mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-02-28 11:03:49 +00:00
PhysX 3.4 implementation
This commit is contained in:
rextimmy
parent
463cd50d0a
commit
3bbdd9b155
15 changed files with 527 additions and 418 deletions
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@ -41,27 +41,31 @@
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#include "gfx/sim/debugDraw.h"
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#include "gfx/primBuilder.h"
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physx::PxPhysics* gPhysics3SDK = NULL;
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physx::PxCooking* Px3World::smCooking = NULL;
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physx::PxFoundation* Px3World::smFoundation = NULL;
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physx::PxProfileZoneManager* Px3World::smProfileZoneManager = NULL;
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physx::PxDefaultCpuDispatcher* Px3World::smCpuDispatcher=NULL;
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physx::PxDefaultCpuDispatcher* Px3World::smCpuDispatcher = NULL;
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#ifndef TORQUE_OS_MAC
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physx::PxCudaContextManager* Px3World::smCudaContextManager = NULL;
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#endif
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Px3ConsoleStream* Px3World::smErrorCallback = NULL;
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physx::PxVisualDebuggerConnection* Px3World::smPvdConnection=NULL;
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physx::PxPvd* Px3World::smPvdConnection = NULL;
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physx::PxPvdTransport* Px3World::smPvdTransport = NULL;
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physx::PxDefaultAllocator Px3World::smMemoryAlloc;
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Px3World::Px3World(): mScene( NULL ),
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mProcessList( NULL ),
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mIsSimulating( false ),
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mErrorReport( false ),
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mTickCount( 0 ),
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Px3World::Px3World() :
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mScene( NULL ),
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mIsEnabled( false ),
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mIsSimulating( false ),
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mIsServer( false ),
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mIsSceneLocked( false ),
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mTickCount( 0 ),
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mProcessList( NULL ),
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mEditorTimeScale( 1.0f ),
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mAccumulator( 0 ),
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mErrorReport( false ),
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mControllerManager(NULL),
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mIsSceneLocked(false),
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mRenderBuffer(NULL)
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mRenderBuffer(NULL),
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mAccumulator( 0 )
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{
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}
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@ -80,33 +84,25 @@ bool Px3World::restartSDK( bool destroyOnly, Px3World *clientWorld, Px3World *se
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// then we cannot reset the SDK.
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if ( clientWorld || serverWorld )
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return false;
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if(smPvdConnection)
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smPvdConnection->release();
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if(smCooking)
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smCooking->release();
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if(smCpuDispatcher)
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smCpuDispatcher->release();
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#ifndef TORQUE_OS_MAC
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SafeReleasePhysx(smCudaContextManager);
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#endif
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SafeReleasePhysx(smCpuDispatcher);
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SafeReleasePhysx(smCooking);
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smGpuEnabled = false;
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// Destroy the existing SDK.
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if ( gPhysics3SDK )
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{
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PxCloseExtensions();
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gPhysics3SDK->release();
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SafeReleasePhysx(gPhysics3SDK);
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}
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if(smErrorCallback)
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{
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SAFE_DELETE(smErrorCallback);
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}
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SafeReleasePhysx(smPvdConnection);
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SafeReleasePhysx(smPvdTransport);
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if(smFoundation)
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{
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smFoundation->release();
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SAFE_DELETE(smErrorCallback);
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}
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SAFE_DELETE(smErrorCallback);
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SafeReleasePhysx(smFoundation);
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// If we're not supposed to restart... return.
