Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 630 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetNestedScene/SnippetNestedScene.cpp b/PhysX_3.4/Snippets/SnippetNestedScene/SnippetNestedScene.cpp
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+++ b/PhysX_3.4/Snippets/SnippetNestedScene/SnippetNestedScene.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 shows how to work with nested scenes.
+//
+// It is based on SnippetVehicleTank, which creates a tank-like vehicle
+// and drives it around.
+//
+// In this sample we add a cargo bed to the tank which contains a bunch of dynamic
+// crates.  These crates have their own scene in order to reduce clutter in
+// the main scene and increase performance.  The geometry of the cargo bed against
+// which the crates collide is also only in this 'nested scene' as static geometry.
+// Meanwhile the tank only uses a single dynamic box representation in the main scene.
+//
+// The objects in the tank's 'nested scene' are color coded green while the objects
+// in the main scene are colored red in order to visualize the distinction.
+//
+// In this sample the crates on the tank are tossed about by the motion of the tank
+// because we apply the velocity changes of the tank to the crates as external
+// impulses.  These impulses can be scaled by the user to tune the precise
+// desired behavior.
+//
+// The crates can also fall off the truck bed and onto the ground.  This is detected
+// by the sample by means of a trigger around the cargo bed.  When crates leave
+// the cargo bed they are removed from the nested scene and added to the main scene.
+// There they collide with the ground plane and the tank's wheels as expected.
+//
+// In a real game one could additionally suspend simulation of the embedded scene if
+// the tank is far away from the player.
+//
+// ****************************************************************************
+
+#include <vector>
+#include <ctype.h>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetVehicleCommon/SnippetVehicleSceneQuery.h"
+#include "../SnippetVehicleCommon/SnippetVehicleFilterShader.h"
+#include "../SnippetVehicleCommon/SnippetVehicleTireFriction.h"
+#include "../SnippetVehicleCommon/SnippetVehicleCreate.h"
+
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+#include "../SnippetUtils/SnippetUtils.h"
+
+
+using namespace physx;
+using namespace snippetvehicle;
+
+
+#include "NestedScene.h"
+
+PxDefaultAllocator		gAllocator;
+PxDefaultErrorCallback	gErrorCallback;
+
+PxFoundation*			gFoundation = NULL;
+PxPhysics*				gPhysics	= NULL;
+
+PxDefaultCpuDispatcher*	gDispatcher = NULL;
+PxScene*				gScene		= NULL;
+
+PxCooking*				gCooking	= NULL;
+
+PxMaterial*				gMaterial	= NULL;
+
+VehicleSceneQueryData*	gVehicleSceneQueryData = NULL;
+PxBatchQuery*			gBatchQuery = NULL;
+
+PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;
+
+PxRigidStatic*			gGroundPlane = NULL;
+
+PxPvd*                  gPvd = NULL;
+
+PxF32					gTankModeLifetime = 4.0f;
+PxF32					gTankModeTimer = 0.0f;
+PxU32					gTankOrderProgress = 0;
+bool					gTankOrderComplete = false;
+bool					gMimicKeyInputs = false;
+
+VehicleDesc initTankDesc();
+
+class TankEntity
+{
+
+public:
+	TankEntity() : mVehicleDriveTank(NULL), mNestedScene(NULL)
+	{
+
+	}
+
+	~TankEntity()
+	{
+		if (mNestedScene)
+		{
+			delete mNestedScene;
+			mNestedScene = NULL;
+		}
+
+	}
+
+	void create()
+	{
+		PX_ASSERT(mVehicleDriveTank == NULL);
+		PX_ASSERT(mNestedScene == NULL);
+
+		VehicleDesc tankDesc = initTankDesc();
+		mVehicleDriveTank = createVehicleTank(tankDesc, gPhysics, gCooking);
+		PxTransform startTransform(PxVec3(0, (tankDesc.chassisDims.y*0.5f + tankDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
+		mVehicleDriveTank->getRigidDynamicActor()->setGlobalPose(startTransform);
+		gScene->addActor(*mVehicleDriveTank->getRigidDynamicActor());
+
+		//Set the tank to rest in first gear.
+		//Set the tank to use auto-gears.
+		//Set the tank to use the standard control model
+		mVehicleDriveTank->setToRestState();
+		mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
+		mVehicleDriveTank->mDriveDynData.setUseAutoGears(true);
+		mVehicleDriveTank->setDriveModel(PxVehicleDriveTankControlModel::eSTANDARD);
+
+		mNestedScene = new NestedScene(mVehicleDriveTank->getRigidDynamicActor());
+
+		mNestedScene->createBoxStack();	//can create stuff inside that scene now ... let's say this is the cargo of the vehicle.
