Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 501 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetVehicleContactMod/SnippetVehicleContactMod.cpp b/PhysX_3.4/Snippets/SnippetVehicleContactMod/SnippetVehicleContactMod.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 how to use contact modification and sweeps to allow wheels to 
+// collide and react more naturally with the scene.  In particular, the snippet shows how to 
+// use contact modification and ccd contact modification to select or ignore rigid body contact 
+// points between a shape representing a wheel and any other shape in the scene.  The snippet 
+// also demonstrates the use of suspension sweeps instead of suspension raycasts.
+
+// The snippet creates various static capsules with different radii, a ground plane, and a 
+// vehicle.  The capsules are configured to be drivable surfaces.  Additionally, the 
+// capsule and wheel shapes are configured with simulation filter data so that 
+// they 
+//  (i)  collide with each other with discrete collision detection
+// (ii)  collide with each other with continuous collision detection (CCD)
+//(iii)  trigger a contact modification callback  
+// (iv)  trigger a ccd contact modification callback
+
+// The contact modification callback is implemented with the class WheelContactModifyCallback.  
+// The function WheelContactModifyCallback::onContactModify identifies shape pairs that contain
+// a wheel.  Contact points for the shape pair are ignored or accepted with the SDK function 
+// PxVehicleModifyWheelContacts.  CCD contact modification is implemented with the class 
+// WheelCCDContactModifyCallback.  The function WheelCCDContactModifyCallback::onContactModify
+// performs exactly the same role as WheelContactModifyCallback::onContactModify
+
+// The threshold values POINT_REJECT_ANGLE and NORMAL_REJECT_ANGLE can be tuned
+// to modify the conditions under which wheel contact points are ignored or accepted.
+
+// It is a good idea to record and playback with pvd (PhysX Visual Debugger).
+// ****************************************************************************
+
+#include "PxPhysicsAPI.h"
+#include <ctype.h>
+
+#include "vehicle/PxVehicleUtil.h"
+#include "../SnippetVehicleCommon/SnippetVehicleSceneQuery.h"
+#include "../SnippetVehicleCommon/SnippetVehicleFilterShader.h"
+#include "../SnippetVehicleCommon/SnippetVehicleTireFriction.h"
+#include "../SnippetVehicleCommon/SnippetVehicleCreate.h"
+#include "../SnippetCommon/SnippetPVD.h"
+
+
+using namespace physx;
+using namespace snippetvehicle;
+
+PxDefaultAllocator		gAllocator;
+PxDefaultErrorCallback	gErrorCallback;
+
+PxFoundation*			gFoundation = NULL;
+PxPhysics*				gPhysics	= NULL;
+
+PxDefaultCpuDispatcher*	gDispatcher = NULL;
+PxScene*				gScene		= NULL;
+
+PxCooking*				gCooking	= NULL;
+
+PxMaterial*				gMaterial	= NULL;
+
+PxPvd*                  gPvd = NULL;
+
+VehicleSceneQueryData*	gVehicleSceneQueryData = NULL;
+PxBatchQuery*			gBatchQuery = NULL;
+
+PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;
+
+#define NUM_VEHICLES 2
+PxRigidStatic*			gGroundPlane = NULL;
+PxVehicleDrive4W*		gVehicle4W[NUM_VEHICLES] = { NULL, NULL };
+
+ActorUserData gActorUserData[NUM_VEHICLES];
+ShapeUserData gShapeUserDatas[NUM_VEHICLES][PX_MAX_NB_WHEELS];
+const PxF32 xCoordVehicleStarts[NUM_VEHICLES] = { 0.0f, 20.0f };
+
+//Angle thresholds used to categorize contacts as suspension contacts or rigid body contacts.
+#define POINT_REJECT_ANGLE PxPi/4.0f
+#define NORMAL_REJECT_ANGLE PxPi/4.0f
+
+//Contact modification values.
+#define WHEEL_TANGENT_VELOCITY_MULTIPLIER 0.1f
+#define MAX_IMPULSE PX_MAX_F32
+
+//PhysX Vehicles support blocking and non-blocking sweeps.
