Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 387 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetSplitSim/SnippetSplitSim.cpp b/PhysX_3.4/Snippets/SnippetSplitSim/SnippetSplitSim.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.  
+
+
+// *******************************************************************************************************
+// In addition to the simulate() function, which performs both collision detection and dynamics update,
+// the PhysX SDK provides an api for separate execution of the collision detection and dynamics update steps.
+// We shall refer to this feature as "split sim". This snippet demonstrates two ways to use the split sim feature 
+// so that application work can be performed concurrently with the collision detection step.
+
+// The snippet creates a list of kinematic box actors along with a number of dynamic actors that
+// interact with the kinematic actors. 
+
+//The defines OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG and OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG 
+//demonstrate two distinct modes of split sim operation:
+
+// (1)Enabling OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG allows the collision detection step to run in parallel 
+//    with the renderer and with the update of the kinematic target poses without introducing any lag between 
+//    application time and physics time.  This is equivalent to calling simulate() and fetchResults() with the key 
+//    difference being that the application can schedule work to run concurrently with the collision detection.  
+//    A consequence of this approach is that the first frame is more expensive than subsequent frames because it has to 
+//    perform blocking collision detection and dynamics update calls.
+
+// (2)OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG also allows the collision to run in parallel with 
+//    the renderer and the update of the kinematic target poses but this time with a lag between physics time and 
+//    application time; that is, the physics is always a single timestep behind the application because the first
+//    frame merely starts the collision detection for the subsequent frame.  A consequence of this approach is that 
+//    the first frame is cheaper than subsequent frames.
+// ********************************************************************************************************
+
+
+#include <ctype.h>
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+
+//This will allow the split sim to overlap collision and render and game logic.
+#define OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG  1
+#define OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG 0
+
+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 NB_KINE_X	16
+#define NB_KINE_Y	16
+#define KINE_SCALE	3.1f
+
+static bool isFirstFrame = true;
+
+PxRigidDynamic* gKinematics[NB_KINE_Y][NB_KINE_X];
+
+PxQuat setRotY(PxMat33& m, const PxReal angle)
+{
+	m = PxMat33(PxIdentity);
+
+	const PxReal cos = cosf(angle);
+	const PxReal sin = sinf(angle);
+
+	m[0][0] = m[2][2] = cos;
+	m[0][2] = -sin;
+	m[2][0] = sin;
+
+	return PxQuat(m);
+}
+
+void createDynamics()
+{
+	const PxU32 NbX = 8;
+	const PxU32 NbY = 8;
+
+	const PxVec3 dims(0.2f, 0.1f, 0.2f);
+	const PxReal sphereRadius = 0.2f;
+	const PxReal capsuleRadius = 0.2f;
+	const PxReal halfHeight = 0.5f;
+
+	const PxU32 NbLayers = 3;
+	const float YScale = 0.4f;
+	const float YStart = 6.0f;
+	PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(dims), *gMaterial);
+	PxShape* sphereShape = gPhysics->createShape(PxSphereGeometry(sphereRadius), *gMaterial);
+	PxShape* capsuleShape = gPhysics->createShape(PxCapsuleGeometry(capsuleRadius, halfHeight), *gMaterial);
+	PX_UNUSED(boxShape);
+	PX_UNUSED(sphereShape);
+	PX_UNUSED(capsuleShape);
+	PxMat33 m;
+	for(PxU32 j=0;j<NbLayers;j++)
+	{
+		const float angle = float(j)*0.08f;
+		const PxQuat rot = setRotY(m, angle);
+
+		const float ScaleX = 4.0f;
+		const float ScaleY = 4.0f;
+
+		for(PxU32 y=0;y<NbY;y++)
+		{
+			for(PxU32 x=0;x<NbX;x++)
+			{
+				const float xf = (float(x)-float(NbX)*0.5f)*ScaleX;
+				const float yf = (float(y)-float(NbY)*0.5f)*ScaleY;
+
+				PxRigidDynamic* dynamic = NULL;
+
+				PxU32 v = j&3;
+				PxVec3 pos = PxVec3(xf, YStart + float(j)*YScale, yf);
+
+				switch(v)
+				{
+					case 0:
+						{
+							PxTransform pose(pos, rot);
+							dynamic = gPhysics->createRigidDynamic(pose);
+							dynamic->attachShape(*boxShape);
+							break;
+						}
+					case 1:
+						{
+							PxTransform pose(pos, PxQuat(PxIdentity));
