PhysX 3.4, APEX 1.4 patch release @23879214

1 files changed, 269 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetDeformableMesh/SnippetDeformableMesh.cpp b/PhysX_3.4/Snippets/SnippetDeformableMesh/SnippetDeformableMesh.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) 2008-2017 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 shows how to use deformable meshes in PhysX.
+// ****************************************************************************
+
+#include <ctype.h>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+#include "../SnippetUtils/SnippetUtils.h"
+
+using namespace physx;
+
+PxDefaultAllocator		gAllocator;
+PxDefaultErrorCallback	gErrorCallback;
+
+PxFoundation*			gFoundation = NULL;
+PxPhysics*				gPhysics	= NULL;
+PxCooking*				gCooking	= NULL;
+
+PxDefaultCpuDispatcher*	gDispatcher = NULL;
+PxScene*				gScene		= NULL;
+
+PxMaterial*				gMaterial	= NULL;
+
+PxPvd*                  gPvd        = NULL;
+
+PxTriangleMesh*			gMesh		= NULL;
+PxRigidStatic*			gActor		= NULL;
+
+PxReal stackZ = 10.0f;
+
+static const PxU32 gGridSize = 8;
+static const PxReal gGridStep = 512.0f / PxReal(gGridSize-1);
+static float gTime = 0.0f;
+
+static PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0), PxReal density=1.0f)
+{
+	PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, density);
+	dynamic->setLinearVelocity(velocity);
+	gScene->addActor(*dynamic);
+	return dynamic;
+}
+
+static 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++)
+	{
+		for(PxU32 j=0;j<size-i;j++)
+		{
+			PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
+			PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
+			body->attachShape(*shape);
+			PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
+			gScene->addActor(*body);
+		}
+	}
+	shape->release();
+}
+
+struct Triangle
+{
+	PxU32 ind0, ind1, ind2;
+};
+
+static void updateVertices(PxVec3* verts, float amplitude=0.0f)
+{
+	const PxU32 gridSize = gGridSize;
+	const PxReal gridStep = gGridStep;
+
+	for(PxU32 a=0; a<gridSize; a++)
+	{
+		const float coeffA = float(a)/float(gridSize);
+		for(PxU32 b=0; b<gridSize; b++)
+		{
+			const float coeffB = float(b)/float(gridSize);
+
+			const float y = 20.0f + sinf(coeffA*PxTwoPi)*cosf(coeffB*PxTwoPi)*amplitude;
+
+			verts[a * gridSize + b] = PxVec3(-400.0f + b*gridStep, y, -400.0f + a*gridStep);
+		}
+	}
+}
+
+static PxTriangleMesh* createMeshGround()
+{
+	const PxU32 gridSize = gGridSize;
+
+	PxVec3 verts[gridSize * gridSize];
+
+	const PxU32 nbTriangles = 2 * (gridSize - 1) * (gridSize-1);
+
+	Triangle indices[nbTriangles];
+
+	updateVertices(verts);
+
+	for (PxU32 a = 0; a < (gridSize-1); ++a)
+	{
+		for (PxU32 b = 0; b < (gridSize-1); ++b)
+		{
+			Triangle& tri0 = indices[(a * (gridSize-1) + b) * 2];
+			Triangle& tri1 = indices[((a * (gridSize-1) + b) * 2) + 1];
+
+			tri0.ind0 = a * gridSize + b + 1;
+			tri0.ind1 = a * gridSize + b;
+			tri0.ind2 = (a + 1) * gridSize + b + 1;
+
+			tri1.ind0 = (a + 1) * gridSize + b + 1;
+			tri1.ind1 = a * gridSize + b;
+			tri1.ind2 = (a + 1) * gridSize + b;
+		}
+	}
+
+	PxTriangleMeshDesc meshDesc;
+	meshDesc.points.data = verts;
+	meshDesc.points.count = gridSize * gridSize;
+	meshDesc.points.stride = sizeof(PxVec3);
+	meshDesc.triangles.count = nbTriangles;
+	meshDesc.triangles.data = indices;
+	meshDesc.triangles.stride = sizeof(Triangle);
+
+	PxTriangleMesh* triMesh = gCooking->createTriangleMesh(meshDesc, gPhysics->getPhysicsInsertionCallback());
+
+	return triMesh;
+}
+
+void initPhysics(bool /*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);
+
+	PxCookingParams cookingParams(gPhysics->getTolerancesScale());
+
+	// Deformable meshes are only supported with PxMeshMidPhase::eBVH33.
+	cookingParams.midphaseDesc.setToDefault(PxMeshMidPhase::eBVH33);
+	// We need to disable the mesh cleaning part so that the vertex mapping remains untouched.
+	cookingParams.meshPreprocessParams	= PxMeshPreprocessingFlag::eDISABLE_CLEAN_MESH;
+
+	gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, cookingParams);
+
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+	gDispatcher = PxDefaultCpuDispatcherCreate(2);
+	sceneDesc.cpuDispatcher	= gDispatcher;
+	sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
+
+	gScene = gPhysics->createScene(sceneDesc);
+
+	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
+	if(pvdClient)
+	{
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
+	}
+
+	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
+
+	PxTriangleMesh* mesh = createMeshGround();
+	gMesh = mesh;
+
+	PxTriangleMeshGeometry geom(mesh);
+
+	PxRigidStatic* groundMesh = gPhysics->createRigidStatic(PxTransform(PxVec3(0, 2, 0)));
+	gActor = groundMesh;
+	groundMesh->createShape(geom, *gMaterial);
+
+	{
+		PxShape* shape;
+		groundMesh->getShapes(&shape, 1);
+		shape->setContactOffset(0.02f);
+		// A negative rest offset helps to avoid jittering when the deformed mesh moves away from objects resting on it.
+		shape->setRestOffset(-0.5f);
+	}
+
+	gScene->addActor(*groundMesh);
+
+	createStack(PxTransform(PxVec3(0,22,0)), 10, 2.0f);
+}
+
+void stepPhysics(bool /*interactive*/)
+{
+	{
+		PxVec3* verts = gMesh->getVerticesForModification();
+		gTime += 0.01f;
+		updateVertices(verts, sinf(gTime)*20.0f);
+		PxBounds3 newBounds = gMesh->refitBVH();
+		PX_UNUSED(newBounds);
+
+		// Reset filtering to tell the broadphase about the new mesh bounds.
+		gScene->resetFiltering(*gActor);
+	}
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics(bool /*interactive*/)
+{
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();	
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+	gCooking->release();
+	gFoundation->release();
+	
+	printf("SnippetDeformableMesh done.\n");
+}
+
+void keyPress(unsigned char key, const PxTransform& camera)
+{
+	switch(toupper(key))
+	{
+	case ' ':	createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200, 3.0f);	break;
+	}
+}
+
+int snippetMain(int, const char*const*)
+{
+#ifdef RENDER_SNIPPET
+	extern void renderLoop();
+	renderLoop();
+#else
+	static const PxU32 frameCount = 100;
+	initPhysics(false);
+	for(PxU32 i=0; i<frameCount; i++)
+		stepPhysics(false);
+	cleanupPhysics(false);
+#endif
+
+	return 0;
+}