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/*
* Copyright (c) 2008-2015, 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.
*/
#ifndef PHYSX_CONTROLLER_H
#define PHYSX_CONTROLLER_H
#include "SampleManager.h"
#include <DirectXMath.h>
#include "DebugRenderBuffer.h"
#include "PxFiltering.h"
#include "PxDefaultAllocator.h"
#include "PxDefaultErrorCallback.h"
#include <set>
#include <map>
using namespace physx;
class PerformanceDataWriter;
class RenderMaterial;
class Renderable;
class IRenderMesh;
namespace physx
{
class PxCpuDispatcher;
class PxFoundation;
class PxDefaultAllocator;
class PxDefaultErrorCallback;
class PxPhysics;
class PxCooking;
class PxPvd;
class PxCudaContextManager;
class PxDefaultCpuDispatcher;
}
/**
SampleController which manages all the PhysX related work:
1. initialization, scene updates, release.
2. it can create update and render physx primitives. They are represented by PhysXController::Actor, see public API.
3. provides ability to drag actors by mouse or other similar input
NOTE: this class does too much, probably should be split in a few smaller ones.
*/
class PhysXController : public ISampleController
{
public:
//////// Actor ////////
class Actor
{
public:
Actor(PhysXController* controller, PxRigidActor* actor, bool ownPxActor = true);
~Actor();
void setColor(DirectX::XMFLOAT4 color);
DirectX::XMFLOAT4 getColor() const { return m_color; }
bool isHidden() { return m_hidden; }
void setHidden(bool hidden);
void update();
PxRigidActor* getActor() const { return m_actor; }
bool ownsPxActor() const { return m_ownPxActor; }
private:
PhysXController* m_controller;
PxRigidActor* m_actor;
std::vector<PxShape*> m_shapes;
std::vector<Renderable*> m_renderables;
DirectX::XMFLOAT4 m_color;
bool m_hidden;
bool m_ownPxActor;
};
//////// ctor ////////
PhysXController(PxSimulationFilterShader filterShader);
virtual ~PhysXController();
//////// virtual callbacks ////////
virtual void onInitialize();
virtual void onTerminate();
virtual void Animate(double dt);
virtual LRESULT MsgProc(HWND hWnd, UINT uMsg, WPARAM wParam, LPARAM lParam);
//////// public API ////////
void getEyePoseAndPickDir(float mouseX, float mouseY, PxVec3& eyePos, PxVec3& pickDir);
// wrappers to physx calls
PxRigidDynamic* createRigidDynamic(const PxTransform& transform);
void releaseRigidDynamic(PxRigidDynamic*);
Actor* spawnPhysXPrimitiveBox(const PxTransform& position, PxVec3 extents = PxVec3(1, 1, 1), float density = 2000.0f);
Actor* spawnPhysXPrimitivePlane(const PxPlane& plane);
Actor* spawnPhysXPrimitive(PxRigidActor* actor, bool addToScene = true, bool ownPxActor = true);
void removePhysXPrimitive(Actor*);
IRenderMesh* getConvexRenderMesh(const PxConvexMesh* mesh);
IRenderMesh* getRenderMeshForShape(const PxShape* shape);
PxVec3 getMeshScaleForShape(const PxShape* shape);
void removeUnownedPhysXActors();
bool isPaused() const
{
return m_paused;
}
void setPaused(bool paused)
{
m_paused = paused;
}
void setDraggingEnabled(bool enabled);
bool getDraggingEnabled() const { return m_draggingEnabled; }
void resetDragging();
void notifyRigidDynamicDestroyed(PxRigidDynamic*);
void drawUI();
//////// public getters ////////
double getLastSimulationTime() const
{
return m_lastSimulationTime;
}
RenderMaterial* getPrimitiveRenderMaterial()
{
return m_physXPrimitiveRenderMaterial;
}
PxPhysics& getPhysics() const
{
return *m_physics;
}
PxScene& getPhysXScene() const
{
return *m_physicsScene;
}
PxMaterial* getDefaultMaterial() const
{
return m_defaultMaterial;
}
PxCooking& getCooking() const
{
return *m_cooking;
}
PxDefaultCpuDispatcher* getCPUDispatcher() const
{
return m_dispatcher;
}
void setPerformanceWriter(PerformanceDataWriter* perfWriter)
{
m_perfWriter = perfWriter;
}
bool getGPUPhysicsAvailable() const
{
return m_gpuPhysicsAvailable;
}
void setUseGPUPhysics(bool useGPUPhysics);
bool getUseGPUPhysics() const
{
return m_useGPUPhysics;
}
const PxVec3& getDragActorHookLocalPoint() const
{
return m_draggingActorHookLocalPoint;
}
const PxVec3& getDragVector() const
{
return m_dragVector;
}
PxRigidDynamic* getDraggingActor() const
{
return m_draggingActor;
}
private:
//////// internal methods ////////
void initPhysX();
void releasePhysX();
void initPhysXPrimitives();
void releasePhysXPrimitives();
void updateActorTransforms();
void updateDragging(double dt);
//////// used controllers ////////
Renderer& getRenderer() const
{
return getManager()->getRenderer();
}
//////// internal data ////////
// PhysX
PxFoundation* m_foundation;
PxDefaultAllocator m_allocator;
PxDefaultErrorCallback m_errorCallback;
PxPhysics* m_physics;
PxCooking* m_cooking;
PxPvd* m_pvd;
PxCudaContextManager* m_cudaContext;
PxDefaultCpuDispatcher* m_dispatcher;
PxMaterial* m_defaultMaterial;
PxSimulationFilterShader m_filterShader;
PxScene* m_physicsScene;
// PhysX API related
std::vector<PxActor*> m_physXActorsToRemove;
// primitives/actors
std::set<Actor*> m_actors;
std::map<const PxConvexMesh*, IRenderMesh*> m_convexRenderMeshes;
RenderMaterial* m_physXPrimitiveRenderMaterial;
RenderMaterial* m_physXPlaneRenderMaterial;
RenderMaterial* m_physXPrimitiveTransparentRenderMaterial;
// simulation
bool m_gpuPhysicsAvailable;
bool m_useGPUPhysics;
double m_lastSimulationTime;
LARGE_INTEGER m_performanceFreq;
bool m_paused;
bool m_useFixedTimeStep;
float m_fixedTimeStep;
float m_timeAccumulator;
uint32_t m_substepCount;
int32_t m_maxSubstepCount;
// dragging
bool m_draggingEnabled;
PxRigidDynamic* m_draggingActor;
PxVec3 m_draggingActorHookLocalPoint;
PxVec3 m_dragAttractionPoint;
PxVec3 m_dragVector;
float m_dragDistance;
DebugRenderBuffer m_dragDebugRenderBuffer;
PxVec3 m_draggingActorLastHookWorldPoint;
bool m_draggingTryReconnect;
// Performance writer
PerformanceDataWriter* m_perfWriter;
};
#endif
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