+//Experiment with this define to switch between the two regimes.
+#define BLOCKING_SWEEPS 0
+
+//Define the maximum acceleration for dynamic bodies under the wheel.
+#define MAX_ACCELERATION 50.0f
+
+//Blocking sweeps require sweep hit buffers for just 1 hit per wheel.
+//Non-blocking sweeps require more hits per wheel because they return all touches on the swept shape.
+#if BLOCKING_SWEEPS
+PxU16					gNbQueryHitsPerWheel = 1;
+#else
+PxU16					gNbQueryHitsPerWheel = 8;
+#endif
+
+//The class WheelContactModifyCallback identifies and modifies rigid body contacts
+//that involve a wheel.  Contacts that can be identified and managed by the suspension
+//system are ignored.  Any contacts that remain are modified to account for the rotation
+//speed of the wheel around the rolling axis.
+class WheelContactModifyCallback : public PxContactModifyCallback
+{
+public:
+
+	WheelContactModifyCallback()
+		: PxContactModifyCallback()
+	{
+	}
+
+	~WheelContactModifyCallback(){}
+
+	void onContactModify(PxContactModifyPair* const pairs, PxU32 count) 
+	{
+		for(PxU32 i = 0; i < count ; i++)
+		{
+			const PxRigidActor** actors = pairs[i].actor;
+			const PxShape** shapes = pairs[i].shape;
+
+			//Search for actors that represent vehicles and shapes that represent wheels.
+			for(PxU32 j = 0; j < 2; j++)
+			{
+				const PxActor* actor = actors[j];
+				if(actor->userData && (static_cast<ActorUserData*>(actor->userData))->vehicle)
+				{
+					const PxVehicleWheels* vehicle = (static_cast<ActorUserData*>(actor->userData))->vehicle;
+					PX_ASSERT(vehicle->getRigidDynamicActor() == actors[j]);
+
+					const PxShape* shape = shapes[j];
+					if(shape->userData && (static_cast<ShapeUserData*>(shape->userData))->isWheel)
+					{
+						const PxU32 wheelId = (static_cast<ShapeUserData*>(shape->userData))->wheelId;
+						PX_ASSERT(wheelId < vehicle->mWheelsSimData.getNbWheels());
+
+						//Modify wheel contacts.
+						PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, pairs[i]);
+					}
+				}
+			}
+		}
+	}
+
+private:
+
+};
+WheelContactModifyCallback gWheelContactModifyCallback;
+
+//The class WheelCCDContactModifyCallback identifies and modifies ccd contacts
+//that involve a wheel.  Contacts that can be identified and managed by the suspension
+//system are ignored.  Any contacts that remain are modified to account for the rotation
+//speed of the wheel around the rolling axis.
+class WheelCCDContactModifyCallback : public PxCCDContactModifyCallback
+{
+public:
+
+	WheelCCDContactModifyCallback()
+		: PxCCDContactModifyCallback()
+	{
+	}
+
+	~WheelCCDContactModifyCallback(){}
+
+	void onCCDContactModify(PxContactModifyPair* const pairs, PxU32 count) 
+	{
+		for(PxU32 i = 0; i < count ; i++)
+		{
+			const PxRigidActor** actors = pairs[i].actor;
+			const PxShape** shapes = pairs[i].shape;
+
+			//Search for actors that represent vehicles and shapes that represent wheels.
+			for(PxU32 j = 0; j < 2; j++)
+			{
+				const PxActor* actor = actors[j];
+				if(actor->userData && (static_cast<ActorUserData*>(actor->userData))->vehicle)
+				{
+					const PxVehicleWheels* vehicle = (static_cast<ActorUserData*>(actor->userData))->vehicle;
+					PX_ASSERT(vehicle->getRigidDynamicActor() == actors[j]);
+
+					const PxShape* shape = shapes[j];
+					if(shape->userData && (static_cast<ShapeUserData*>(shape->userData))->isWheel)
+					{
+						const PxU32 wheelId = (static_cast<ShapeUserData*>(shape->userData))->wheelId;
+						PX_ASSERT(wheelId < vehicle->mWheelsSimData.getNbWheels());
+
+						//Modify wheel contacts.
