Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 235 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetHelloGRB/SnippetHelloGRB.cpp b/PhysX_3.4/Snippets/SnippetHelloGRB/SnippetHelloGRB.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.  
+
+// ****************************************************************************
+// This snippet illustrates simple use of physx
+//
+// It creates a number of box stacks on a plane, and if rendering, allows the
+// user to create new stacks and fire a ball from the camera position
+// ****************************************************************************
+
+#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;
+
+PxDefaultCpuDispatcher*	gDispatcher = NULL;
+PxScene*				gScene		= NULL;
+
+PxMaterial*				gMaterial	= NULL;
+
+PxPvd*                  gPvd = NULL;
+
+PxCudaContextManager* gCudaContextManager = NULL;
+
+PxReal stackZ = 10.0f;
+
+PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0))
+{
+	PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
+	dynamic->setAngularDamping(0.5f);
+	dynamic->setLinearVelocity(velocity);
+	gScene->addActor(*dynamic);
+	return dynamic;
+}
+
+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();
+}
+
+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::ePROFILE);
+
+	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
+	
+	PxCudaContextManagerDesc cudaContextManagerDesc;
+
+#ifdef RENDER_SNIPPET
+	cudaContextManagerDesc.interopMode = PxCudaInteropMode::OGL_INTEROP;	//Choose interop mode. As the snippets use OGL, we select OGL_INTEROP
+																			//when using D3D, cudaContextManagerDesc.graphicsDevice must be set as the graphics device pointer.
+#else
+	cudaContextManagerDesc.interopMode = PxCudaInteropMode::NO_INTEROP;
+#endif
+	
+
+	gCudaContextManager = PxCreateCudaContextManager(*gFoundation, cudaContextManagerDesc);	//Create the CUDA context manager, required for GRB to dispatch CUDA kernels.
+	if( gCudaContextManager )
+	{
+		if( !gCudaContextManager->contextIsValid() )
+		{
+			gCudaContextManager->release();
+			gCudaContextManager = NULL;
+		}
+	}	
+
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+	gDispatcher = PxDefaultCpuDispatcherCreate(4);			//Create a CPU dispatcher using 4 worther threads
+	sceneDesc.cpuDispatcher	= gDispatcher;
+	sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
+
+	if(gCudaContextManager)
+		sceneDesc.gpuDispatcher = gCudaContextManager->getGpuDispatcher();	//Set the GPU dispatcher, used by GRB to dispatch CUDA kernels.
+
+	sceneDesc.flags |= PxSceneFlag::eENABLE_GPU_DYNAMICS;	//Enable GPU dynamics - without this enabled, simulation (contact gen and solver) will run on the CPU.
+	sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;			//Enable PCM. PCM NP is supported on GPU. Legacy contact gen will fall back to CPU
+	sceneDesc.flags |= PxSceneFlag::eENABLE_STABILIZATION;	//Improve solver stability by enabling post-stabilization.
+	sceneDesc.broadPhaseType = PxBroadPhaseType::eGPU;		//Enable GPU broad phase. Without this set, broad phase will run on the CPU.
+	sceneDesc.gpuMaxNumPartitions = 8;						//Defines the maximum number of partitions used by the solver. Only power-of-2 values are valid. 
+															//A value of 8 generally gives best balance between performance and stability.
+
+	gScene = gPhysics->createScene(sceneDesc);
+
+
+	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
+	if (pvdClient)
+	{
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, false);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, false);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, false);
+	}
+
+
+
+	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
+
+	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
+	gScene->addActor(*groundPlane);
+
+	for(PxU32 i=0;i<40;i++)
+		createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 20, 1.0f);
+
+	//if(!interactive)
+		PxRigidDynamic* ball = createDynamic(PxTransform(PxVec3(0,20,100)), PxSphereGeometry(5), PxVec3(0,-25,-100));
+		PxRigidBodyExt::updateMassAndInertia(*ball, 1000.f);
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+
+	if (gScene)
+	{
+		gScene->release();
+		gScene = NULL;
+	}
+	if (gDispatcher)
+	{
+		gDispatcher->release();
+		gDispatcher = NULL;
+	}
+	
+	if (gPhysics)
+	{
+		gPhysics->release();
+		gPhysics = NULL;
+
+	}
+	if (gPvd)
+	{
+		PxPvdTransport* transport = gPvd->getTransport();
+		gPvd->release();
+		transport->release();
+	}
+
+	if (gCudaContextManager)
+	{
+		gCudaContextManager->release();
+		gCudaContextManager = NULL;
+	}
+
+	if (gFoundation)
+	{
+		gFoundation->release();
+		gFoundation = NULL;
+	}
+	
+	printf("SnippetHelloWorld done.\n");
+}
+
+void keyPress(const char key, const PxTransform& camera)
+{
+	switch(toupper(key))
+	{
+	case 'B':	createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);						break;
+	case ' ':	createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200);	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;
+}