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Testbed physx backend: re-add joints.

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This commit is contained in:
Crozet Sébastien
2021-01-05 17:07:26 +01:00
parent 924cb7bbb9
commit 1e9a962d34
4 changed files with 90 additions and 217 deletions
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2
examples3d/all_examples3.rs
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@@ -31,7 +31,6 @@ mod platform3;
mod primitives3;
mod restitution3;
mod sensor3;
mod stacks3;
mod trimesh3;
fn demo_name_from_command_line() -> Option<String> {
@@ -82,7 +81,6 @@ pub fn main() {
("Locked rotations", locked_rotations3::init_world),
("Platform", platform3::init_world),
("Restitution", restitution3::init_world),
("Stacks", stacks3::init_world),
("Sensor", sensor3::init_world),
("TriMesh", trimesh3::init_world),
("Keva tower", keva3::init_world),

171
examples3d/stacks3.rs
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@@ -1,171 +0,0 @@
use na::{Point3, Translation3, UnitQuaternion, Vector3};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
fn create_tower_circle(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
nsubdivs: usize,
half_extents: Vector3<f32>,
) {
let ang_step = std::f32::consts::PI * 2.0 / nsubdivs as f32;
let radius = 1.3 * nsubdivs as f32 * half_extents.x / std::f32::consts::PI;
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in 0..nsubdivs {
let fj = j as f32;
let fi = i as f32;
let y = fi * shift.y;
let pos = Translation3::from(offset)
* UnitQuaternion::new(Vector3::y() * (fi / 2.0 + fj) * ang_step)
* Translation3::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
}
fn create_wall(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in i..stack_height {
let fj = j as f32;
let fi = i as f32;
let x = offset.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
}
fn create_pyramid(
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
offset: Vector3<f32>,
stack_height: usize,
half_extents: Vector3<f32>,
) {
let shift = half_extents * 2.0;
for i in 0usize..stack_height {
for j in i..stack_height {
for k in i..stack_height {
let fi = i as f32;
let fj = j as f32;
let fk = k as f32;
let x = (fi * shift.x / 2.0) + (fk - fi) * shift.x + offset.x
- stack_height as f32 * half_extents.x;
let y = fi * shift.y + offset.y;
let z = (fi * shift.z / 2.0) + (fj - fi) * shift.z + offset.z
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
colliders.insert(collider, handle, bodies);
}
}
}
}
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 200.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the cubes
*/
let cube_size = 1.0;
let hext = Vector3::repeat(cube_size);
let bottomy = cube_size * 50.0;
create_pyramid(
&mut bodies,
&mut colliders,
Vector3::new(-20.0, bottomy, 0.0),
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(-2.0, bottomy, 0.0),
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(4.0, bottomy, 0.0),
12,
hext,
);
create_wall(
&mut bodies,
&mut colliders,
Vector3::new(10.0, bottomy, 0.0),
12,
hext,
);
create_tower_circle(
&mut bodies,
&mut colliders,
Vector3::new(25.0, bottomy, 0.0),
8,
24,
hext,
);
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn main() {
let testbed = Testbed::from_builders(0, vec![("Boxes", init_world)]);
testbed.run()
}

