Fixed joint stress test for Bullet and PhysX

ConstraintDemo.cpp

#include "ConstraintDemo.h"

#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "../CommonInterfaces/CommonRigidBodyBase.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846f
#endif

class AllConstraintDemo : public CommonRigidBodyBase
{
public:
	AllConstraintDemo(struct GUIHelperInterface* helper);
	virtual ~AllConstraintDemo();

	virtual void initPhysics();

	virtual void exitPhysics();

	virtual void resetCamera()
	{
		float dist = 40;
		float pitch = 0;
		float yaw = 0;
		float targetPos[3] = {0, 15, 10};
		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
	}

	virtual bool keyboardCallback(int key, int state);
};

btFixedConstraint* createFixedConstraint(btRigidBody* body1, btRigidBody* body2)
{
	btTransform globalFrame = btTransform::getIdentity();
	float im1 = body1->getInvMass();
	float im2 = body2->getInvMass();
	globalFrame.setOrigin((im1 * body1->getWorldTransform().getOrigin() + im2 * body2->getWorldTransform().getOrigin()) / (im1 + im2));
	btTransform frameInA = body1->getWorldTransform().inverse() * globalFrame;
	btTransform frameInB = body2->getWorldTransform().inverse() * globalFrame;
	return new btFixedConstraint(*body1, *body2, frameInA, frameInB);
}

void AllConstraintDemo::initPhysics()
{
	m_guiHelper->setUpAxis(1);

	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
	m_broadphase = new btDbvtBroadphase();
	m_solver = new btSequentialImpulseConstraintSolver();
	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);

	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 40);

	m_collisionShapes.push_back(groundShape);
	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0, -56, 0));
	btRigidBody* groundBody = createRigidBody(0, groundTransform, groundShape);

	btVector3 base_position(0, 15, 0);
	btQuaternion base_rotation(btVector3(0, 0, 1), -0.5f * M_PI);

	btCollisionShape* pillar = new btBoxShape(btVector3(0.1f, 1.0f, 0.1f));
	float pillar_mass = 1000.0f * 0.1f * 1.0f * 0.1f * 8.0f;
	btCollisionShape* beam = new btBoxShape(btVector3(0.01f, 1.5f, 0.1f));
	float beam_mass = 1000.0f * 0.01f * 1.5f * 0.1f * 8.0f;

	btRigidBody *prev_pillars[4] = { groundBody, groundBody, groundBody, groundBody };

	btVector3 center(0, 0, 0);
	for (int y = 0; y < 10; ++y)
	{
		// Create pillars
		btRigidBody *pillars[4];
		for (int i = 0; i < 4; ++i)
		{
			btQuaternion rotation = btQuaternion(btVector3(0, 1, 0), i * 0.5f * M_PI);

			btTransform pillar_transform(base_rotation);
			pillar_transform.setOrigin(base_position + btTransform(base_rotation) * (center + btTransform(rotation) * btVector3(1.0f, 1.0f, 1.0f)));
			pillars[i] = createRigidBody(pillar_mass, pillar_transform, pillar);
		}

		for (int i = 0; i < 4; ++i)
		{
			btQuaternion rotation = btQuaternion(btVector3(0, 1, 0), i * 0.5f * M_PI);

			// Create cross beam
			btTransform beam_transform(base_rotation * rotation * btQuaternion(btVector3(1, 0, 0), 0.3f * M_PI));
			beam_transform.setOrigin(base_position + btTransform(base_rotation) * (center + btTransform(rotation) * btVector3(1.105f, 1.0f, 0.0f)));
			btRigidBody *cross = createRigidBody(beam_mass, beam_transform, beam);

			// Attach cross beam to pillars
			for (int j = 0; j < 2; ++j)
				m_dynamicsWorld->addConstraint(createFixedConstraint(cross, pillars[(i + j) % 4]), true);

			// Attach to previous pillar
			if (prev_pillars[i] != nullptr)
				m_dynamicsWorld->addConstraint(createFixedConstraint(prev_pillars[i], pillars[i]), true);

			prev_pillars[i] = pillars[i];
		}

		center += btVector3(0.0f, 2.0f, 0.0f);
	}

	// Create top
	btTransform top_transform(base_rotation);
	top_transform.setOrigin(base_position + btTransform(base_rotation) * (center + btVector3(0.0f, 0.1f, 0.0f)));
	float top_mass = 1000.0f * 1.2f * 0.1f * 1.2f * 8.0f;
	btRigidBody *top = createRigidBody(top_mass, top_transform, new btBoxShape(btVector3(1.2f, 0.1f, 1.2f)));

	// Attach top to pillars
	for (int i = 0; i < 4; ++i)
		m_dynamicsWorld->addConstraint(createFixedConstraint(top, prev_pillars[i]), true);

	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

void AllConstraintDemo::exitPhysics()
{
	//delete dynamics world
	delete m_dynamicsWorld;
	m_dynamicsWorld = 0;

	//delete solver
	delete m_solver;
	m_solver = 0;

	//delete broadphase
	delete m_broadphase;
	m_broadphase = 0;

	//delete dispatcher
	delete m_dispatcher;

	delete m_collisionConfiguration;
}

AllConstraintDemo::AllConstraintDemo(struct GUIHelperInterface* helper)
	: CommonRigidBodyBase(helper)
{
}

