Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 452 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleCharacterCloth/SampleCharacterCloth_ClothController.cpp b/PhysX_3.4/Samples/SampleCharacterCloth/SampleCharacterCloth_ClothController.cpp
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+// 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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "PxPhysXConfig.h"
+
+#if PX_USE_CLOTH_API
+
+#include "SampleCharacterCloth.h"
+
+#include "SampleCharacterClothCameraController.h"
+#include "SampleCharacterClothFlag.h"
+
+#include "TestClothHelpers.h"
+#include "SampleCharacterHelpers.h"
+#include "characterkinematic/PxCapsuleController.h"
+#include "cloth/PxClothParticleData.h"
+#include "extensions/PxClothMeshQuadifier.h"
+
+using namespace PxToolkit;
+
+#if PX_SUPPORT_GPU_PHYSX
+PxClothFlag::Enum gGpuFlag = PxClothFlag::eCUDA; 
+#elif PX_XBOXONE
+PxClothFlag::Enum gGpuFlag = PxClothFlag::eDEFAULT;
+#endif
+
+// size of spheres for stickman (total 30 bones + 1 root)
+static const PxReal gSphereRadius[] = { 
+	2.0f,  // root
+
+	// left lower limb
+	1.5f,  // lhipjoint
+	1.5f,  // lfemur (upper leg)
+	1.0f,  // ltibia (lower leg)
+	1.0f,  // lfoot
+	1.0f,  // ltoes
+
+	// right lower limb
+	1.5f,  // rhipjoint
+	1.5f,  // rfemur
+	1.0f,  // rtibia
+	1.0f,  // rfoot
+	1.0f,  // rtoes
+
+	// spine
+	2.5f,  // lowerback
+	2.5f,  // upperback
+	2.0f,  // thorax
+	1.0f,  // lowerneck
+	1.0f,  // upperneck
+
+	2.0f,  // head
+
+	// left arm/hand
+	1.5f,  // lclavicle (shoulder)
+	1.5f,  // lhumerus (upper arm)
+	1.3f,  // lradius (lower arm)
+	1.5f,  // lwrist
+	1.8f,  // lhand
+	0.5f,  // lfingers
+	0.5f,  // lthumb
+
+	// right arm/hand
+	1.5f,  // rclavicle
+	1.5f,  // rhumerus
+	1.3f,  // rradius
+	1.5f,  // rwrist
+	1.8f,  // rhand
+	0.5f,  // rfingers
+	0.5f,  // rthumb
+};
+
+static const PxReal gCharacterScale = 0.1;
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::createCharacter()
+{
+	const char* asfpath = getSampleMediaFilename("motion/stickman.asf");
+	if (!mCharacter.create(asfpath, gCharacterScale))
+	{
+		fatalError("ERROR - Cannot load motion/stickman.asf\n");
+	}
+
+	// add motion clips to the character
+	const char* amcpath = 0;
+
+	amcpath = getSampleMediaFilename("motion/stickman_walking_01.amc");
+	mMotionHandleWalk = mCharacter.addMotion(amcpath);
+	if (mMotionHandleWalk < 0)
+		fatalError("ERROR - Cannot load motion/stickman_walking_01.amc\n");
+
+	amcpath = getSampleMediaFilename("motion/stickman_jump_01.amc");
+	mMotionHandleJump = mCharacter.addMotion(amcpath, 100,200);
+	if (mMotionHandleJump < 0)
+		fatalError("ERROR - Cannot load motion/stickman_jump_01.amc\n");
+
+	// initialize character position, scale, and orientation
+	resetCharacter();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::createCape()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	// compute root transform and positions of all the bones
+	PxTransform rootPose;
+	SampleArray<PxVec3> positions;	
+	SampleArray<PxU32> indexPairs;
+	mCharacter.getFramePose(rootPose, positions, indexPairs);
+
+	// convert bones to collision capsules
+	SampleArray<PxClothCollisionSphere> spheres;	
+	spheres.resize(positions.size());
+	for (PxU32 i = 0; i < positions.size(); i++)
+	{
+		spheres[i].pos = positions[i];
+		spheres[i].radius = gCharacterScale * gSphereRadius[i];
+	}
+
+	// create the cloth cape mesh from file
+	SampleArray<PxVec4> vertices;
+	SampleArray<PxU32> primitives;
+	SampleArray<PxVec2> uvs;
+	const char* capeFileName = getSampleMediaFilename("ctdm_cape_m.obj");
+	PxClothMeshDesc meshDesc = Test::ClothHelpers::createMeshFromObj(capeFileName, 
+		gCharacterScale * 0.3f, PxQuat(PxIdentity), PxVec3(0,-1.5,0), vertices, primitives, uvs);
+
+	for (PxU32 i = 0; i < meshDesc.invMasses.count; i++)
+	{
+		((float*)meshDesc.invMasses.data)[i*4] = 0.5f;
+	}
+
+	if (!meshDesc.isValid()) fatalError("Could not load ctdm_cape_m.obj\n");
+
+	for (PxU32 i = 0; i < meshDesc.points.count; i++)
+	{
+		if(uvs[i].y > 0.85f)
+			vertices[i].w = 0.0f;
+	}
+
+	// create the cloth
+	PxClothMeshQuadifier quadifier(meshDesc);
+	mCape = createClothFromMeshDesc(quadifier.getDescriptor(), rootPose, PxVec3(0,-1,0),
+		uvs.begin(), "dummy_cape_d.bmp", 0.8f);
+	PxCloth& cloth = *mCape;
+
+	cloth.setCollisionSpheres(spheres.begin(), static_cast<PxU32>(positions.size()));