+
+	}
+
+	void simulate(PxScene * scene, PxF32 timeStep)
+	{
+		PX_ASSERT(mNestedScene != NULL);
+
+		mNestedScene->simulate(scene, timeStep);
+	}
+
+	void render()
+	{
+		PX_ASSERT(mNestedScene != NULL);
+
+		mNestedScene->render();
+	}
+
+	void reverse()
+	{
+		mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
+	}
+
+	void forward()
+	{
+		mVehicleDriveTank->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
+	}
+
+
+	PxVehicleDriveTank* getVehicleDriveTank() { return mVehicleDriveTank; }
+
+
+private:
+
+
+	PxVehicleDriveTank*		mVehicleDriveTank;
+	NestedScene*			mNestedScene;
+
+} tankEntity;
+
+
+
+PxVehicleKeySmoothingData gKeySmoothingData=
+{
+	{
+		6.0f,	//rise rate eANALOG_INPUT_ACCEL=0,
+		6.0f,	//rise rate eANALOG_INPUT_BRAKE,
+		6.0f,	//rise rate eANALOG_INPUT_HANDBRAKE,
+		2.5f,	//rise rate eANALOG_INPUT_STEER_LEFT,
+		2.5f,	//rise rate eANALOG_INPUT_STEER_RIGHT,
+	},
+	{
+		10.0f,	//fall rate eANALOG_INPUT_ACCEL=0,
+		10.0f,	//fall rate eANALOG_INPUT_BRAKE,
+		10.0f,	//fall rate eANALOG_INPUT_HANDBRAKE,
+		5.0f,	//fall rate eANALOG_INPUT_STEER_LEFT,
+		5.0f	//fall rate eANALOG_INPUT_STEER_RIGHT,
+	}
+};
+
+PxVehiclePadSmoothingData gPadSmoothingData=
+{
+	{
+		6.0f,	//rise rate eANALOG_INPUT_ACCEL=0,
+		6.0f,	//rise rate eANALOG_INPUT_BRAKE,
+		6.0f,	//rise rate eANALOG_INPUT_HANDBRAKE,
+		2.5f,	//rise rate eANALOG_INPUT_STEER_LEFT,
+		2.5f,	//rise rate eANALOG_INPUT_STEER_RIGHT,
+	},
+	{
+		10.0f,	//fall rate eANALOG_INPUT_ACCEL=0
+		10.0f,	//fall rate eANALOG_INPUT_BRAKE_LEFT
+		10.0f,	//fall rate eANALOG_INPUT_BRAKE_RIGHT
+		5.0f,	//fall rate eANALOG_INPUT_THRUST_LEFT
+		5.0f	//fall rate eANALOG_INPUT_THRUST_RIGHT
+	}
+};
+
+PxVehicleDriveTankRawInputData gVehicleInputData(PxVehicleDriveTankControlModel::eSTANDARD);
+
+enum DriveMode
+{
+	eDRIVE_MODE_ACCEL_FORWARDS=0,
+	eDRIVE_MODE_ACCEL_REVERSE,
+	eDRIVE_MODE_HARD_TURN_LEFT,
+	eDRIVE_MODE_SOFT_TURN_LEFT,
+	eDRIVE_MODE_HARD_TURN_RIGHT,
+	eDRIVE_MODE_SOFT_TURN_RIGHT,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_NONE
+};
+
+DriveMode gDriveModeOrder[] =
+{
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_ACCEL_FORWARDS,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_ACCEL_REVERSE,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_HARD_TURN_LEFT,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_HARD_TURN_RIGHT,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_SOFT_TURN_LEFT,
+	eDRIVE_MODE_BRAKE,
+	eDRIVE_MODE_SOFT_TURN_RIGHT,
+	eDRIVE_MODE_NONE
+};
+
+VehicleDesc initTankDesc()
+{
+	//Set up the chassis mass, dimensions, moment of inertia, and center of mass offset.
+	//The moment of inertia is just the moment of inertia of a cuboid but modified for easier steering.
+	//Center of mass offset is 0.65m above the base of the chassis and 0.25m towards the front.
+	const PxF32 chassisMass = 1500.0f;
+	const PxVec3 chassisDims(3.5f,2.0f,9.0f);
+	const PxVec3 chassisMOI
+		((chassisDims.y*chassisDims.y + chassisDims.z*chassisDims.z)*chassisMass/12.0f,
+		 (chassisDims.x*chassisDims.x + chassisDims.z*chassisDims.z)*0.8f*chassisMass/12.0f,
+		 (chassisDims.x*chassisDims.x + chassisDims.y*chassisDims.y)*chassisMass/12.0f);
+	const PxVec3 chassisCMOffset(0.0f, -chassisDims.y*0.5f + 0.65f, 0.25f);
+
+	//Set up the wheel mass, radius, width, moment of inertia, and number of wheels.