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if ( destroyOnly )
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@ -114,20 +110,18 @@ bool Px3World::restartSDK( bool destroyOnly, Px3World *clientWorld, Px3World *se
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bool memTrack = false;
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#ifdef TORQUE_DEBUG
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memTrack = true;
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memTrack = false;
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#endif
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smErrorCallback = new Px3ConsoleStream;
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smFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, smMemoryAlloc, *smErrorCallback);
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smProfileZoneManager = &physx::PxProfileZoneManager::createProfileZoneManager(smFoundation);
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gPhysics3SDK = PxCreatePhysics(PX_PHYSICS_VERSION, *smFoundation, physx::PxTolerancesScale(),memTrack,smProfileZoneManager);
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smFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, smMemoryAlloc, *smErrorCallback);
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smPvdConnection = PxCreatePvd(*smFoundation);
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gPhysics3SDK = PxCreatePhysics(PX_PHYSICS_VERSION, *smFoundation, physx::PxTolerancesScale(),memTrack, smPvdConnection);
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if ( !gPhysics3SDK )
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{
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Con::errorf( "PhysX3 failed to initialize!" );
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Platform::messageBox( Con::getVariable( "$appName" ),
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avar("PhysX3 could not be started!\r\n"),
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MBOk, MIStop );
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Platform::messageBox( Con::getVariable( "$appName" ), avar("PhysX3 could not be started!\r\n"), MBOk, MIStop );
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Platform::forceShutdown( -1 );
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// We shouldn't get here, but this shuts up
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@ -135,33 +129,67 @@ bool Px3World::restartSDK( bool destroyOnly, Px3World *clientWorld, Px3World *se
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return false;
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}
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if(!PxInitExtensions(*gPhysics3SDK))
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if(!PxInitExtensions(*gPhysics3SDK, smPvdConnection))
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{
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Con::errorf( "PhysX3 failed to initialize extensions!" );
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Platform::messageBox( Con::getVariable( "$appName" ),
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avar("PhysX3 could not be started!\r\n"),
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MBOk, MIStop );
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Platform::messageBox( Con::getVariable( "$appName" ), avar("PhysX3 could not be started!\r\n"), MBOk, MIStop );
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Platform::forceShutdown( -1 );
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return false;
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}
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//no gpu support on macOS
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#ifndef TORQUE_OS_MAC
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//check if we are allowed to use gpu acceleration
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if (PhysicsPlugin::gpuAccelerationAllowed())
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{
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// attempt to create a cuda context manager - only works on nvidia gpu (SM 3.0+ i.e kepler or better)
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if (!smCpuDispatcher)
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{
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//check we have capable gpu, -1 means none found
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S32 suggestedGpu = PxGetSuggestedCudaDeviceOrdinal(*smErrorCallback);
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if (suggestedGpu != -1)
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{
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physx::PxCudaContextManagerDesc cudaContextManagerDesc;
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smCudaContextManager = PxCreateCudaContextManager(*smFoundation, cudaContextManagerDesc);
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if (smCudaContextManager)
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smGpuEnabled = true;
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}
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}
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}
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#endif
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smCooking = PxCreateCooking(PX_PHYSICS_VERSION, *smFoundation, physx::PxCookingParams(physx::PxTolerancesScale()));
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//cpu dispatcher
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if (!smCpuDispatcher)
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smCpuDispatcher = physx::PxDefaultCpuDispatcherCreate(PHYSICSMGR->getThreadCount());
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physx::PxCookingParams params = physx::PxCookingParams(physx::PxTolerancesScale());
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params.meshWeldTolerance = 0.001f;
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params.meshPreprocessParams = physx::PxMeshPreprocessingFlags(physx::PxMeshPreprocessingFlag::eWELD_VERTICES);
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#ifndef TORQUE_OS_MAC
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if(smGpuEnabled)
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params.buildGPUData = true;
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#endif
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smCooking = PxCreateCooking(PX_PHYSICS_VERSION, *smFoundation, params);
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if(!smCooking)
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{
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Con::errorf( "PhysX3 failed to initialize cooking!" );
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Platform::messageBox( Con::getVariable( "$appName" ),
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avar("PhysX3 could not be started!\r\n"),
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MBOk, MIStop );
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Platform::messageBox( Con::getVariable( "$appName" ), avar("PhysX3 could not be started!\r\n"), MBOk, MIStop );
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Platform::forceShutdown( -1 );
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return false;
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}
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//TODO: enable/disable this from script
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#ifdef TORQUE_DEBUG
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physx::PxVisualDebuggerConnectionFlags connectionFlags(physx::PxVisualDebuggerExt::getAllConnectionFlags());
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smPvdConnection = physx::PxVisualDebuggerExt::createConnection(gPhysics3SDK->getPvdConnectionManager(),
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"localhost", 5425, 100, connectionFlags);
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if(!smPvdTransport)
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smPvdTransport = physx::PxDefaultPvdSocketTransportCreate("localhost", 5425, 100);
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smPvdConnection->connect(*smPvdTransport, physx::PxPvdInstrumentationFlag::eALL);
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#endif
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//use legacy heightfield
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//TODO: new method causing crashes on collision in debug build (unified HeightFields)
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PxRegisterLegacyHeightFields(*gPhysics3SDK);
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return true;
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}
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@ -169,8 +197,6 @@ void Px3World::destroyWorld()
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{
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getPhysicsResults();
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mRenderBuffer = NULL;
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// Release the tick processing signals.
