Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 349 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetContactModification/SnippetContactModification.cpp b/PhysX_3.4/Snippets/SnippetContactModification/SnippetContactModification.cpp
new file mode 100644
index 00000000..6fe0c55f
--- /dev/null
+++ b/PhysX_3.4/Snippets/SnippetContactModification/SnippetContactModification.cpp
@@ -0,0 +1,349 @@
+// 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.  
+
+// ****************************************************************************
+// This snippet illustrates the use of simple contact reports and contact modification.
+//
+// It defines a filter shader function that requests contact modification and 
+// touch reports for all pairs, and a contact callback function that saves 
+// the contact points. It configures the scene to use this filter and callback, 
+// and prints the number of contact reports each frame. If rendering, it renders 
+// each contact as a line whose length and direction are defined by the contact 
+// impulse.
+// This test sets up a situation that would be unstable without contact modification
+// due to very large mass ratios. This test uses local mass modification to make
+// the configuration stable. It also demonstrates how to interpret contact impulses
+// when local mass modification is used.
+// Local mass modification can be disabled with the MODIFY_MASS_PROPERTIES #define 
+// to demonstrate the instability if it was not used.
+// 
+// ****************************************************************************
+
+#include <vector>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetUtils/SnippetUtils.h"
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+
+using namespace physx;
+
+#define MODIFY_MASS_PROPERTIES 1
+
+PxDefaultAllocator		gAllocator;
+PxDefaultErrorCallback	gErrorCallback;
+
+PxFoundation*			gFoundation = NULL;
+PxPhysics*				gPhysics	= NULL;
+
+PxDefaultCpuDispatcher*	gDispatcher = NULL;
+PxScene*				gScene		= NULL;
+PxMaterial*				gMaterial	= NULL;
+PxPvd*                  gPvd        = NULL;
+
+std::vector<PxVec3> gContactPositions;
+std::vector<PxVec3> gContactImpulses;
+std::vector<PxVec3> gContactLinearImpulses[2];
+std::vector<PxVec3> gContactAngularImpulses[2];
+
+
+PxFilterFlags contactReportFilterShader(PxFilterObjectAttributes attributes0, PxFilterData filterData0, 
+										PxFilterObjectAttributes attributes1, PxFilterData filterData1,
+										PxPairFlags& pairFlags, const void* constantBlock, PxU32 constantBlockSize)
+{
+	PX_UNUSED(attributes0);
+	PX_UNUSED(attributes1);
+	PX_UNUSED(filterData0);
+	PX_UNUSED(filterData1);
+	PX_UNUSED(constantBlockSize);
+	PX_UNUSED(constantBlock);
+
+	// all initial and persisting reports for everything, with per-point data
+	pairFlags = PxPairFlag::eSOLVE_CONTACT | PxPairFlag::eDETECT_DISCRETE_CONTACT
+			  |	PxPairFlag::eNOTIFY_TOUCH_FOUND 
+			  | PxPairFlag::eNOTIFY_TOUCH_PERSISTS
+			  | PxPairFlag::eNOTIFY_CONTACT_POINTS
+			  | PxPairFlag::eMODIFY_CONTACTS;
+	return PxFilterFlag::eDEFAULT;
+}
+
+class ContactModifyCallback: public PxContactModifyCallback
+{
+	void onContactModify(PxContactModifyPair* const pairs, PxU32 count)
+	{
+#if MODIFY_MASS_PROPERTIES
+		//We define a maximum mass ratio that we will accept in this test, which is a ratio of 2
+		const PxReal maxMassRatio = 2.f;
+
+		for(PxU32 i = 0; i < count; i++)
+		{
+			const PxRigidDynamic* dynamic0 = pairs[i].actor[0]->is<PxRigidDynamic>();
+			const PxRigidDynamic* dynamic1 = pairs[i].actor[1]->is<PxRigidDynamic>();
+			if(dynamic0 != NULL && dynamic1 != NULL)
+			{
+				//We only want to perform local mass modification between 2 dynamic bodies because we intend on 
+				//normalizing the mass ratios between the pair within a tolerable range
+
+				PxReal mass0 = dynamic0->getMass();
+				PxReal mass1 = dynamic1->getMass();
+
+				if(mass0 > mass1)
+				{
+					//dynamic0 is heavier than dynamic1 so we will locally increase the mass of dynamic1 
+					//to be half the mass of dynamic0.
