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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 268 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetPrunerSerialization/SnippetPrunerSerialization.cpp b/PhysX_3.4/Snippets/SnippetPrunerSerialization/SnippetPrunerSerialization.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 the usage of PxPruningStructure.
+//
+// It creates a box stack, then prepares a pruning structure. This structure
+// together with the actors is serialized into a collection. When the collection
+// is added to the scene, the actor's scene query shape AABBs are directly merged
+// into the current scene query AABB tree through the precomputed pruning structure.
+// This may unbalance the AABB tree but should provide significant speedup in 
+// case of large world scenarios where parts get streamed in on the fly.
+// ****************************************************************************
+
+#include <ctype.h>
+#include <vector>
+
+#include "PxPhysicsAPI.h"
+
+#include "extensions/PxCollectionExt.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;
+
+#define MAX_MEMBLOCKS 10
+PxU8*					gMemBlocks[MAX_MEMBLOCKS];
+PxU32					gMemBlockCount = 0;
+
+PxReal stackZ = 10.0f;
+
+/**
+Allocates 128 byte aligned memory block for binary serialized data
+Stores pointer to memory in gMemBlocks for later deallocation
+*/
+void* createAlignedBlock(PxU32 size)
+{
+	PX_ASSERT(gMemBlockCount < MAX_MEMBLOCKS);
+	PxU8* baseAddr = static_cast<PxU8*>(malloc(size + PX_SERIAL_FILE_ALIGN - 1));
+	gMemBlocks[gMemBlockCount++] = baseAddr;
+	void* alignedBlock = reinterpret_cast<void*>((size_t(baseAddr) + PX_SERIAL_FILE_ALIGN - 1)&~(PX_SERIAL_FILE_ALIGN - 1));
+	return alignedBlock;
+}
+
+// Create a regular stack, with actors added directly into a scene.
+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();
+}
+
+// Create a stack where pruning structure is build in runtime and used to merge
+// the query shapes into the AABB tree.
+void createStackWithRuntimePrunerStructure(const PxTransform& t, PxU32 size, PxReal halfExtent)
+{
+	std::vector<PxRigidActor*> actors;
+	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);
+			// store the actors, will be added later
+			actors.push_back(body);
+		}
+	}
+	shape->release();
+
+	// Create pruning structure from given actors.
+	PxPruningStructure* ps = gPhysics->createPruningStructure(&actors[0], PxU32(actors.size()));
+	// Add actors into a scene together with the precomputed pruning structure.	
+	gScene->addActors(*ps);
+	ps->release();
+}
+
+// Create a stack where pruning structure is build in runtime and then stored into a collection.
+// The collection is stored into a stream and loaded into another stream. The loaded collection
+// is added to a scene. While the collection is added to the scene the pruning structure is used.
+void createStackWithSerializedPrunerStructure(const PxTransform& t, PxU32 size, PxReal halfExtent)
+{
+	PxCollection* collection = PxCreateCollection();		// collection for all the objects
+	PxSerializationRegistry* sr = PxSerialization::createSerializationRegistry(*gPhysics);
+
+	std::vector<PxRigidActor*> actors;
+	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);
+			// store the actors, will be added later
+			actors.push_back(body);
+		}
+	}
+	collection->add(*shape);	
+
+	// Create pruner structure from given actors.
+	PxPruningStructure* ps = gPhysics->createPruningStructure(&actors[0], PxU32(actors.size()));
+	// Add the pruning structure into the collection. Adding the pruning structure will automatically
+	// add the actors from which the collection was build.
+	collection->add(*ps);
+	PxSerialization::complete(*collection, *sr);
+
+	// Store the collection into a stream.
+	PxDefaultMemoryOutputStream outStream;
+	PxSerialization::serializeCollectionToBinary(outStream, *collection, *sr);
+	collection->release();
+
+	// Release the used items added to the collection.
+	ps->release();
+	for (size_t i = 0; i < actors.size(); i++)
+	{
+		actors[i]->release();
+	}	
+	shape->release();
+
+	// Load collection from the stream into and input stream.
+	PxDefaultMemoryInputData inputStream(outStream.getData(), outStream.getSize());
+	void* alignedBlock = createAlignedBlock(inputStream.getLength());
+	inputStream.read(alignedBlock, inputStream.getLength());
+	PxCollection* collection1 = PxSerialization::createCollectionFromBinary(alignedBlock, *sr);
+
+	// Add collection to the scene.
+	gScene->addCollection(*collection1);
+
+	// Release objects in collection, the pruning structure must be released before its actors
+	// otherwise actors will still be part of pruning structure
+	PxCollectionExt::releaseObjects(*collection1);
+
+	collection1->release();
+}
+
+void initPhysics(bool )
+{
+	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);
+	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);
+
+	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
+	gScene->addActor(*groundPlane);
+
+	// Create a regular stack.
+	createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
+	// Create a stack using the runtime pruner structure usage.
+	createStackWithRuntimePrunerStructure(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
+	// Create a stack using the serialized pruner structure usage.
+	createStackWithSerializedPrunerStructure(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 3, 2.0f);
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->release();
+	gDispatcher->release();	
+	gPhysics->release();	
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+	
+	// Now that the objects have been released, it's safe to release the space they occupy.
+	for (PxU32 i = 0; i < gMemBlockCount; i++)
+	{
+		free(gMemBlocks[i]);
+	}
+	gMemBlockCount = 0;
+
+	gFoundation->release();
+	
+	printf("SnippetPrunerSerialization done.\n");
+}
+
+
+int snippetMain(int, const char*const*)
+{
+	static const PxU32 frameCount = 100;
+	initPhysics(false);
+	for(PxU32 i=0; i<frameCount; i++)
+		stepPhysics(false);
+	cleanupPhysics(false);
+
+	return 0;
+}