+						PxVehicleModifyWheelContacts(*vehicle, wheelId, WHEEL_TANGENT_VELOCITY_MULTIPLIER, MAX_IMPULSE, pairs[i]);
+					}
+				}
+			}
+		}
+	}
+};
+WheelCCDContactModifyCallback gWheelCCDContactModifyCallback;
+
+
+VehicleDesc initVehicleDesc(const PxFilterData& chassisSimFilterData, const PxFilterData& wheelSimFilterData, const PxU32 vehicleId)
+{
+	//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(2.5f,2.0f,5.0f);
+	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 = 4;
+
+	VehicleDesc vehicleDesc;
+
+	vehicleDesc.chassisMass = chassisMass;
+	vehicleDesc.chassisDims = chassisDims;
+	vehicleDesc.chassisMOI = chassisMOI;
+	vehicleDesc.chassisCMOffset = chassisCMOffset;
+	vehicleDesc.chassisMaterial = gMaterial;
+	vehicleDesc.chassisSimFilterData = chassisSimFilterData;
+
+	vehicleDesc.wheelMass = wheelMass;
+	vehicleDesc.wheelRadius = wheelRadius;
+	vehicleDesc.wheelWidth = wheelWidth;
+	vehicleDesc.wheelMOI = wheelMOI;
+	vehicleDesc.numWheels = nbWheels;
+	vehicleDesc.wheelMaterial = gMaterial;
+	vehicleDesc.wheelSimFilterData = wheelSimFilterData;
+
+	vehicleDesc.actorUserData = &gActorUserData[vehicleId];
+	vehicleDesc.shapeUserDatas = gShapeUserDatas[vehicleId];
+
+	return vehicleDesc;
+}
+
+void initPhysics()
+{
+	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;							//Set the filter shader
+	sceneDesc.contactModifyCallback = &gWheelContactModifyCallback;			//Enable contact modification
+	sceneDesc.ccdContactModifyCallback = &gWheelCCDContactModifyCallback;	//Enable ccd contact modification
+	sceneDesc.flags |= PxSceneFlag::eENABLE_CCD;							//Enable ccd
+
+	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(0.1f, 0.1f, 0.01f);
+
+	gCooking = 	PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));	
+
+	/////////////////////////////////////////////
+
+	PxInitVehicleSDK(*gPhysics);
+	PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
+	PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
+	PxVehicleSetSweepHitRejectionAngles(POINT_REJECT_ANGLE, NORMAL_REJECT_ANGLE);
+	PxVehicleSetMaxHitActorAcceleration(MAX_ACCELERATION);
+
+	//Create the batched scene queries for the suspension sweeps.
+	//Use the post-filter shader to reject hit shapes that overlap the swept wheel at the start pose of the sweep.
+	PxQueryHitType::Enum(*sceneQueryPreFilter)(PxFilterData, PxFilterData, const void*, PxU32, PxHitFlags&);
+	PxQueryHitType::Enum(*sceneQueryPostFilter)(PxFilterData, PxFilterData, const void*, PxU32, const PxQueryHit&);
+#if BLOCKING_SWEEPS
+	sceneQueryPreFilter = &WheelSceneQueryPreFilterBlocking;
+	sceneQueryPostFilter = &WheelSceneQueryPostFilterBlocking;
+#else
+	sceneQueryPreFilter = &WheelSceneQueryPreFilterNonBlocking;
+	sceneQueryPostFilter = &WheelSceneQueryPostFilterNonBlocking;
+#endif 
+	gVehicleSceneQueryData = VehicleSceneQueryData::allocate(NUM_VEHICLES, PX_MAX_NB_WHEELS, gNbQueryHitsPerWheel, NUM_VEHICLES, sceneQueryPreFilter, sceneQueryPostFilter, 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 several static obstacles for the first vehicle to drive on.