+					PxReal ratio = mass0/mass1;
+					if(ratio > maxMassRatio)
+					{
+						PxReal invMassScale = maxMassRatio/ratio;
+						pairs[i].contacts.setInvMassScale1(invMassScale);
+						pairs[i].contacts.setInvInertiaScale1(invMassScale);
+					}
+				}
+				else
+				{
+					//dynamic1 is heavier than dynamic0 so we will locally increase the mass of dynamic0 
+					//to be half the mass of dynamic1.
+					PxReal ratio = mass1/mass0;
+					if(ratio > maxMassRatio)
+					{
+						PxReal invMassScale = maxMassRatio/ratio;
+						pairs[i].contacts.setInvMassScale0(invMassScale);
+						pairs[i].contacts.setInvInertiaScale0(invMassScale);
+					}
+				}
+			}
+		}
+#endif
+	}
+};
+
+ContactModifyCallback gContactModifyCallback;
+
+PxU32 extractContactsWithMassScale(const PxContactPair& pair, PxContactPairPoint* userBuffer, PxU32 bufferSize, PxReal& invMassScale0, PxReal& invMassScale1)
+{
+	const PxU8* contactStream = pair.contactPoints;
+	const PxU8* patchStream = pair.contactPatches;
+	const PxU32* faceIndices = pair.getInternalFaceIndices();
+
+	PxU32 nbContacts = 0;
+
+	if(pair.contactCount && bufferSize)
+	{
+		PxContactStreamIterator iter(patchStream, contactStream, faceIndices, pair.patchCount, pair.contactCount);
+
+		const PxReal* impulses = reinterpret_cast<const PxReal*>(pair.contactImpulses);
+
+		PxU32 flippedContacts = (pair.flags & PxContactPairFlag::eINTERNAL_CONTACTS_ARE_FLIPPED);
+		PxU32 hasImpulses = (pair.flags & PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
+
+
+		invMassScale0 = iter.getInvMassScale0();
+		invMassScale1 = iter.getInvMassScale1();
+		while(iter.hasNextPatch())
+		{
+			iter.nextPatch();
+			while(iter.hasNextContact())
+			{
+				iter.nextContact();
+				PxContactPairPoint& dst = userBuffer[nbContacts];
+				dst.position = iter.getContactPoint();
+				dst.separation = iter.getSeparation();
+				dst.normal = iter.getContactNormal();
+				if (!flippedContacts)
+				{
+					dst.internalFaceIndex0 = iter.getFaceIndex0();
+					dst.internalFaceIndex1 = iter.getFaceIndex1();
+				}
+				else
+				{
+					dst.internalFaceIndex0 = iter.getFaceIndex1();
+					dst.internalFaceIndex1 = iter.getFaceIndex0();
+				}
+
+				if (hasImpulses)
+				{
+					PxReal impulse = impulses[nbContacts];
+					dst.impulse = dst.normal * impulse;
+				}
+				else
+					dst.impulse = PxVec3(0.0f);
+				++nbContacts;
+				if(nbContacts == bufferSize)
+					return nbContacts;
+			}
+		}
+	}
+
+	return nbContacts;
+}
+
+
+
+class ContactReportCallback: public PxSimulationEventCallback
+{
+	void onConstraintBreak(PxConstraintInfo* constraints, PxU32 count)	{ PX_UNUSED(constraints); PX_UNUSED(count); }
+	void onWake(PxActor** actors, PxU32 count)							{ PX_UNUSED(actors); PX_UNUSED(count); }
+	void onSleep(PxActor** actors, PxU32 count)							{ PX_UNUSED(actors); PX_UNUSED(count); }
+	void onTrigger(PxTriggerPair* pairs, PxU32 count)					{ PX_UNUSED(pairs); PX_UNUSED(count); }
+	void onAdvance(const PxRigidBody*const*, const PxTransform*, const PxU32) {}
+	void onContact(const PxContactPairHeader& pairHeader, const PxContactPair* pairs, PxU32 nbPairs) 
+	{
+		PX_UNUSED((pairHeader));
+		std::vector<PxContactPairPoint> contactPoints;
+	
+
+		for(PxU32 i=0;i<nbPairs;i++)
+		{
+			PxU32 contactCount = pairs[i].contactCount;
+			if(contactCount)
+			{
+				contactPoints.resize(contactCount);
+				PxReal invMassScale[2];
+				extractContactsWithMassScale(pairs[i], &contactPoints[0], contactCount, invMassScale[0], invMassScale[1]);
+
+				for(PxU32 j=0;j<contactCount;j++)
+				{
+					gContactPositions.push_back(contactPoints[j].position);
+					//Push back reported contact impulses
+					gContactImpulses.push_back(contactPoints[j].impulse);
+
+					//Compute the effective linear/angular impulses for each body.
