+					{
+						queueImpactDamage(actor, force, avgContactPosition, currentPair.shapes[i]);
+					}
+					else if (reducedMass == 0.0f)	// Handle kinematic vs. kinematic
+					{
+						// holy molly
+					}
+				}
+			}
+		}
+	}
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//										ExtImpactDamageManager damage processing
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+float clampedLerp(float from, float to, float t)
+{
+	t = PxClamp(t, 0.0f, 1.0f);
+	return (1 - t) * from + to * t;
+}
+
+void ExtImpactDamageManagerImpl::applyDamage()
+{
+	const auto damageFn = m_settings.damageFunction;
+	const auto damageFnData = m_settings.damageFunctionData;
+
+	for (const ImpactDamageData& data : m_impactDamageBuffer)
+	{
+		float forceMag = data.force.magnitude();
+		float acceleration = forceMag / data.actor->getPhysXActor().getMass();
+		float factor = acceleration * m_settings.fragility * 0.001f;
+		if (factor > 0.05f)
+		{
+			PxTransform t(data.actor->getPhysXActor().getGlobalPose().getInverse());
+			PxVec3 force = t.rotate(data.force);
+			PxVec3 position = t.transform(data.position);
+
+			if (!damageFn || !damageFn(damageFnData, data.actor, data.shape, position, force))
+			{
+				damageActor(data.actor, data.shape, position, force*.00001f);
+			}
+		}
+	}
+	m_impactDamageBuffer.clear();
+}
+
+void ExtImpactDamageManagerImpl::ensureBuffersSize(ExtPxActor* actor)
+{
+	const TkAsset* tkAsset = actor->getTkActor().getAsset();
+	const uint32_t chunkCount = tkAsset->getChunkCount();
+	const uint32_t bondCount = tkAsset->getBondCount();
+
+	m_fractureBuffers.bondFractureCount = bondCount;
+	m_fractureBuffers.chunkFractureCount = chunkCount;
+	m_fractureData.resize((uint32_t)(m_fractureBuffers.bondFractureCount*sizeof(NvBlastBondFractureData) + m_fractureBuffers.chunkFractureCount*sizeof(NvBlastChunkFractureData))); // chunk count + bond count
+	m_fractureBuffers.chunkFractures = reinterpret_cast<NvBlastChunkFractureData*>(m_fractureData.begin());
+	m_fractureBuffers.bondFractures = reinterpret_cast<NvBlastBondFractureData*>(&m_fractureData.begin()[m_fractureBuffers.chunkFractureCount*sizeof(NvBlastChunkFractureData)]);
+}
+
+void ExtImpactDamageManagerImpl::damageActor(ExtPxActor* actor, PxShape* /*shape*/, PxVec3 position, PxVec3 force)
+{
+	ensureBuffersSize(actor);
+
+	NvBlastExtShearDamageDesc damage[] = {
+		{
+			{ force[0], force[1], force[2] },			// shear
+			{ position[0], position[1], position[2] }	// position
+		}							
+	};
+
+	const void* familyMaterial = actor->getTkActor().getFamily().getMaterial();
+
+	// default material params settings
+	const NvBlastExtMaterial defaultMaterial = { 3.0f, 0.1f, 0.2f, 1.5f + 1e-5f, 0.95f };
+
+	NvBlastProgramParams programParams;
+	programParams.damageDescCount = 1;
+	programParams.damageDescBuffer = &damage;
+	programParams.material = familyMaterial == nullptr ? &defaultMaterial : familyMaterial;
+
+	NvBlastDamageProgram program = {
+		NvBlastExtShearGraphShader,
+		NvBlastExtShearSubgraphShader
+	};
+
+	NvBlastFractureBuffers fractureEvents = m_fractureBuffers;
+
+	actor->getTkActor().generateFracture(&fractureEvents, program, &programParams);
+	actor->getTkActor().applyFracture(nullptr, &fractureEvents);
+}
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//														Filter Shader
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxFilterFlags ExtImpactDamageManager::FilterShader(
+	PxFilterObjectAttributes attributes0,
+	PxFilterData filterData0,
+	PxFilterObjectAttributes attributes1,
+	PxFilterData filterData1,
+	PxPairFlags& pairFlags,
+	const void* constantBlock,
+	uint32_t constantBlockSize)
+{
+	PX_UNUSED(constantBlock);
+	PX_UNUSED(constantBlockSize);
+	// let triggers through
+	if (PxFilterObjectIsTrigger(attributes0) || PxFilterObjectIsTrigger(attributes1))
+	{
+		pairFlags = PxPairFlag::eTRIGGER_DEFAULT;
+		return PxFilterFlags();
+	}
+
+	if ((PxFilterObjectIsKinematic(attributes0) || PxFilterObjectIsKinematic(attributes1)) &&
+		(PxGetFilterObjectType(attributes0) == PxFilterObjectType::eRIGID_STATIC || PxGetFilterObjectType(attributes1) == PxFilterObjectType::eRIGID_STATIC))
+	{
+		return PxFilterFlag::eSUPPRESS;
+	}
+
+	// use a group-based mechanism if the first two filter data words are not 0
+	uint32_t f0 = filterData0.word0 | filterData0.word1;
+	uint32_t f1 = filterData1.word0 | filterData1.word1;
+	if (f0 && f1 && !(filterData0.word0&filterData1.word1 || filterData1.word0&filterData0.word1))
+		return PxFilterFlag::eSUPPRESS;
+
+	// determine if we should suppress notification
+	const bool suppressNotify = ((filterData0.word3 | filterData1.word3) & ExtPxManager::LEAF_CHUNK) != 0;
+
+	pairFlags = PxPairFlag::eCONTACT_DEFAULT;
+	if (!suppressNotify)
+	{
+		pairFlags = pairFlags
+			| PxPairFlag::eNOTIFY_CONTACT_POINTS
+			| PxPairFlag::eNOTIFY_THRESHOLD_FORCE_PERSISTS
+			| PxPairFlag::eNOTIFY_THRESHOLD_FORCE_FOUND
+			| PxPairFlag::eNOTIFY_TOUCH_FOUND
+			| PxPairFlag::eNOTIFY_TOUCH_PERSISTS;
+	}
+
+	// eSOLVE_CONTACT is invalid with kinematic pairs
+	if (PxFilterObjectIsKinematic(attributes0) && PxFilterObjectIsKinematic(attributes1))
+	{
+		pairFlags &= ~PxPairFlag::eSOLVE_CONTACT;
+	}
+
+	return PxFilterFlags();
+}
+
+} // namespace Blast
+} // namespace Nv