+	//Moment of inertia is just the moment of inertia of a cylinder.
+	const PxF32 wheelMass = 20.0f;
+	const PxF32 wheelRadius = 0.5f;
+	const PxF32 wheelWidth = 0.4f;
+	const PxF32 wheelMOI = 0.5f*wheelMass*wheelRadius*wheelRadius;
+	const PxU32 nbWheels = 14;
+
+	VehicleDesc tankDesc;
+	tankDesc.chassisMass = chassisMass;
+	tankDesc.chassisDims = chassisDims;
+	tankDesc.chassisMOI = chassisMOI;
+	tankDesc.chassisCMOffset = chassisCMOffset;
+	tankDesc.chassisMaterial = gMaterial;
+	tankDesc.wheelMass = wheelMass;
+	tankDesc.wheelRadius = wheelRadius;
+	tankDesc.wheelWidth = wheelWidth;
+	tankDesc.wheelMOI = wheelMOI;
+	tankDesc.numWheels = nbWheels;
+	tankDesc.wheelMaterial = gMaterial;
+	return tankDesc;
+}
+
+void startAccelerateForwardsMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalLeftThrust(true);
+		gVehicleInputData.setDigitalRightThrust(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogLeftThrust(1.0f);
+		gVehicleInputData.setAnalogRightThrust(1.0f);
+	}
+}
+
+void startAccelerateReverseMode()
+{
+	tankEntity.reverse();
+
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalLeftThrust(true);
+		gVehicleInputData.setDigitalRightThrust(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogLeftThrust(1.0f);
+		gVehicleInputData.setAnalogRightThrust(1.0f);
+	}
+}
+
+void startBrakeMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalLeftBrake(true);
+		gVehicleInputData.setDigitalRightBrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogLeftBrake(1.0f);
+		gVehicleInputData.setAnalogRightBrake(1.0f);
+	}
+}
+
+void startTurnHardLeftMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalLeftThrust(true);
+		gVehicleInputData.setDigitalRightBrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogLeftThrust(1.0f);
+		gVehicleInputData.setAnalogRightBrake(1.0f);
+	}
+}
+
+void startTurnHardRightMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalRightThrust(true);
+		gVehicleInputData.setDigitalLeftBrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogRightThrust(1.0f);
+		gVehicleInputData.setAnalogLeftBrake(1.0f);
+	}
+}
+
+void startTurnSoftLeftMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalLeftThrust(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogLeftThrust(1.0f);
+		gVehicleInputData.setAnalogRightThrust(0.3f);
+	}
+}
+
+void startTurnSoftRightMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalRightThrust(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogRightThrust(1.0f);
+		gVehicleInputData.setAnalogLeftThrust(0.3f);
+	}
+}
+
+void releaseAllControls()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(false);
+		gVehicleInputData.setDigitalRightThrust(false);
+		gVehicleInputData.setDigitalLeftThrust(false);
+		gVehicleInputData.setDigitalRightBrake(false);
+		gVehicleInputData.setDigitalLeftBrake(false);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(0.0f);
+		gVehicleInputData.setAnalogRightThrust(0.0f);
+		gVehicleInputData.setAnalogLeftThrust(0.0f);
+		gVehicleInputData.setAnalogRightBrake(0.0f);
+		gVehicleInputData.setAnalogLeftBrake(0.0f);
+	}
+}
+
+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);
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+
+	PxU32 numWorkers = 1;
+	gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
+	sceneDesc.cpuDispatcher	= gDispatcher;
+	sceneDesc.filterShader	= VehicleFilterShader;
+
+	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);
+
+	gCooking = 	PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
+
+	/////////////////////////////////////////////
+
+	PxInitVehicleSDK(*gPhysics);
+	PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
+	PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
+
+	//Create the batched scene queries for the suspension raycasts.
+	gVehicleSceneQueryData = VehicleSceneQueryData::allocate(1, PX_MAX_NB_WHEELS, 1, 1, WheelSceneQueryPreFilterBlocking, NULL, gAllocator);
+	gBatchQuery = VehicleSceneQueryData::setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
+
+	//Create the friction table for each combination of tire and surface type.
+	gFrictionPairs = createFrictionPairs(gMaterial);
+
+	//Create a plane to drive on.
+	PxFilterData groundPlaneSimFilterData(COLLISION_FLAG_GROUND, COLLISION_FLAG_GROUND_AGAINST, 0, 0);
+	gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
+	gScene->addActor(*gGroundPlane);
+
+	//Create a tank that will drive on the plane.
