Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 552 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetVehicleScale/SnippetVehicleScale.cpp b/PhysX_3.4/Snippets/SnippetVehicleScale/SnippetVehicleScale.cpp
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+++ b/PhysX_3.4/Snippets/SnippetVehicleScale/SnippetVehicleScale.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 configure a PhysX vehicle when meters are not 
+// the chosen length scale.  The snippet sets up a vehicle with meters as the 
+// adopted length scale and then modifies the vehicle parameters so that they represent
+// the same vehicle but with centimeters as the chosen length scale.  It is written in 
+// a way that allows any length scale to be chosen.  A key function here is the function 
+// customizeVehicleToLengthScale.
+
+// It is a good idea to record and playback with pvd (PhysX Visual Debugger).
+// ****************************************************************************
+
+#include <ctype.h>
+
+#include "PxPhysicsAPI.h"
+
+#include "vehicle/PxVehicleUtil.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;
+
+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;
+
+PxRigidStatic*			gGroundPlane = NULL;
+PxVehicleDrive4W*		gVehicle4W		= NULL;
+
+bool					gIsVehicleInAir = true;
+
+PxF32 gSteerVsForwardSpeedData[2*8]=
+{
+	0.0f,		0.75f,
+	5.0f,		0.75f,
+	30.0f,		0.125f,
+	120.0f,		0.1f,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32
+};
+PxFixedSizeLookupTable<8> gSteerVsForwardSpeedTable(gSteerVsForwardSpeedData,4);
+
+PxVehicleKeySmoothingData gKeySmoothingData=
+{
+	{
+		6.0f,	//rise rate eANALOG_INPUT_ACCEL
+		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
+		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
+		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
+		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
+	}
+};
+
+PxVehicleDrive4WRawInputData gVehicleInputData;
+
+enum DriveMode
+{
+	eDRIVE_MODE_ACCEL_FORWARDS=0,
+	eDRIVE_MODE_ACCEL_REVERSE,
+	eDRIVE_MODE_HARD_TURN_LEFT,
+	eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
+	eDRIVE_MODE_HARD_TURN_RIGHT,
+	eDRIVE_MODE_HANDBRAKE_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_ACCEL_FORWARDS,
+	eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
+	eDRIVE_MODE_ACCEL_FORWARDS,
+	eDRIVE_MODE_HANDBRAKE_TURN_RIGHT,
+	eDRIVE_MODE_NONE
+};
+
+PxF32					gVehicleModeLifetime = 4.0f;
+PxF32					gVehicleModeTimer = 0.0f;
+PxU32					gVehicleOrderProgress = 0;
+bool					gVehicleOrderComplete = false;
+bool					gMimicKeyInputs = true;
+
+enum
+{
+	eLengthScaleCentimeters=0,
+	eLengthScaleInches
+};
+PxF32 gLengthScales[2] = {100.0f, 39.3701f};
+PxF32 gLengthScale = gLengthScales[eLengthScaleInches];
+
+VehicleDesc initVehicleDesc()
+{
+	//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 = PxFilterData(COLLISION_FLAG_CHASSIS, COLLISION_FLAG_CHASSIS_AGAINST, 0, 0);
+
+	vehicleDesc.wheelMass = wheelMass;
+	vehicleDesc.wheelRadius = wheelRadius;
+	vehicleDesc.wheelWidth = wheelWidth;
+	vehicleDesc.wheelMOI = wheelMOI;
+	vehicleDesc.numWheels = nbWheels;
+	vehicleDesc.wheelMaterial = gMaterial;
+	vehicleDesc.chassisSimFilterData = PxFilterData(COLLISION_FLAG_WHEEL, COLLISION_FLAG_WHEEL_AGAINST, 0, 0);
+
+	return vehicleDesc;
+}
+
+void startAccelerateForwardsMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+	}
+}
+
+void startAccelerateReverseMode()
+{
+	gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
+
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+	}
+}
+
+void startBrakeMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalBrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogBrake(1.0f);
+	}
+}
+
+void startTurnHardLeftMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalSteerLeft(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(true);
+		gVehicleInputData.setAnalogSteer(-1.0f);
+	}
+}
+
+void startTurnHardRightMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(true);
+		gVehicleInputData.setDigitalSteerRight(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(1.0f);
+		gVehicleInputData.setAnalogSteer(1.0f);
+	}
+}
+
+void startHandbrakeTurnLeftMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalSteerLeft(true);
+		gVehicleInputData.setDigitalHandbrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogSteer(-1.0f);
+		gVehicleInputData.setAnalogHandbrake(1.0f);
+	}
+}
+
+void startHandbrakeTurnRightMode()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalSteerRight(true);
+		gVehicleInputData.setDigitalHandbrake(true);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogSteer(1.0f);
+		gVehicleInputData.setAnalogHandbrake(1.0f);
+	}
+}
+
+
+void releaseAllControls()
+{
+	if(gMimicKeyInputs)
+	{
+		gVehicleInputData.setDigitalAccel(false);
+		gVehicleInputData.setDigitalSteerLeft(false);
+		gVehicleInputData.setDigitalSteerRight(false);
+		gVehicleInputData.setDigitalBrake(false);
+		gVehicleInputData.setDigitalHandbrake(false);
+	}
+	else
+	{
+		gVehicleInputData.setAnalogAccel(0.0f);
+		gVehicleInputData.setAnalogSteer(0.0f);
+		gVehicleInputData.setAnalogBrake(0.0f);
+		gVehicleInputData.setAnalogHandbrake(0.0f);
+	}
+}
+
+
+void initPhysics()
+{
+	gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
+	PxTolerancesScale scale;
+	scale.length = gLengthScale;
+	scale.speed = 10.0f * gLengthScale;
+	gPvd = PxCreatePvd(*gFoundation);
+	PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
+	gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
+	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, scale, true, gPvd);
+
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f*gLengthScale, 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 vehicle that will drive on the plane.
