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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 setup a custom profiler, and potentially
// re-route it to PVD's profiling functions.
// ****************************************************************************
#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 stackZ = 10.0f;
PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0))
{
PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
dynamic->setAngularDamping(0.5f);
dynamic->setLinearVelocity(velocity);
gScene->addActor(*dynamic);
return dynamic;
}
void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
{
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::updateMassAndInertia(*body, 10.0f);
gScene->addActor(*body);
}
}
shape->release();
}
static const bool gCallPVDProfilingFunctions = false;
class CustomProfilerCallback : public PxProfilerCallback
{
public:
virtual ~CustomProfilerCallback() {}
virtual void* zoneStart(const char* eventName, bool detached, uint64_t contextId)
{
// Option 1: add your own profiling code here (before calling the PVD function).
// If you call the PVD profiling function below, adding your own profiling code here
// means it will capture the cost of the PVD zoneStart function.
// NB: we don't have an actual profiler implementation in the snippet so we just call printf instead
printf("start: %s\n", eventName);
// Optional: call the PVD function if you want to see the profiling results in PVD.
void* profilerData = gCallPVDProfilingFunctions ? gPvd->zoneStart(eventName, detached, contextId) : NULL;
// Option 2: add your own profiling code here (after calling the PVD function).
// If you call the PVD profiling function above, adding your own profiling code here
// means its cost will be captured by the PVD profiler.
return profilerData;
}
virtual void zoneEnd(void* profilerData, const char* eventName, bool detached, uint64_t contextId)
{
// Option 2: add your own profiling code here (before calling the PVD function).
// If you call the PVD profiling function below, adding your own profiling code here
// means its cost will be captured by the PVD profiler.
// Optional: call the PVD function if you want to see the profiling results in PVD.
if(gCallPVDProfilingFunctions)
gPvd->zoneEnd(profilerData, eventName, detached, contextId);
// Option 1: add your own profiling code here (after calling the PVD function).
// If you call the PVD profiling function above, adding your own profiling code here
// means it will capture the cost of the PVD zoneEnd function.
// NB: we don't have an actual profiler implementation in the snippet so we just call printf instead
printf("end: %s\n", eventName);
}
}gCustomProfilerCallback;
void initPhysics(bool interactive)
{
gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
gPvd = PxCreatePvd(*gFoundation);
PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
// During the "connect" call, PVD sets itself up as the profiler if PxPvdInstrumentationFlag::ePROFILE is used.
// That is, it internally calls PxSetProfilerCallback() to setup its own profiling callback. Any calls to
// PxSetProfilerCallback() prior to calling "connect" is thus lost.
gPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
// This call should be performed after PVD is initialized, otherwise it will have no effect.
PxSetProfilerCallback(&gCustomProfilerCallback);
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);
for(PxU32 i=0;i<5;i++)
createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);
if(!interactive)
createDynamic(PxTransform(PxVec3(0,40,100)), PxSphereGeometry(10), PxVec3(0,-50,-100));
}
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();
printf("SnippetCustomProfiler done.\n");
}
void keyPress(unsigned char key, const PxTransform& camera)
{
switch(toupper(key))
{
case 'B': createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f); break;
case ' ': createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200); break;
}
}
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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