+	for(PxU32 i=0; i<indexPairs.size(); i+=2)
+		cloth.addCollisionCapsule(indexPairs[i], indexPairs[i+1]);
+
+	// compute initial skin binding to the character
+	mSkin.bindToCharacter(mCharacter, vertices);
+
+	// set solver settings
+	cloth.setSolverFrequency(240);
+
+	cloth.setStiffnessFrequency(10.0f);
+
+	// damp global particle velocity to 90% every 0.1 seconds
+	cloth.setDampingCoefficient(PxVec3(0.2f)); // damp local particle velocity
+	cloth.setLinearDragCoefficient(PxVec3(0.2f)); // transfer frame velocity
+	cloth.setAngularDragCoefficient(PxVec3(0.2f)); // transfer frame rotation
+
+	// reduce impact of frame acceleration
+	// x, z: cloth swings out less when walking in a circle
+	// y: cloth responds less to jump acceleration
+	cloth.setLinearInertiaScale(PxVec3(0.8f, 0.6f, 0.8f));
+
+	// leave impact of frame torque at default
+	cloth.setAngularInertiaScale(PxVec3(1.0f));
+
+	// reduce centrifugal force of rotating frame
+	cloth.setCentrifugalInertiaScale(PxVec3(0.3f));	
+	
+	const bool useVirtualParticles = true;
+	const bool useSweptContact = true;
+	const bool useCustomConfig = true;
+
+	// virtual particles
+	if (useVirtualParticles)
+		Test::ClothHelpers::createVirtualParticles(cloth, meshDesc, 4);
+
+	// ccd
+	cloth.setClothFlag(PxClothFlag::eSWEPT_CONTACT, useSweptContact);
+	
+	// use GPU or not
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	cloth.setClothFlag(gGpuFlag, mUseGPU);
+#endif
+
+	// custom fiber configuration
+	if (useCustomConfig)
+	{
+		PxClothStretchConfig stretchConfig;
+		stretchConfig.stiffness = 1.0f;
+
+		cloth.setStretchConfig(PxClothFabricPhaseType::eVERTICAL, PxClothStretchConfig(1.0f));		
+		cloth.setStretchConfig(PxClothFabricPhaseType::eVERTICAL, PxClothStretchConfig(1.0f));
+		cloth.setStretchConfig(PxClothFabricPhaseType::eSHEARING, PxClothStretchConfig(0.75f));
+		cloth.setStretchConfig(PxClothFabricPhaseType::eBENDING, PxClothStretchConfig(0.5f));
+		cloth.setTetherConfig(PxClothTetherConfig(1.0f));
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::createFlags()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	PxQuat q = PxQuat(PxIdentity);
+
+	PxU32 numFlagRow = 2;
+	PxU32 resX = 20, resY = 10;
+	if (mClothFlagCountIndex == 0) 
+	{
+		numFlagRow = 2;
+		resX = 20;
+		resY = 10;
+	}
+	else if (mClothFlagCountIndex == 1) 
+	{
+		numFlagRow = 4;
+		resX = 30;
+		resY = 15;
+	}
+	else if (mClothFlagCountIndex == 2) 
+	{		
+		numFlagRow = 8;
+		resX = 50;
+		resY = 25;
+	}
+	else if (mClothFlagCountIndex == 3) 
+	{		
+		numFlagRow = 15;
+		resX = 50;
+		resY = 25;
+	}
+
+	for (PxU32 i = 0; i < numFlagRow; i++)
+	{
+	    mFlags.pushBack(new SampleCharacterClothFlag(*this, PxTransform(PxVec3(-4,0,-10.0f -5.0f * i), q), resX, resY, 2.0f, 1.0f, 5.0f));
+		mFlags.pushBack(new SampleCharacterClothFlag(*this, PxTransform(PxVec3(4,0,-10.0f -5.0f * i), q), resX, resY, 2.0f, 1.0f, 5.0f));
+	}
+
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	for (PxU32 i = 0; i < mFlags.size(); ++i)
+		mFlags[i]->getCloth()->setClothFlag(gGpuFlag, mUseGPU);
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::releaseFlags()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	const size_t nbFlags = mFlags.size();
+	for(PxU32 i = 0;i < nbFlags;i++)
+		mFlags[i]->release();
+	mFlags.clear();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::resetCape()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	PxCloth& cloth = *mCape;
+
+	// compute cloth pose and collider positions
+	PxTransform rootPose;
+	SampleArray<PxVec3> positions;
+	SampleArray<PxU32> indexPairs;
+	mCharacter.getFramePose(rootPose, positions, indexPairs);
+
+	// set cloth pose and zero velocity/acceleration
+	cloth.setGlobalPose(rootPose);
+
+	// set collision sphere positions
+	SampleArray<PxClothCollisionSphere> spheres(positions.size());
+	cloth.getCollisionData(spheres.begin(), 0, 0, 0, 0);
+	for (PxU32 i = 0; i < positions.size(); i++)
+		spheres[i].pos = positions[i];
+	cloth.setCollisionSpheres(spheres.begin(), spheres.size());
+
+	// set positions for constrained particles
+	SampleArray<PxVec3> particlePositions;
+	mSkin.computeNewPositions(mCharacter, particlePositions);
+	Test::ClothHelpers::setParticlePositions(cloth, particlePositions, false, false);
+
+	cloth.setExternalAcceleration(PxVec3(0.0f));
+
+	// clear previous state of collision shapes etc.