+					//Note that the local mass scaling permits separate scales for invMass and invInertia.
+					for(PxU32 k = 0; k < 2; ++k)
+					{
+						const PxRigidDynamic* dynamic = pairHeader.actors[k]->is<PxRigidDynamic>();
+						PxVec3 linImpulse(0.f), angImpulse(0.f);
+						if(dynamic != NULL)
+						{
+							PxRigidBodyExt::computeLinearAngularImpulse(*dynamic, dynamic->getGlobalPose(), contactPoints[j].position, 
+								k == 0 ? contactPoints[j].impulse : -contactPoints[j].impulse, invMassScale[k], invMassScale[k], linImpulse, angImpulse);
+						}
+						gContactLinearImpulses[k].push_back(linImpulse);
+						gContactAngularImpulses[k].push_back(angImpulse);
+					}
+				}
+			}
+		}
+	}
+};
+
+ContactReportCallback gContactReportCallback;
+
+void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
+{
+	PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
+	for(PxU32 i=0; i<size;i++)
+	{
+		PxTransform localTm(PxVec3(0, PxReal(i*2+1), 0) * halfExtent);
+		PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
+		body->attachShape(*shape);
+		PxRigidBodyExt::updateMassAndInertia(*body, (i+1)*(i+1)*(i+1)*10.0f);
+		gScene->addActor(*body);
+	}
+	shape->release();
+}
+
+void initPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+
+	gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
+	gPvd = PxCreatePvd(*gFoundation);
+	PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
+	gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
+
+	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
+	PxInitExtensions(*gPhysics, gPvd);
+	
+	PxU32 numCores = SnippetUtils::getNbPhysicalCores();
+	gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.cpuDispatcher = gDispatcher;
+	sceneDesc.gravity = PxVec3(0, -9.81f, 0);
+	sceneDesc.filterShader	= contactReportFilterShader;			
+	sceneDesc.simulationEventCallback = &gContactReportCallback;	
+	sceneDesc.contactModifyCallback = &gContactModifyCallback;
+	gScene = gPhysics->createScene(sceneDesc);
+
+	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
+	if(pvdClient)
+	{
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
+	}
+
+	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
+
+	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
+	gScene->addActor(*groundPlane);
+	createStack(PxTransform(PxVec3(0,0.0f,10.0f)), 5, 2.0f);
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gContactPositions.clear();
+	gContactImpulses.clear();
+
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+	printf("%d contact reports\n", PxU32(gContactPositions.size()));
+}
+	
+void cleanupPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->release();
+	gDispatcher->release();
+	PxCloseExtensions();
+	gPhysics->release();
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+	
+	gFoundation->release();
+	
+	printf("SnippetContactModification done.\n");
+}
+
+int snippetMain(int, const char*const*)
+{
+#ifdef RENDER_SNIPPET
+	extern void renderLoop();
+	renderLoop();
+#else
+	initPhysics(false);
+	for(PxU32 i=0; i<250; i++)
+		stepPhysics(false);
+	cleanupPhysics(false);
+#endif
+
+	return 0;
+}
+