+	//  (i) collide only with wheel shapes
+	// (ii) have continuous collision detection (CCD) enabled
+	//(iii) have contact modification enabled
+	// (iv) are configured to be drivable surfaces
+	const PxF32 capsuleRadii[4] = {0.05f, 	0.1f, 0.125f, 0.135f};
+	const PxF32 capsuleZ[4] = {5.0f, 10.0f, 15.0f, 20.0f};
+	for(PxU32 i = 0; i < 4; i++)
+	{
+		PxTransform t(PxVec3(xCoordVehicleStarts[0], capsuleRadii[i], capsuleZ[i]), PxQuat(PxIdentity));
+		PxRigidStatic* rd = gPhysics->createRigidStatic(t);
+		PxCapsuleGeometry capsuleGeom(capsuleRadii[i], 3.0f);
+		PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, capsuleGeom, *gMaterial);
+		PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_WHEEL, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
+		shape->setSimulationFilterData(simFilterData);
+		PxFilterData qryFilterData;
+		setupDrivableSurface(qryFilterData);
+		shape->setQueryFilterData(qryFilterData);
+		gScene->addActor(*rd);
+	}
+	const PxF32 boxHalfHeights[1] = {1.0f};
+	const PxF32 boxZ[1] = {30.0f};
+	for(PxU32 i = 0; i < 1; i++)
+	{
+		PxTransform t(PxVec3(xCoordVehicleStarts[0], boxHalfHeights[i], boxZ[i]), PxQuat(PxIdentity));
+		PxRigidStatic* rd = gPhysics->createRigidStatic(t);
+
+		PxBoxGeometry boxGeom(PxVec3(3.0f, boxHalfHeights[i], 3.0f));
+		PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, boxGeom, *gMaterial);
+		
+		PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_WHEEL, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
+		shape->setSimulationFilterData(simFilterData);
+		PxFilterData qryFilterData;
+		setupDrivableSurface(qryFilterData);
+		shape->setQueryFilterData(qryFilterData);
+		
+		gScene->addActor(*rd);
+	}
+
+	//Create a pile of dynamic objects for the second vehicle to drive on.
+	//  (i) collide only with wheel shapes
+	// (ii) have continuous collision detection (CCD) enabled
+	//(iii) have contact modification enabled
+	// (iv) are configured to be drivable surfaces
+	{
+		for (PxU32 i = 0; i < 64; i++)
+		{
+			PxTransform t(PxVec3(xCoordVehicleStarts[1] + i*0.01f, 2.0f + i*0.25f, 20.0f + i*0.025f), PxQuat(PxPi*0.5f, PxVec3(0, 1, 0)));
+			PxRigidDynamic* rd = gPhysics->createRigidDynamic(t);
+	
+			PxBoxGeometry boxGeom(PxVec3(0.08f, 0.25f, 1.0f));
+			PxShape* shape = PxRigidActorExt::createExclusiveShape(*rd, boxGeom, *gMaterial);
+
+			PxFilterData simFilterData(COLLISION_FLAG_OBSTACLE, COLLISION_FLAG_OBSTACLE_AGAINST, PxPairFlag::eMODIFY_CONTACTS | PxPairFlag::eDETECT_CCD_CONTACT, 0);
+			shape->setSimulationFilterData(simFilterData);
+			PxFilterData qryFilterData;
+			setupDrivableSurface(qryFilterData);
+			shape->setQueryFilterData(qryFilterData);
+
+			PxRigidBodyExt::updateMassAndInertia(*rd, 30.0f);
+
+			gScene->addActor(*rd);
+		}
+	}
+
+	//Create two vehicles that will drive on the obstacles.
+	//The vehicles are configured with wheels that 
+	//  (i) collide with obstacles
+	// (ii) have continuous collision detection (CCD) enabled
+	//(iii) have contact modification enabled
+	//The vehicle chassis only collides with the ground to highlight the collision between the wheels and the obstacles.