AllConstraintDemo::~AllConstraintDemo()
{
	btAssert(m_dynamicsWorld == 0);
}

bool AllConstraintDemo::keyboardCallback(int key, int state)
{
	bool handled = false;

	switch (key)
	{
	case ' ':
		{
			CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
			btVector3 camPos, camTarget;
			renderer->getActiveCamera()->getCameraPosition(camPos);
			renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
			btVector3 forward = (camTarget - camPos);
			forward.normalize();
			float mass = 4.0f / 3.0f * 3.14f * 1000.0f;
			btTransform transform = btTransform::getIdentity();
			transform.setOrigin(camPos);
			btRigidBody *body = createRigidBody(mass, transform, new btSphereShape(1.0f));
			body->setLinearVelocity(100.0f * forward);
			m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
			handled = true;
			break;
		}
	}

	return handled;
}

class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
{
	return new AllConstraintDemo(options.m_guiHelper);
}

SnippetJoint.cpp

#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;

bool					gPaused		= true;

PxRigidDynamic *createRigidBody(const PxTransform &transform, const PxGeometry &geometry, const PxVec3& velocity=PxVec3(0))
{
	PxRigidDynamic* body = PxCreateDynamic(*gPhysics, transform, geometry, *gMaterial, 1000.0f);
	body->setLinearVelocity(velocity);
	gScene->addActor(*body);
	return body;
}

PxJoint* createFixedConstraint(PxRigidActor* body1, PxRigidActor* body2)
{
	const PxRigidDynamic* dynamic1 = body1->is<PxRigidDynamic>();
	const PxRigidDynamic* dynamic2 = body2->is<PxRigidDynamic>();
	float im1 = dynamic1 != nullptr? dynamic1->getInvMass() : 0.0f;
	float im2 = dynamic2 != nullptr? dynamic2->getInvMass() : 0.0f;
	PxTransform globalFrame((im1 * body1->getGlobalPose().p + im2 * body2->getGlobalPose().p) / (im1 + im2));
	PxTransform t0 = body1->getGlobalPose().getInverse() * globalFrame;
	PxTransform t1 = body2->getGlobalPose().getInverse() * globalFrame;
	return PxFixedJointCreate(*gPhysics, body1, t0, body2, t1);
}

void initPhysics(bool /*interactive*/)
{
	gFoundation = PxCreateFoundation(PX_PHYSICS_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);
	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);

	PxVec3 base_position(0, 15, 0);
	PxQuat base_rotation(-0.5f * PxPi, PxVec3(0, 0, 1));

	PxBoxGeometry pillar = PxBoxGeometry(PxVec3(0.1f, 1.0f, 0.1f));
	PxBoxGeometry beam = PxBoxGeometry(PxVec3(0.01f, 1.5f, 0.1f));

	PxRigidActor *prev_pillars[4] = { groundPlane, groundPlane, groundPlane, groundPlane };

	PxVec3 center(0, 0, 0);
	for (int y = 0; y < 10; ++y)
	{
		// Create pillars
		PxRigidDynamic *pillars[4];
		for (int i = 0; i < 4; ++i)
		{
			PxQuat rotation = PxQuat(i * 0.5f * PxPi, PxVec3(0, 1, 0));

			PxTransform pillar_transform(base_rotation);
			pillar_transform.p = base_position + base_rotation.rotate(center + rotation.rotate(PxVec3(1.0f, 1.0f, 1.0f)));
			pillars[i] = createRigidBody(pillar_transform, pillar);
		}

		for (int i = 0; i < 4; ++i)
		{
			PxQuat rotation = PxQuat(i * 0.5f * PxPi, PxVec3(0, 1, 0));

			// Create cross beam
			PxTransform beam_transform(base_rotation * rotation * PxQuat(0.3f * PxPi, PxVec3(1, 0, 0)));
			beam_transform.p = base_position + base_rotation.rotate(center + rotation.rotate(PxVec3(1.105f, 1.0f, 0.0f)));
			PxRigidDynamic *cross = createRigidBody(beam_transform, beam);

			// Attach cross beam to pillars
			for (int j = 0; j < 2; ++j)
				createFixedConstraint(cross, pillars[(i + j) % 4]);

			// Attach to previous pillar
			if (prev_pillars[i] != nullptr)
				createFixedConstraint(prev_pillars[i], pillars[i]);

			prev_pillars[i] = pillars[i];
		}

		center += PxVec3(0.0f, 2.0f, 0.0f);
	}

	// Create top
	PxTransform top_transform(base_rotation);
	top_transform.p = base_position + base_rotation.rotate(center + PxVec3(0.0f, 0.1f, 0.0f));
	PxRigidDynamic *top = createRigidBody(top_transform, PxBoxGeometry(PxVec3(1.2f, 0.1f, 1.2f)));

	// Attach top to pillars
	for (int i = 0; i < 4; ++i)
		createFixedConstraint(top, prev_pillars[i]);
}

void stepPhysics(bool /*interactive*/)
{
	if (!gPaused)
	{
		gScene->simulate(1.0f/60.0f);
		gScene->fetchResults(true);
	}
}
	
void cleanupPhysics(bool /*interactive*/)
{
	PX_RELEASE(gScene);
	PX_RELEASE(gDispatcher);
	PxCloseExtensions();
	PX_RELEASE(gPhysics);
	if(gPvd)
	{
		PxPvdTransport* transport = gPvd->getTransport();
		gPvd->release();	gPvd = NULL;
		PX_RELEASE(transport);
	}
	PX_RELEASE(gFoundation);
	
	printf("SnippetJoint done.\n");
}

void keyPress(unsigned char key, const PxTransform& camera)
{
	switch(toupper(key))
	{
	case ' ':	createRigidBody(camera, PxSphereGeometry(1.0f), camera.rotate(PxVec3(0,0,-1))*100);	break;
	case 'P':	gPaused = !gPaused;																	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;
}