+	tankEntity.create();
+
+
+	gTankModeTimer = 0.0f;
+	gTankOrderProgress = 0;
+	startBrakeMode();
+}
+
+void incrementDrivingMode(const PxF32 timestep)
+{
+	gTankModeTimer += timestep;
+	if(gTankModeTimer > gTankModeLifetime)
+	{
+		//If the mode just completed was eDRIVE_MODE_ACCEL_REVERSE then switch back to forward gears.
+		if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gTankOrderProgress])
+		{
+			tankEntity.forward();
+		}
+
+		//Increment to next driving mode.
+		gTankModeTimer = 0.0f;
+		gTankOrderProgress++;
+		releaseAllControls();
+
+		//If we are at the end of the list of driving modes then start again.
+		if(eDRIVE_MODE_NONE == gDriveModeOrder[gTankOrderProgress])
+		{
+			gTankOrderProgress = 0;
+			gTankOrderComplete = true;
+		}
+
+		//Start driving in the selected mode.
+		DriveMode eDriveMode = gDriveModeOrder[gTankOrderProgress];
+		switch(eDriveMode)
+		{
+		case eDRIVE_MODE_ACCEL_FORWARDS:
+			startAccelerateForwardsMode();
+			break;
+		case eDRIVE_MODE_ACCEL_REVERSE:
+			startAccelerateReverseMode();
+			break;
+		case eDRIVE_MODE_HARD_TURN_LEFT:
+			startTurnHardLeftMode();
+			break;
+		case eDRIVE_MODE_SOFT_TURN_LEFT:
+			startTurnSoftLeftMode();
+			break;
+		case eDRIVE_MODE_HARD_TURN_RIGHT:
+			startTurnHardRightMode();
+			break;
+		case eDRIVE_MODE_SOFT_TURN_RIGHT:
+			startTurnSoftRightMode();
+			break;
+		case eDRIVE_MODE_BRAKE:
+			startBrakeMode();
+			break;
+		case eDRIVE_MODE_NONE:
+			break;
+		};
+
+		//If the mode about to start is eDRIVE_MODE_ACCEL_REVERSE then switch to reverse gears.
+		if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gTankOrderProgress])
+		{
+			tankEntity.reverse();
+		}
+	}
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+
+	const PxF32 timestep = 1.0f/60.0f;
+
+	//Cycle through the driving modes.
+	incrementDrivingMode(timestep);
+
+	//Update the control inputs for the tank.
+	if(gMimicKeyInputs)
+	{
+		PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs(gKeySmoothingData, gVehicleInputData, timestep, *tankEntity.getVehicleDriveTank());
+	}
+	else
+	{
+		PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs(gPadSmoothingData, gVehicleInputData, timestep, *tankEntity.getVehicleDriveTank());
+	}
+
+	//Raycasts.
+	PxVehicleWheels* vehicles[1] = {tankEntity.getVehicleDriveTank()};
+	PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, gVehicleSceneQueryData->getQueryResultBufferSize(), gVehicleSceneQueryData->getRaycastQueryResultBuffer(0));
+
+	//Vehicle update.
+	const PxVec3 grav = gScene->getGravity();
+	PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS];
+	PxVehicleWheelQueryResult vehicleQueryResults[1] = {{wheelQueryResults, tankEntity.getVehicleDriveTank()->mWheelsSimData.getNbWheels()}};
+	PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);
+
+	//Scene update.
+	gScene->simulate(timestep);
+	gScene->fetchResults(true);
+	tankEntity.simulate(gScene, timestep);
+}
+
+void renderPhysics()
+{
+#ifdef RENDER_SNIPPET
+	renderScene(gScene, NULL, PxVec3(0.94f, 0.25f, 0.5f));
+#endif
+	tankEntity.render();
+}
+
+void cleanupPhysics(bool interactive)
+{
+	gVehicleSceneQueryData->free(gAllocator);
+	gFrictionPairs->release();
+	PxCloseVehicleSDK();
+
+	PX_UNUSED(interactive);
+	gCooking->release();
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+
+	gFoundation->release();
+
+	printf("SnippetNestedScene done.\n");
+}
+
+void keyPress(unsigned char key, const PxTransform& camera)
+{
+	PX_UNUSED(camera);
+	PX_UNUSED(key);
+}
+
+int snippetMain(int, const char*const*)
+{
+#ifdef RENDER_SNIPPET
+	extern void renderLoop();
+	renderLoop();
+#else
+	initPhysics(false);
+	while(!gTankOrderComplete)
+	{
+		stepPhysics(false);
+	}
+	cleanupPhysics(false);
+#endif
+
+	return 0;
+}