126
src_testbed/physx_backend.rs
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@@ -8,7 +8,9 @@ use physx::cooking::PxCooking;
use physx::foundation::DefaultAllocator;
use physx::prelude::*;
use physx::scene::FrictionType;
use physx::traits::Class;
use physx::triangle_mesh::TriangleMesh;
use physx_sys::{PxActor, PxRigidActor};
use rapier::counters::Counters;
use rapier::dynamics::{
IntegrationParameters, JointParams, JointSet, RigidBodyHandle, RigidBodySet,
@@ -166,6 +168,11 @@ impl PhysxWorld {
let mut rapier2dynamic = HashMap::new();
let mut rapier2static = HashMap::new();
/*
*
* Rigid bodies
*
*/
for (rapier_handle, rb) in bodies.iter() {
use physx::rigid_dynamic::RigidDynamic;
use physx::rigid_static::RigidStatic;
@@ -185,6 +192,11 @@ impl PhysxWorld {
}
}
/*
*
* Colliders
*
*/
for (_, collider) in colliders.iter() {
if let Some((mut px_shape, px_material, collider_pos)) =
physx_collider_from_rapier_collider(&mut *physics, &collider)
@@ -198,7 +210,11 @@ impl PhysxWorld {
let actor = rapier2dynamic.get_mut(&collider.parent()).unwrap();
actor.attach_shape(&mut px_shape);
}
// physx_sys::PxShape_setLocalPose_mut(shape, &pose);
unsafe {
let pose = collider_pos.into_physx();
physx_sys::PxShape_setLocalPose_mut(px_shape.as_mut_ptr(), &pose.into());
}
shapes.push(px_shape);
materials.push(px_material);
@@ -226,9 +242,16 @@ impl PhysxWorld {
}
/*
res.setup_joints(joints);
res
*/
*
* Joints
*
*/
Self::setup_joints(
&mut physics,
joints,
&mut rapier2static,
&mut rapier2dynamic,
);
for (_, actor) in rapier2static {
scene.add_static_actor(actor);
@@ -246,27 +269,43 @@ impl PhysxWorld {
})
}
fn setup_joints(&mut self, joints: &JointSet) {
/*
fn setup_joints(
physics: &mut PxPhysicsFoundation,
joints: &JointSet,
rapier2static: &mut HashMap<RigidBodyHandle, Owner<PxRigidStatic>>,
rapier2dynamic: &mut HashMap<RigidBodyHandle, Owner<PxRigidDynamic>>,
) {
unsafe {
for joint in joints.iter() {
let actor1 = self.rapier2physx[&joint.1.body1];
let actor2 = self.rapier2physx[&joint.1.body2];
let actor1 = rapier2static
.get_mut(&joint.1.body1)
.map(|act| &mut **act as *mut PxRigidStatic as *mut PxRigidActor)
.or(rapier2dynamic
.get_mut(&joint.1.body1)
.map(|act| &mut **act as *mut PxRigidDynamic as *mut PxRigidActor))
.unwrap();
let actor2 = rapier2static
.get_mut(&joint.1.body2)
.map(|act| &mut **act as *mut PxRigidStatic as *mut PxRigidActor)
.or(rapier2dynamic
.get_mut(&joint.1.body2)
.map(|act| &mut **act as *mut PxRigidDynamic as *mut PxRigidActor))
.unwrap();
match &joint.1.params {
JointParams::BallJoint(params) => {
let frame1 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor1.coords, na::zero()).into_glam(),
);
let frame2 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor2.coords, na::zero()).into_glam(),
);
let frame1 = Isometry3::new(params.local_anchor1.coords, na::zero())
.into_physx()
.into();
let frame2 = Isometry3::new(params.local_anchor2.coords, na::zero())
.into_physx()
.into();
physx_sys::phys_PxSphericalJointCreate(
self.physics.get_raw_mut(),
actor1.0 as *mut _,
physics.as_mut_ptr(),
actor1,
&frame1 as *const _,
actor2.0 as *mut _,
actor2,
&frame2 as *const _,
);
}
@@ -292,18 +331,18 @@ impl PhysxWorld {
let axisangle1 = rotmat1.scaled_axis();
let axisangle2 = rotmat2.scaled_axis();
let frame1 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor1.coords, axisangle1).into_glam(),
);
let frame2 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor2.coords, axisangle2).into_glam(),
);
let frame1 = Isometry3::new(params.local_anchor1.coords, axisangle1)
.into_physx()
.into();
let frame2 = Isometry3::new(params.local_anchor2.coords, axisangle2)
.into_physx()
.into();
physx_sys::phys_PxRevoluteJointCreate(
self.physics.get_raw_mut(),
actor1.0 as *mut _,
physics.as_mut_ptr(),
actor1,
&frame1 as *const _,
actor2.0 as *mut _,
actor2,
&frame2 as *const _,
);
}
@@ -331,18 +370,18 @@ impl PhysxWorld {
let axisangle1 = rotmat1.scaled_axis();
let axisangle2 = rotmat2.scaled_axis();
let frame1 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor1.coords, axisangle1).into_glam(),
);
let frame2 = physx::transform::gl_to_px_tf(
Isometry3::new(params.local_anchor2.coords, axisangle2).into_glam(),
);
let frame1 = Isometry3::new(params.local_anchor1.coords, axisangle1)
.into_physx()
.into();
let frame2 = Isometry3::new(params.local_anchor2.coords, axisangle2)
.into_physx()
.into();
let joint = physx_sys::phys_PxPrismaticJointCreate(
self.physics.get_raw_mut(),
actor1.0 as *mut _,
physics.as_mut_ptr(),
actor1,
&frame1 as *const _,
actor2.0 as *mut _,
actor2,
&frame2 as *const _,
);
@@ -365,23 +404,20 @@ impl PhysxWorld {
}
}
JointParams::FixedJoint(params) => {
let frame1 =
physx::transform::gl_to_px_tf(params.local_anchor1.into_glam());
let frame2 =
physx::transform::gl_to_px_tf(params.local_anchor2.into_glam());
let frame1 = params.local_anchor1.into_physx().into();
let frame2 = params.local_anchor2.into_physx().into();
physx_sys::phys_PxFixedJointCreate(
self.physics.get_raw_mut(),
actor1.0 as *mut _,
physics.as_mut_ptr(),
actor1,
&frame1 as *const _,
actor2.0 as *mut _,
actor2,
&frame2 as *const _,
);
}
}
}
}
*/
}
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
@@ -457,7 +493,9 @@ fn physx_collider_from_rapier_collider(
}
let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir);
local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity());
local_pose = local_pose
* Translation3::from(center.coords)
* rot.unwrap_or(UnitQuaternion::identity());
let geometry = PxCapsuleGeometry::new(capsule.radius, capsule.half_height());
physics.create_shape(&geometry, materials, true, shape_flags, ())
} else if let Some(trimesh) = shape.as_trimesh() {

8
src_testbed/testbed.rs
View File

@@ -1126,6 +1126,14 @@ impl State for Testbed {
if self.state.selected_example != prev_example {
self.physics.integration_parameters = IntegrationParameters::default();
if self.state.selected_backend == PHYSX_BACKEND_PATCH_FRICTION
|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
std::mem::swap(
&mut self.physics.integration_parameters.max_velocity_iterations,
&mut self.physics.integration_parameters.max_position_iterations,
)
}
}
self.builders[self.state.selected_example].1(self);