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physx wip
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@markaren
markaren committed Feb 26, 2024
1 parent 4375aed commit f2e5af6
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Showing 2 changed files with 131 additions and 24 deletions.
84 changes: 68 additions & 16 deletions examples/extras/physics/PxEngine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
class PxEngine {

public:
PxEngine(float timeStep = 1.f / 60)
explicit PxEngine(float timeStep = 1.f / 60)
: timeStep(timeStep),
sceneDesc(physics->getTolerancesScale()),
onMeshRemovedListener(this) {
Expand Down Expand Up @@ -51,38 +51,81 @@ class PxEngine {
obj->position.set(pos.x, pos.y, pos.z);
obj->quaternion.set(quat.x, quat.y, quat.z, quat.w);
}

}

void registerMeshDynamic(threepp::Mesh& mesh) {
void registerMeshDynamic(threepp::Object3D& obj) {

threepp::Vector3 worldPos;
mesh.getWorldPosition(worldPos);
obj.getWorldPosition(worldPos);

physx::PxTransform transform(toPxVector3(worldPos));
auto geometry = toPxGeometry(mesh.geometry());
auto geometry = toPxGeometry(obj.geometry());
if (!geometry) return;
geometries[&mesh] = std::move(geometry);
auto* actor = PxCreateDynamic(*physics, transform, *geometries[&mesh], *defaultMaterial, 10.0f);
geometries[&obj] = std::move(geometry);
auto* actor = PxCreateDynamic(*physics, transform, *geometries[&obj], *defaultMaterial, 10.0f);

bodies[&mesh] = actor;
bodies[&obj] = actor;
scene->addActor(*actor);

mesh.addEventListener("remove", &onMeshRemovedListener);
obj.addEventListener("remove", &onMeshRemovedListener);
}

void registerMeshStatic(threepp::Mesh& mesh) {
void registerMeshStatic(threepp::Object3D& obj) {

threepp::Vector3 worldPos;
mesh.getWorldPosition(worldPos);
obj.getWorldPosition(worldPos);

physx::PxTransform transform(toPxVector3(worldPos));
auto geometry = toPxGeometry(mesh.geometry());
auto geometry = toPxGeometry(obj.geometry());
if (!geometry) return;
geometries[&mesh] = std::move(geometry);
auto* actor = PxCreateStatic(*physics, transform, *geometries[&mesh], *defaultMaterial);
geometries[&obj] = std::move(geometry);
auto* actor = PxCreateStatic(*physics, transform, *geometries[&obj], *defaultMaterial);

bodies[&obj] = actor;
scene->addActor(*actor);

obj.addEventListener("remove", &onMeshRemovedListener);
}

// physx::PxRevoluteJoint* createRevoluteJoint(threepp::Object3D& o1, threepp::Vector3 anchor, threepp::Vector3 axis) {
//
// auto rb1 = bodies.at(&o1);
//
// threepp::Matrix4 f1;
// f1.makeRotationFromQuaternion(threepp::Quaternion().setFromUnitVectors({0, 0, 1}, axis));
//// f1.setPosition(anchor);
//
// threepp::Matrix4 f2;
// f2.setPosition(anchor);
//
// physx::PxTransform frame1 = toPxTransform(f1);
// physx::PxTransform frame2 = toPxTransform(f2);
//
// physx::PxRevoluteJoint* joint = physx::PxRevoluteJointCreate(*physics, nullptr, frame1, rb1, frame2);
//
//// joint->set
//
// return joint;
// }

physx::PxRevoluteJoint* createRevoluteJoint(threepp::Object3D& o1, threepp::Object3D& o2, threepp::Vector3 anchor, threepp::Vector3 axis) {

auto rb1 = bodies.at(&o1);
auto rb2 = bodies.at(&o2);

threepp::Matrix4 f1;
f1.makeRotationFromQuaternion(threepp::Quaternion().setFromUnitVectors({0, 0, 1}, axis));
f1.setPosition(anchor);

threepp::Matrix4 f2 = *o2.matrixWorld;
f2.invert().multiply(*o1.matrixWorld).multiply(f1);

physx::PxTransform frame1 = toPxTransform(f1);
physx::PxTransform frame2 = toPxTransform(f2);

physx::PxRevoluteJoint* joint = physx::PxRevoluteJointCreate(*physics, rb1, frame1, rb2, frame2);

return joint;
}

physx::PxActor* get(threepp::Mesh& mesh) {
Expand All @@ -107,7 +150,6 @@ class PxEngine {
float timeStep;
float internalTime{};