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if ( mProcessList )
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{
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@ -179,19 +205,9 @@ void Px3World::destroyWorld()
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mProcessList = NULL;
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}
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if(mControllerManager)
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{
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mControllerManager->release();
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mControllerManager = NULL;
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}
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SafeReleasePhysx(mControllerManager);
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// Destroy the scene.
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if ( mScene )
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{
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// Release the scene.
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mScene->release();
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mScene = NULL;
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}
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SafeReleasePhysx(mScene);
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}
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bool Px3World::initWorld( bool isServer, ProcessList *processList )
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@ -203,27 +219,32 @@ bool Px3World::initWorld( bool isServer, ProcessList *processList )
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}
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mIsServer = isServer;
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physx::PxSceneDesc sceneDesc(gPhysics3SDK->getTolerancesScale());
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sceneDesc.gravity = px3Cast<physx::PxVec3>(mGravity);
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sceneDesc.userData = this;
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if(!sceneDesc.cpuDispatcher)
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{
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//Create shared cpu dispatcher
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if(!smCpuDispatcher)
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smCpuDispatcher = physx::PxDefaultCpuDispatcherCreate(PHYSICSMGR->getThreadCount());
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sceneDesc.cpuDispatcher = smCpuDispatcher;
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Con::printf("PhysX3 using Cpu: %d workers", smCpuDispatcher->getWorkerCount());
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sceneDesc.cpuDispatcher = smCpuDispatcher;
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Con::printf("PhysX3 using Cpu: %d workers", smCpuDispatcher->getWorkerCount());
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#ifndef TORQUE_OS_MAC
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if (smGpuEnabled)
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{
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sceneDesc.flags |= physx::PxSceneFlag::eENABLE_GPU_DYNAMICS;
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sceneDesc.flags |= physx::PxSceneFlag::eENABLE_PCM;
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sceneDesc.broadPhaseType = physx::PxBroadPhaseType::eGPU;
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sceneDesc.gpuDispatcher = smCudaContextManager->getGpuDispatcher();
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Con::printf("PhysX3 using Gpu: %s", smCudaContextManager->getDeviceName());
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}
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#endif
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sceneDesc.flags |= physx::PxSceneFlag::eENABLE_CCD;
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sceneDesc.flags |= physx::PxSceneFlag::eENABLE_ACTIVETRANSFORMS;
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sceneDesc.filterShader = physx::PxDefaultSimulationFilterShader;
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mScene = gPhysics3SDK->createScene(sceneDesc);
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//cache renderbuffer for use with debug drawing
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mScene = gPhysics3SDK->createScene(sceneDesc);
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mRenderBuffer = const_cast<physx::PxRenderBuffer*>(&mScene->getRenderBuffer());
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physx::PxDominanceGroupPair debrisDominance( 0.0f, 1.0f );
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@ -252,15 +273,16 @@ bool Px3World::_simulate(const F32 dt)
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if (numSimulationSubSteps)
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{
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//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
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S32 clampedSimulationSteps = (numSimulationSubSteps > smPhysicsMaxSubSteps)? smPhysicsMaxSubSteps : numSimulationSubSteps;
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S32 clampedSimulationSteps = (numSimulationSubSteps > smPhysicsMaxSubSteps) ? smPhysicsMaxSubSteps : numSimulationSubSteps;
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for (S32 i=0;i<clampedSimulationSteps;i++)
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{
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mScene->fetchResults(true);
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if(i > 0)
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mScene->fetchResults(true);
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mScene->simulate(smPhysicsStepTime);
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}
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}
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mIsSimulating = true;
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return true;
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@ -299,36 +321,6 @@ void Px3World::getPhysicsResults()
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mScene->fetchResults(true);
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mIsSimulating = false;
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mTickCount++;
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// Con::printf( "%s PhysXWorld::getPhysicsResults!", this == smClientWorld ? "Client" : "Server" );
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}
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void Px3World::releaseWriteLocks()
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{
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Px3World *world = dynamic_cast<Px3World*>( PHYSICSMGR->getWorld( "server" ) );
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if ( world )
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world->releaseWriteLock();
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world = dynamic_cast<Px3World*>( PHYSICSMGR->getWorld( "client" ) );
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if ( world )
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world->releaseWriteLock();
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}
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void Px3World::releaseWriteLock()
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{
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if ( !mScene || !mIsSimulating )
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return;
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PROFILE_SCOPE(PxWorld_ReleaseWriteLock);
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// We use checkResults here to release the write lock
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// but we do not change the simulation flag or increment
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// the tick count... we may have gotten results, but the
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// simulation hasn't really ticked!
