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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 demonstrates the use of articulations.
// ****************************************************************************
#include <ctype.h>
#include <vector>
#include "PxPhysicsAPI.h"
#include "../SnippetUtils/SnippetUtils.h"
#include "../SnippetCommon/SnippetPrint.h"
#include "../SnippetCommon/SnippetPVD.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;
PxArticulation* gArticulation = NULL;
void initPhysics(bool /*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);
PxInitExtensions(*gPhysics, gPvd);
PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
PxU32 numCores = SnippetUtils::getNbPhysicalCores();
gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
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);
gArticulation = gPhysics->createArticulation();
// Stabilization can create artefacts on jointed objects so we just disable it
gArticulation->setStabilizationThreshold(0.0f);
gArticulation->setMaxProjectionIterations(16);
gArticulation->setSeparationTolerance(0.001f);
const float scale = 0.25f;
const float radius = 0.5f*scale;
const float halfHeight = 1.0f*scale;
const PxU32 nbCapsules = 40;
const float capsuleMass = 1.0f;
const PxVec3 initPos(0.0f, 24.0f, 0.0f);
PxVec3 pos = initPos;
PxShape* capsuleShape = gPhysics->createShape(PxCapsuleGeometry(radius, halfHeight), *gMaterial);
PxArticulationLink* firstLink = NULL;
PxArticulationLink* parent = NULL;
const bool overlappingLinks = true; // Change this for another kind of rope
// Create rope
for(PxU32 i=0;i<nbCapsules;i++)
{
PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
if(!firstLink)
firstLink = link;
link->attachShape(*capsuleShape);
PxRigidBodyExt::setMassAndUpdateInertia(*link, capsuleMass);
PxArticulationJoint* joint = link->getInboundJoint();
if(joint) // Will be null for root link
{
if(overlappingLinks)
{
joint->setParentPose(PxTransform(PxVec3(halfHeight, 0.0f, 0.0f)));
joint->setChildPose(PxTransform(PxVec3(-halfHeight, 0.0f, 0.0f)));
}
else
{
joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(PxTransform(PxVec3(-radius - halfHeight, 0.0f, 0.0f)));
}
}
if(overlappingLinks)
pos.x += (radius + halfHeight*2.0f);
else
pos.x += (radius + halfHeight) * 2.0f;
parent = link;
}
// Attach large & heavy box at the end of the rope
{
const float boxMass = 50.0f;
const float boxSize = 1.0f;
PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(boxSize, boxSize, boxSize), *gMaterial);
pos.x -= (radius + halfHeight) * 2.0f;
pos.x += (radius + halfHeight) + boxSize;
PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
link->attachShape(*boxShape);
PxRigidBodyExt::setMassAndUpdateInertia(*link, boxMass);
PxArticulationJoint* joint = link->getInboundJoint();
if(joint) // Will be null for root link
{
joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
joint->setChildPose(PxTransform(PxVec3(-boxSize, 0.0f, 0.0f)));
}
}
gScene->addArticulation(*gArticulation);
// Attach articulation to static world
{
PxShape* anchorShape = gPhysics->createShape(PxSphereGeometry(0.05f), *gMaterial);
PxRigidStatic* anchor = PxCreateStatic(*gPhysics, PxTransform(initPos), *anchorShape);
gScene->addActor(*anchor);
PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, anchor, PxTransform(PxVec3(0.0f)), firstLink, PxTransform(PxVec3(0.0f)));
PX_UNUSED(j);
}
// Create obstacle
{
PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(1.0f, 0.1f, 2.0f), *gMaterial);
PxRigidStatic* obstacle = PxCreateStatic(*gPhysics, PxTransform(initPos+PxVec3(10.0f, -3.0f, 0.0f)), *boxShape);
gScene->addActor(*obstacle);
}
}
void stepPhysics(bool /*interactive*/)
{
gScene->simulate(1.0f/60.0f);
gScene->fetchResults(true);
}
void cleanupPhysics(bool /*interactive*/)
{
gArticulation->release();
gScene->release();
gDispatcher->release();
gPhysics->release();
PxPvdTransport* transport = gPvd->getTransport();
gPvd->release();
transport->release();
PxCloseExtensions();
gFoundation->release();
printf("SnippetArticulation done.\n");
}
void keyPress(unsigned char /*key*/, const PxTransform& /*camera*/)
{
}
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;
}
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