// Initialize the Physics SDK
physx::PxDefaultAllocator allocator;
physx::PxDefaultErrorCallback errorCallback;
Expand All @@ -120,7 +162,7 @@ class PxEngine {
physx::PxMaterial* defaultMaterial;

std::unordered_map<threepp::Object3D*, std::unique_ptr<physx::PxGeometry>> geometries;
std::unordered_map<threepp::Object3D*, physx::PxRigidBody*> bodies;
std::unordered_map<threepp::Object3D*, physx::PxRigidActor*> bodies;


static physx::PxVec3 toPxVector3(const threepp::Vector3& v) {
Expand All @@ -131,6 +173,16 @@ class PxEngine {
return {q.x, q.y, q.z, q.w};
}

static physx::PxTransform toPxTransform(threepp::Matrix4& m) {
threepp::Vector3 pos;
threepp::Quaternion quat;
threepp::Vector3 scale;

m.decompose(pos, quat, scale);

return physx::PxTransform(toPxVector3(pos), toPxQuat(quat));
}

static std::unique_ptr<physx::PxGeometry> toPxGeometry(const threepp::BufferGeometry* geometry) {

if (!geometry) return nullptr;
Expand Down
71 changes: 63 additions & 8 deletions examples/extras/physics/physx_demo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,46 @@

using namespace threepp;

namespace {

struct MyKeyListener: KeyListener {

explicit MyKeyListener(physx::PxRevoluteJoint* j1, physx::PxRevoluteJoint* j2): j1(j1), j2(j2) {}

void onKeyPressed(KeyEvent evt) override {
if (evt.key == Key::NUM_1) {
j1->setDriveVelocity(-5);// Set motor speed
} else if (evt.key == Key::NUM_2) {
j1->setDriveVelocity(5);// Set motor speed
}
if (evt.key == Key::NUM_3) {
j2->setDriveVelocity(-5);// Set motor speed
} else if (evt.key == Key::NUM_4) {
j2->setDriveVelocity(5);// Set motor speed
}
}
void onKeyReleased(KeyEvent evt) override {
switch (evt.key) {
case Key::NUM_1:
case Key::NUM_2: {
j1->setDriveVelocity(0);// Set motor speed
}

case Key::NUM_3:
case Key::NUM_4: {
j2->setDriveVelocity(0);// Set motor speed
}
}
}

private:
float speed = 5;
physx::PxRevoluteJoint* j1;
physx::PxRevoluteJoint* j2;
};

}// namespace

int main() {

Canvas canvas("PhysX");
Expand All @@ -15,13 +55,14 @@ int main() {
PerspectiveCamera camera(60, canvas.aspect());
camera.position.z = 10;

auto box = Mesh::create(BoxGeometry::create(1,1,1), MeshStandardMaterial::create());
box->position.y = 10;
scene.add(box);
auto box1 = Mesh::create(BoxGeometry::create(0.5, 2, 0.5), MeshStandardMaterial::create());
box1->position.y = 1;
scene.add(box1);

auto sphere = Mesh::create(SphereGeometry::create(0.5), MeshStandardMaterial::create({{"color", Color::green}}));
sphere->position.y = 12;
scene.add(sphere);
auto box2 = Mesh::create(BoxGeometry::create(1, 0.5, 0.5), MeshStandardMaterial::create());
box2->position.y = 2 + 0.25;
box2->position.x = 0.5 + 0.25;
scene.add(box2);

auto ground = Mesh::create(BoxGeometry::create(10, 0.1, 10), MeshStandardMaterial::create({{"color", Color::blueviolet}}));
scene.add(ground);
Expand All @@ -31,11 +72,25 @@ int main() {
scene.add(light);

PxEngine engine;
engine.registerMeshDynamic(*sphere);
engine.registerMeshDynamic(*box);
engine.registerMeshDynamic(*box1);
engine.registerMeshDynamic(*box2);
engine.registerMeshStatic(*ground);
auto joint1 = engine.createRevoluteJoint(*ground, *box1, {0, 0, 0}, {0, 1, 0});
auto joint2 = engine.createRevoluteJoint(*box1, *box2, {0.25, 1, 0}, {1, 0, 0});

joint1->setRevoluteJointFlag(physx::PxRevoluteJointFlag::eDRIVE_ENABLED, true);
joint1->setRevoluteJointFlag(physx::PxRevoluteJointFlag::eLIMIT_ENABLED, true);
joint1->setLimit(physx::PxJointAngularLimitPair(-math::degToRad(90), math::degToRad(90)));

joint2->setRevoluteJointFlag(physx::PxRevoluteJointFlag::eDRIVE_ENABLED, true);
joint2->setRevoluteJointFlag(physx::PxRevoluteJointFlag::eLIMIT_ENABLED, true);
joint2->setLimit(physx::PxJointAngularLimitPair(-math::degToRad(45), math::degToRad(45)));

MyKeyListener keyListener(joint1, joint2);
canvas.addKeyListener(keyListener);

OrbitControls controls(camera, canvas);
controls.enableKeys = false;

Clock clock;
canvas.animate([&] {
Expand Down

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