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mScene->checkResults( true );
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//AssertFatal( mScene->isWritable(), "PhysX3World::releaseWriteLock() - We should have been writable now!" );
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}
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void Px3World::lockScenes()
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@ -388,8 +380,7 @@ void Px3World::unlockScene()
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}
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bool Px3World::castRay( const Point3F &startPnt, const Point3F &endPnt, RayInfo *ri, const Point3F &impulse )
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{
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{
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physx::PxVec3 orig = px3Cast<physx::PxVec3>( startPnt );
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physx::PxVec3 dir = px3Cast<physx::PxVec3>( endPnt - startPnt );
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physx::PxF32 maxDist = dir.magnitude();
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@ -398,15 +389,15 @@ bool Px3World::castRay( const Point3F &startPnt, const Point3F &endPnt, RayInfo
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U32 groups = 0xffffffff;
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groups &= ~( PX3_TRIGGER ); // No trigger shapes!
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physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::eIMPACT | physx::PxHitFlag::eNORMAL);
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physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::ePOSITION | physx::PxHitFlag::eNORMAL);
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physx::PxQueryFilterData filterData(physx::PxQueryFlag::eSTATIC|physx::PxQueryFlag::eDYNAMIC);
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filterData.data.word0 = groups;
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physx::PxRaycastBuffer buf;
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if(!mScene->raycast(orig,dir,maxDist,buf,outFlags,filterData))
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return false;
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return false;
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if(!buf.hasBlock)
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return false;
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return false;
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const physx::PxRaycastHit hit = buf.block;
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physx::PxRigidActor *actor = hit.actor;
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@ -425,8 +416,8 @@ bool Px3World::castRay( const Point3F &startPnt, const Point3F &endPnt, RayInfo
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}
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if ( impulse.isZero() ||
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!actor->isRigidDynamic() ||
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actor->is<physx::PxRigidDynamic>()->getRigidDynamicFlags() & physx::PxRigidDynamicFlag::eKINEMATIC )
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!actor->is<physx::PxRigidDynamic>() ||
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actor->is<physx::PxRigidDynamic>()->getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC )
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return true;
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physx::PxRigidBody *body = actor->is<physx::PxRigidBody>();
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@ -453,7 +444,7 @@ PhysicsBody* Px3World::castRay( const Point3F &start, const Point3F &end, U32 bo
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groups &= ~( PX3_TRIGGER ); // triggers
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groups &= ~( PX3_DEBRIS ); // debris
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physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::eIMPACT | physx::PxHitFlag::eNORMAL);
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physx::PxHitFlags outFlags(physx::PxHitFlag::eDISTANCE | physx::PxHitFlag::ePOSITION | physx::PxHitFlag::eNORMAL);
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physx::PxQueryFilterData filterData;
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if(bodyTypes & BT_Static)
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filterData.flags |= physx::PxQueryFlag::eSTATIC;
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@ -491,12 +482,12 @@ void Px3World::explosion( const Point3F &pos, F32 radius, F32 forceMagnitude )
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{
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physx::PxRigidActor *actor = buffer.touches[i].actor;
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bool dynamic = actor->isRigidDynamic();
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bool dynamic = actor->is<physx::PxRigidDynamic>();
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if ( !dynamic )
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continue;
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bool kinematic = actor->is<physx::PxRigidDynamic>()->getRigidDynamicFlags() & physx::PxRigidDynamicFlag::eKINEMATIC;
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bool kinematic = actor->is<physx::PxRigidDynamic>()->getRigidBodyFlags() & physx::PxRigidBodyFlag::eKINEMATIC;
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if ( kinematic )
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continue;
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@ -523,8 +514,6 @@ physx::PxController* Px3World::createController( physx::PxControllerDesc &desc )
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if ( !mScene )
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return NULL;
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// We need the writelock!
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releaseWriteLock();
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physx::PxController* pController = mControllerManager->createController(desc);
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AssertFatal( pController, "Px3World::createController - Got a null!" );
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return pController;
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@ -543,7 +532,7 @@ static ColorI getDebugColor( physx::PxU32 packed )
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void Px3World::onDebugDraw( const SceneRenderState *state )
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{
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if ( !mScene || !mRenderBuffer )
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if ( !mScene || !mRenderBuffer)
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return;
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mScene->setVisualizationParameter(physx::PxVisualizationParameter::eSCALE,1.0f);
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