+	for (PxU32 i = 0; i < NUM_VEHICLES; i++)
+	{
+		PxFilterData chassisSimFilterData(COLLISION_FLAG_CHASSIS, COLLISION_FLAG_GROUND, 0, 0);
+		PxFilterData wheelSimFilterData(COLLISION_FLAG_WHEEL, COLLISION_FLAG_WHEEL, PxPairFlag::eDETECT_CCD_CONTACT | PxPairFlag::eMODIFY_CONTACTS, 0);
+		VehicleDesc vehicleDesc = initVehicleDesc(chassisSimFilterData, wheelSimFilterData, i);
+		gVehicle4W[i] = createVehicle4W(vehicleDesc, gPhysics, gCooking);
+		PxTransform startTransform(PxVec3(xCoordVehicleStarts[i], (vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
+		gVehicle4W[i]->getRigidDynamicActor()->setGlobalPose(startTransform);
+		gVehicle4W[i]->getRigidDynamicActor()->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
+		gScene->addActor(*gVehicle4W[i]->getRigidDynamicActor());
+
+		//Set the vehicle to rest in first gear.
+		//Set the vehicle to use auto-gears.
+		gVehicle4W[i]->setToRestState();
+		gVehicle4W[i]->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
+		gVehicle4W[i]->mDriveDynData.setUseAutoGears(true);
+	}
+}
+
+void stepPhysics()
+{
+	const PxF32 timestep = 1.0f/60.0f;
+
+	//Set the vehicles to accelerate forwards.
+	for (PxU32 i = 0; i < 2; i++)
+	{
+		gVehicle4W[i]->mDriveDynData.setAnalogInput(PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL, 0.55f);
+	}
+
+	//Scene update.
+	gScene->simulate(timestep);
+	gScene->fetchResults(true);
+
+	//Suspension sweeps (instead of raycasts).
+	//Sweeps provide more information about the geometry under the wheel.
+	PxVehicleWheels* vehicles[NUM_VEHICLES] = {gVehicle4W[0], gVehicle4W[1]};
+	PxSweepQueryResult* sweepResults = gVehicleSceneQueryData->getSweepQueryResultBuffer(0);
+	const PxU32 sweepResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
+	PxVehicleSuspensionSweeps(gBatchQuery, NUM_VEHICLES, vehicles, sweepResultsSize, sweepResults, gNbQueryHitsPerWheel, NULL, 1.0f, 1.01f);
+
+	//Vehicle update.
+	const PxVec3 grav = gScene->getGravity();
+	PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS][NUM_VEHICLES];
+	PxVehicleWheelQueryResult vehicleQueryResults[NUM_VEHICLES] = 
+	{
+		{ wheelQueryResults[0], gVehicle4W[0]->mWheelsSimData.getNbWheels() },
+		{ wheelQueryResults[1] , gVehicle4W[1]->mWheelsSimData.getNbWheels() },
+	};
+	PxVehicleUpdates(timestep, grav, *gFrictionPairs, NUM_VEHICLES, vehicles, vehicleQueryResults);
+}
+	
+void cleanupPhysics()
+{
+	for (PxU32 i = 0; i < NUM_VEHICLES; i++)
+	{
+		gVehicle4W[i]->getRigidDynamicActor()->release();
+		gVehicle4W[i]->free();
+	}
+	gGroundPlane->release();
+	gBatchQuery->release();
+	gVehicleSceneQueryData->free(gAllocator);
+	gFrictionPairs->release();
+	PxCloseVehicleSDK();
+
+	gMaterial->release();
+	gCooking->release();
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+	
+ 	gFoundation->release();
+
+	printf("SnippetVehicleContactMod 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();
+	PxU32 count = 0;
+	PxU32 maxCount =1000;
+	while(count < maxCount)
+	{
+		stepPhysics();
+		count++;
+	}
+	cleanupPhysics();
+#endif
+
+	return 0;
+}