+	VehicleDesc vehicleDesc = initVehicleDesc();
+	gVehicle4W = createVehicle4W(vehicleDesc, gPhysics, gCooking);
+	//Convert the vehicle from meters to the chosen length scale.
+	customizeVehicleToLengthScale(gLengthScale, gVehicle4W->getRigidDynamicActor(), &gVehicle4W->mWheelsSimData, &gVehicle4W->mDriveSimData);
+	//Convert the steer angle vs forward speed table to the chosen length scale.
+	for(PxU32 i = 0; i < gSteerVsForwardSpeedTable.mNbDataPairs; i++)
+	{
+		gSteerVsForwardSpeedTable.mDataPairs[2*i +0] *= gLengthScale;
+	}
+	PxTransform startTransform(PxVec3(0, ((vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f)*gLengthScale), 0), PxQuat(PxIdentity));
+	gVehicle4W->getRigidDynamicActor()->setGlobalPose(startTransform);
+	gScene->addActor(*gVehicle4W->getRigidDynamicActor());
+
+	//Set the vehicle to rest in first gear.
+	//Set the vehicle to use auto-gears.
+	gVehicle4W->setToRestState();
+	gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
+	gVehicle4W->mDriveDynData.setUseAutoGears(true);
+
+	gVehicleModeTimer = 0.0f;
+	gVehicleOrderProgress = 0;
+	startBrakeMode();
+}
+
+void incrementDrivingMode(const PxF32 timestep)
+{
+	gVehicleModeTimer += timestep;
+	if(gVehicleModeTimer > gVehicleModeLifetime)
+	{
+		//If the mode just completed was eDRIVE_MODE_ACCEL_REVERSE then switch back to forward gears.
+		if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gVehicleOrderProgress])
+		{
+			gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
+		}
+
+		//Increment to next driving mode.
+		gVehicleModeTimer = 0.0f;
+		gVehicleOrderProgress++;
+		releaseAllControls();
+
+		//If we are at the end of the list of driving modes then start again.
+		if(eDRIVE_MODE_NONE == gDriveModeOrder[gVehicleOrderProgress])
+		{
+			gVehicleOrderProgress = 0;
+			gVehicleOrderComplete = true;
+		}
+
+		//Start driving in the selected mode.
+		DriveMode eDriveMode = gDriveModeOrder[gVehicleOrderProgress];
+		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_HANDBRAKE_TURN_LEFT:
+			startHandbrakeTurnLeftMode();
+			break;
+		case eDRIVE_MODE_HARD_TURN_RIGHT:
+			startTurnHardRightMode();
+			break;
+		case eDRIVE_MODE_HANDBRAKE_TURN_RIGHT:
+			startHandbrakeTurnRightMode();
+			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[gVehicleOrderProgress])
+		{
+			gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
+		}
+	}
+}
+
+void stepPhysics()
+{
+	const PxF32 timestep = 1.0f/60.0f;
+
+	//Cycle through the driving modes to demonstrate how to accelerate/reverse/brake/turn etc.
+	incrementDrivingMode(timestep);
+
+	//Update the control inputs for the vehicle.
+	if(gMimicKeyInputs)
+	{
+		PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs(gKeySmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
+	}
+	else
+	{
+		PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs(gPadSmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
+	}
+
+	//Raycasts.
+	PxVehicleWheels* vehicles[1] = {gVehicle4W};
+	PxRaycastQueryResult* raycastResults = gVehicleSceneQueryData->getRaycastQueryResultBuffer(0);
+	const PxU32 raycastResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
+	PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, raycastResultsSize, raycastResults);
+
+	//Vehicle update.
+	const PxVec3 grav = gScene->getGravity();
+	PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS];
+	PxVehicleWheelQueryResult vehicleQueryResults[1] = {{wheelQueryResults, gVehicle4W->mWheelsSimData.getNbWheels()}};
+	PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);
+
+	//Work out if the vehicle is in the air.
+	gIsVehicleInAir = gVehicle4W->getRigidDynamicActor()->isSleeping() ? false : PxVehicleIsInAir(vehicleQueryResults[0]);
+
+	//Scene update.
+	gScene->simulate(timestep);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics()
+{
+	gVehicle4W->getRigidDynamicActor()->release();
+	gVehicle4W->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("SnippetVehicleScale 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();
+	while(!gVehicleOrderComplete)
+	{
+		stepPhysics();
+	}
+	cleanupPhysics();
+#endif
+
+	return 0;
+}