Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 228 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetMBP/SnippetMBP.cpp b/PhysX_3.4/Snippets/SnippetMBP/SnippetMBP.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 demonstrates the use of broad phase regions (MBP).
+//
+// It shows the setup of MBP and its regions. In this example 4 regions are setup
+// and set for the MBP. Created stacks are then simulated in multiple regions.
+// Note that current regions setup is not optimal, some objects get out of regions bounds.
+// In this case a warning is reported. It is possible to add PxBroadPhaseCallback
+// to scene to handle such cases. 
+//
+// ****************************************************************************
+
+#include <ctype.h>
+#include <vector>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetUtils/SnippetUtils.h"
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.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;
+
+PxReal stackZ = 10.0f;
+
+PxU32 gRegionHandles[4];
+
+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();
+}
+
+class SnippetMBPBroadPhaseCallback : public physx::PxBroadPhaseCallback
+{
+	std::vector<PxActor*> outOfBoundsActors;
+public:
+	virtual void onObjectOutOfBounds(PxShape& /*shape*/, PxActor& actor)
+	{
+		PxU32 i = 0;
+		for(; i < outOfBoundsActors.size(); ++i)
+		{
+			if(outOfBoundsActors[i] == &actor)
+				break;
+		}
+		if(i == outOfBoundsActors.size())
+		{
+			outOfBoundsActors.push_back(&actor);
+		}
+	}
+
+	virtual void onObjectOutOfBounds(PxAggregate& /*aggregate*/)
+	{
+		//This test does not use aggregates so no need to do anything here
+	}
+
+	void purgeOutOfBoundsObjects()
+	{
+		for(PxU32 i = 0; i < outOfBoundsActors.size(); ++i)
+		{
+			outOfBoundsActors[i]->release();
+		}
+		outOfBoundsActors.clear();
+	}
+} gBroadPhaseCallback;
+
+
+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);
+		
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+	
+	PxU32 numCores = SnippetUtils::getNbPhysicalCores();
+	gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
+	sceneDesc.cpuDispatcher	= gDispatcher;
+	sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
+
+	sceneDesc.broadPhaseType = PxBroadPhaseType::eMBP;
+
+	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);
+	}
+	PxBroadPhaseRegion regions[4] =
+	{
+		{	PxBounds3(PxVec3(-100, -100, -100),  PxVec3(  0, 100,   0)), reinterpret_cast<void*>(1) },
+		{	PxBounds3(PxVec3(-100, -100,    0),  PxVec3(  0, 100, 100)), reinterpret_cast<void*>(2) }, 
+		{	PxBounds3(PxVec3(   0, -100, -100),  PxVec3(100, 100,   0)), reinterpret_cast<void*>(3) },
+		{	PxBounds3(PxVec3(   0, -100,    0),  PxVec3(100, 100, 100)), reinterpret_cast<void*>(4) }
+	};
+
+	for(PxU32 i=0;i<4;i++)
+		gScene->addBroadPhaseRegion(regions[i]);
+
+	gScene->setBroadPhaseCallback(&gBroadPhaseCallback);
+
+	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<5;i++)
+		createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);
+
+	if(!interactive)
+		createDynamic(PxTransform(PxVec3(0,40,100)), PxSphereGeometry(10), PxVec3(0,-50,-100));
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+	gBroadPhaseCallback.purgeOutOfBoundsObjects();
+}
+	
+void cleanupPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();	
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+   
+	gFoundation->release();
+
+	printf("SnippetMBP done.\n");
+}
+
+void keyPress(unsigned 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;
+}