+							dynamic = gPhysics->createRigidDynamic(pose);
+							dynamic->attachShape(*sphereShape);
+							break;
+						}
+					default:
+						{
+							PxTransform pose(pos, rot);
+							dynamic = gPhysics->createRigidDynamic(pose);
+							dynamic->attachShape(*capsuleShape);
+							break;
+						}
+				};
+
+				PxRigidBodyExt::updateMassAndInertia(*dynamic, 10.f);
+
+				gScene->addActor(*dynamic);
+
+			}
+		}
+	}
+}
+
+void createGroudPlane()
+{
+	PxTransform pose = PxTransform(PxVec3(0.0f, 0.0f, 0.0f),PxQuat(PxHalfPi, PxVec3(0.0f, 0.0f, 1.0f)));
+	PxRigidStatic* actor = gPhysics->createRigidStatic(pose);
+	PxShape* shape = PxRigidActorExt::createExclusiveShape(*actor, PxPlaneGeometry(), *gMaterial);
+	PX_UNUSED(shape);
+	gScene->addActor(*actor);
+}
+
+void createKinematics()
+{
+	const PxU32 NbX = NB_KINE_X;
+	const PxU32 NbY = NB_KINE_Y;
+
+	const PxVec3 dims(1.5f, 0.2f, 1.5f);
+	const PxQuat rot = PxQuat(PxIdentity);
+
+	const float YScale = 0.4f;
+	
+	PxShape* shape = gPhysics->createShape(PxBoxGeometry(dims), *gMaterial);
+
+	
+	const float ScaleX = KINE_SCALE;
+	const float ScaleY = KINE_SCALE;
+	for(PxU32 y=0;y<NbY;y++)
+	{
+		for(PxU32 x=0;x<NbX;x++)
+		{
+			const float xf = (float(x)-float(NbX)*0.5f)*ScaleX;
+			const float yf = (float(y)-float(NbY)*0.5f)*ScaleY;
+			PxTransform pose(PxVec3(xf, 0.2f + YScale, yf), rot);
+			PxRigidDynamic* body = gPhysics->createRigidDynamic(pose);
+			body->attachShape(*shape);
+			gScene->addActor(*body);
+			body->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, true);
+
+			gKinematics[y][x] = body;
+		}
+	}
+	
+}
+
+void updateKinematics(PxReal timeStep)
+{
+	const float YScale = 0.4f;
+	
+	PxTransform motion;
+	motion.q = PxQuat(PxIdentity);
+
+	static float gTime = 0.0f;
+	gTime += timeStep;
+
+	const PxU32 NbX = NB_KINE_X;
+	const PxU32 NbY = NB_KINE_Y;
+
+	const float Coeff = 0.2f;
+
+	const float ScaleX = KINE_SCALE;
+	const float ScaleY = KINE_SCALE;
+	for(PxU32 y=0;y<NbY;y++)
+	{
+		for(PxU32 x=0;x<NbX;x++)
+		{
+			const float xf = (float(x)-float(NbX)*0.5f)*ScaleX;
+			const float yf = (float(y)-float(NbY)*0.5f)*ScaleY;
+
+			const float h = sinf(gTime*2.0f + float(x)*Coeff + + float(y)*Coeff)*2.0f;
+			motion.p = PxVec3(xf, h + 2.0f + YScale, yf);
+
+			PxRigidDynamic* kine = gKinematics[y][x];
+			kine->setKinematicTarget(motion);
+		}
+	}
+}
+
+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);
+	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);
+
+	createKinematics();
+	createDynamics();
+
+}
+
+#if OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	PxReal timeStep = 1.0f/60.0f;
+
+	if(isFirstFrame)
+	{
+		//Run the first frame's collision detection
+		gScene->collide(timeStep);
+		isFirstFrame = false;
+	}
+	//update the kinematice target pose in parallel with collision running
+	updateKinematics(timeStep);
+	gScene->fetchCollision(true);
+	gScene->advance();
+	gScene->fetchResults(true); 
+	
+	//Run the deferred collision detection for the next frame. This will run in parallel with render.
+	gScene->collide(timeStep);
+}
+#elif OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	PxReal timeStep = 1.0/60.0f;
+
+	//update the kinematice target pose in parallel with collision running
+	updateKinematics(timeStep);
+	if(!isFirstFrame)
+	{
+		gScene->fetchCollision(true);
+		gScene->advance();
+		gScene->fetchResults(true); 
+	}
+
+	isFirstFrame = false;
+	//Run the deferred collision detection for the next frame. This will run in parallel with render.
+	gScene->collide(timeStep);
+}
+
+#else
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	PxReal timeStep = 1.0/60.0f;
+	//update the kinematice target pose in parallel with collision running
+	gScene->collide(timeStep);
+	updateKinematics(timeStep);
+	gScene->fetchCollision(true);
+	gScene->advance();
+	gScene->fetchResults(true); 
+}
+#endif
+
+	
+void cleanupPhysics(bool interactive)
+{
+#if OVERLAP_COLLISION_AND_RENDER_WITH_NO_LAG || OVERLAP_COLLISION_AND_RENDER_WITH_ONE_FRAME_LAG
+	//Close out remainder of previously running scene. If we don't do this, it will be implicitly done
+	//in gScene->release() but a warning will be issued.
+	gScene->fetchCollision(true);
+	gScene->advance();
+	gScene->fetchResults(true);
+#endif
+	PX_UNUSED(interactive);
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();	
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+    
+	gFoundation->release();
+	
+	printf("SnippetSplitSim done.\n");
+}
+
+void keyPress(unsigned char key, const PxTransform& camer)
+{
+	PX_UNUSED(key);
+	PX_UNUSED(camer);
+}
+
+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;
+}