+	cloth.clearInterpolation();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::resetCharacter()
+{
+	// compute global pose and local positions
+	PxExtendedVec3 posExt = mController->getPosition();
+	PxVec3 pos = PxVec3(PxReal(posExt.x), PxReal(posExt.y), PxReal(posExt.z)) - PxVec3(0.0f, 1.5, 0.0f);
+
+	PxTransform pose;
+	pose.p = pos;
+	pose.q = PxQuat(PxIdentity);
+
+	mCharacter.resetMotion(37.0f);
+	mCharacter.setGlobalPose(pose);
+	mCharacter.setTargetPosition(PxVec3(pos.x, pos.y, pos.z));
+	mCharacter.setMotion(mMotionHandleWalk, true);
+	mCharacter.move(1.0f, false, mCCTActive);
+	mCharacter.faceToward(PxVec3(0,0,-1));
+
+	mJump.reset();
+
+	mCCTDisplacementPrevStep = PxVec3(0.0f);
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::updateCape(float dtime)
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	PxCloth& cloth = *mCape;
+
+	// compute cloth pose and collider positions
+	PxTransform rootPose;
+	SampleArray<PxVec3> spherePositions;
+	SampleArray<PxU32> indexPairs;
+	mCharacter.getFramePose(rootPose, spherePositions, indexPairs);
+
+	// set cloth pose
+	cloth.setTargetPose(rootPose);
+
+	// set collision sphere positions
+	SampleArray<PxClothCollisionSphere> spheres(spherePositions.size());
+	cloth.getCollisionData(spheres.begin(), 0, 0, 0, 0);
+	for (PxU32 i = 0; i < spherePositions.size(); i++)
+		spheres[i].pos = spherePositions[i];
+	cloth.setCollisionSpheres(spheres.begin(), spheres.size());
+
+	// set positions for constrained particles
+	SampleArray<PxVec3> particlePositions;
+	mSkin.computeNewPositions(mCharacter, particlePositions);
+
+	Test::ClothHelpers::setParticlePositions(cloth, particlePositions, true, true);
+
+	// add wind while in freefall
+	if (mJump.isInFreefall())
+	{
+		PxReal strength = 20.0f;
+		PxVec3 offset( PxReal(PxToolkit::Rand(-1,1)), 1.0f + PxReal(PxToolkit::Rand(-1,1)), PxReal(PxToolkit::Rand(-1,1)));
+		PxVec3 windAcceleration = strength * offset;
+		cloth.setExternalAcceleration(windAcceleration);
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::updateCharacter(float dtime)
+{
+	// compute global pose of the character from CCT
+	PxExtendedVec3 posExt = mController->getPosition();
+	PxVec3 offset(0.0f, gCharacterScale * 15.0f, 0.0f); // offset from controller center to the foot
+	PxVec3 pos = PxVec3(PxReal(posExt.x), PxReal(posExt.y), PxReal(posExt.z)) - offset;
+	
+	// update character pose and motion 
+	if (mJump.isJumping() == true)
+	{	
+		mCharacter.setTargetPosition(pos);
+		mCharacter.setMotion(mMotionHandleJump);
+		mCharacter.move(0.25f, true);
+	}
+	else 
+	{
+		bool cctActive = mCCTActive && (mJump.isInFreefall() == false);
+
+		mCharacter.setTargetPosition(pos);
+		mCharacter.setMotion(mMotionHandleWalk);
+		mCharacter.move(1.0f, false, cctActive);
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::updateFlags(float dtime)
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	// apply wind force to flags
+	for (PxU32 i = 0 ; i < mFlags.size(); i++)
+	{
+		mFlags[i]->setWind(PxVec3(1,0.1,0), 40.0f, PxVec3(0.0f, 10.0f, 10.0f));
+		mFlags[i]->update(dtime);
+	}
+}
+
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+///////////////////////////////////////////////////////////////////////////////
+void
+SampleCharacterCloth::toggleGPU()
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	mUseGPU = !mUseGPU;
+
+	if (mCape)
+		mCape->setClothFlag(gGpuFlag, mUseGPU);
+
+	for (PxU32 i = 0 ; i < mFlags.size(); i++)
+	{
+		mFlags[i]->getCloth()->setClothFlag(gGpuFlag, mUseGPU);
+	}
+}
+#endif
+
+#endif // PX_USE_CLOTH_API