Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 179 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetToleranceScale/SnippetToleranceScale.cpp b/PhysX_3.4/Snippets/SnippetToleranceScale/SnippetToleranceScale.cpp
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+++ b/PhysX_3.4/Snippets/SnippetToleranceScale/SnippetToleranceScale.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 concept of PxToleranceScale.
+//
+// It creates 2 scenes using different units for length and mass.
+// Use PVD to replay the scene and see how scaling affects the simulation.
+// ********************************************************************************
+
+#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;
+
+PxReal gStackZ = 10.0f;
+
+PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxReal& mass, const PxVec3& velocity=PxVec3(0))
+{
+	PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
+	dynamic->setAngularDamping(0.5f);
+	dynamic->setLinearVelocity(velocity);
+	PxRigidBodyExt::setMassAndUpdateInertia(*dynamic, mass);
+	gScene->addActor(*dynamic);
+	return dynamic;
+}
+
+void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent, const PxReal& mass)
+{
+	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::setMassAndUpdateInertia(*body, mass);
+			gScene->addActor(*body);
+		}
+	}
+	shape->release();
+}
+
+void initPhysics(bool interactive, const PxTolerancesScale& scale)
+{
+	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, scale, true, gPvd);
+
+	PxReal scaleLength = scale.length;
+	PxReal scaleMass = scale.mass;
+
+	PxSceneDesc sceneDesc(scale);
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f) * scaleLength;
+	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);
+
+	for(PxU32 i=0;i<5;i++)
+		createStack(PxTransform(PxVec3(0,0,gStackZ-=10.0f) * scaleLength), 10, 2.0f * scaleLength, 1.0f * scaleMass);
+
+	if(!interactive)
+		createDynamic(PxTransform(PxVec3(0,40,100) * scaleLength), PxSphereGeometry(10 * scaleLength), 100.0f * scaleMass, PxVec3(0,-50,-100) * scaleLength);
+}
+
+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();
+	gFoundation->release();
+}
+
+void runSim(const PxTolerancesScale& scale)
+{
+	static const PxU32 frameCount = 150;
+	initPhysics(false, scale);
+	for(PxU32 i=0; i<frameCount; i++)
+		stepPhysics(false);
+	cleanupPhysics(false);
+}
+
+int snippetMain(int, const char*const*)
+{
+	PxTolerancesScale scale;
+
+	// Default
+	printf("PxToleranceScale (Default).\n");
+	runSim(scale);
+
+	// Reset position of pyramid stack z coordinate to default
+	gStackZ = 10.0f;
+
+	// Scaled assets
+	printf("PxToleranceScale (Scaled).\n");
+	scale.length = 100;				// length in cm
+ 	scale.mass   = 1;				// mass in grams
+ 	scale.speed *= scale.length;	// speed in cm/s
+	runSim(scale);
+
+	printf("SnippetToleranceScale done.\n");
+
+	return 0;
+}