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GRK/cw 8/zadania 8.html

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2022-01-12 16:07:16 +01:00
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</style><title>zadania 8</title>
</head>
<body class='typora-export os-windows'><div class='typora-export-content'>
<div id='write' class=''><h1 id='obsługa-physx'><span>Obsługa PhysX</span></h1><p><span>PhysX jest silnikiem fizyki. Zadaniem silnika fizyki jest przeprowadzenie obliczeń związanych z symulacją zjawisk fizycznych jak dynamika brył sztywnych, płynów lub </span><em><span>soft body dynamics</span></em><span>. Wyręcza on twórcę gry w samodzielnej implementacji fizyki. </span></p><p><span>Innymi popularnymi silnikami fizyki są:</span></p><ul><li><span>Havok </span></li><li><span>Bullet </span></li><li><span>Advanced Simulation Librar</span></li></ul><p><span>My wykorzystamy PhysXa do symulacji dynamiki brył sztywnych. Dokumentację można znaleźć w poniższych linkach </span></p><p><a href='https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/Index.html' target='_blank' class='url'>https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxguide/Manual/Index.html</a>
<a href='https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxapi/files/index.html' target='_blank' class='url'>https://gameworksdocs.nvidia.com/PhysX/4.1/documentation/physxapi/files/index.html</a></p><h2 id='inicjalizacja-physx'><span>Inicjalizacja PhysX</span></h2><p><span>W tej części przejdziemy po istniejącym kodzie i omówimy jego działanie.</span></p><p><span>Zaczniemy od klasy </span><code>Physics</code><span>, która zawiera atrybut </span><code>scene</code><span>, (która zawiera naszą scenę, czyli obiekty </span><em><span>aktorów</span></em><span>, które mają ze sobą fizycznie reagować i ich własności.) oraz atrybut </span><code>physics</code><span>, który służy do tworzenia tych obiektów. </span></p><p><span>Jej konstruktor wygląda następująco:</span></p><pre class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" lang="C++" style="break-inside: unset;"><div class="CodeMirror cm-s-inner cm-s-null-scroll CodeMirror-wrap" lang="c++"><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 9.5px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea></div><div class="CodeMirror-scrollbar-filler" cm-not-content="true"></div><div class="CodeMirror-gutter-filler" cm-not-content="true"></div><div class="CodeMirror-scroll" tabindex="-1"><div class="CodeMirror-sizer" style="margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;"><div style="position: relative; top: 0px;"><div class="CodeMirror-lines" role="presentation"><div role="presentation" style="position: relative; outline: none;"><div class="CodeMirror-measure"><span><span>​</span>x</span></div><div class="CodeMirror-measure"></div><div style="position: relative; z-index: 1;"></div><div class="CodeMirror-code" role="presentation" style=""><div class="CodeMirror-activeline" style="position: relative;"><div class="CodeMirror-activeline-background CodeMirror-linebackground"></div><div class="CodeMirror-gutter-background CodeMirror-activeline-gutter" style="left: 0px; width: 0px;"></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span class="cm-def">Physics::Physics</span>(<span class="cm-variable-3">float</span> <span class="cm-variable">gravity</span>)</span></pre></div><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;">{</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">foundation</span> <span class="cm-operator">=</span> <span class="cm-variable">PxCreateFoundation</span>(<span class="cm-variable">PX_PHYSICS_VERSION</span>, <span class="cm-variable">allocator</span>, <span class="cm-variable">errorCallback</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">physics</span> <span class="cm-operator">=</span> <span class="cm-variable">PxCreatePhysics</span>(<span class="cm-variable">PX_PHYSICS_VERSION</span>, <span class="cm-operator">*</span><span class="cm-variable">foundation</span>, <span class="cm-variable">PxTolerancesScale</span>(), <span class="cm-atom">true</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="" cm-zwsp="">
</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">PxSceneDesc</span> <span class="cm-variable">sceneDesc</span>(<span class="cm-variable">physics</span><span class="cm-operator">-&gt;</span><span class="cm-variable">getTolerancesScale</span>());</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-comment">// określa siłę i kierunek grawitacji</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">sceneDesc</span>.<span class="cm-variable">gravity</span> <span class="cm-operator">=</span> <span class="cm-variable">PxVec3</span>(<span class="cm-number">0.0f</span>, <span class="cm-operator">-</span><span class="cm-variable">gravity</span>, <span class="cm-number">0.0f</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-comment">// definicja dispatchera, który rozdziela zadania do wykonania, tutaj korzystamy z domyślnego dispatchera, któy będzie działał na 2 wątkach</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">dispatcher</span> <span class="cm-operator">=</span> <span class="cm-variable">PxDefaultCpuDispatcherCreate</span>(<span class="cm-number">2</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">sceneDesc</span>.<span class="cm-variable">cpuDispatcher</span> <span class="cm-operator">=</span> <span class="cm-variable">dispatcher</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-comment">// definicja filtra, filtr decyduje między jakimi obiektami </span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">sceneDesc</span>.<span class="cm-variable">filterShader</span> <span class="cm-operator">=</span> <span class="cm-variable">PxDefaultSimulationFilterShader</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp;<span class="cm-variable">scene</span> <span class="cm-operator">=</span> <span class="cm-variable">physics</span><span class="cm-operator">-&gt;</span><span class="cm-variable">createScene</span>(<span class="cm-variable">sceneDesc</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;">}</span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 391px;"></div><div class="CodeMirror-gutters" style="display: none; height: 391px;"></div></div></div></pre><p>&nbsp;</p><p><span>Następnie mamy funkcję </span><code>step</code><span>, która wykonuje symulację, składa się ona z 2 kroków; najpierw wykonywana jest symulacja, następnie pobierane wyniki. </span></p><p><span>Położenie w scenie physXa musimy przenieść do naszej sceny macierze transformacji odpowiadające ich położeniu są pobierane w funkcji</span></p><pre class="md-fences md-end-block ty-contain-cm modeLoaded" spellcheck="false" lang="C++ " style="break-inside: unset;"><div class="CodeMirror cm-s-inner cm-s-null-scroll CodeMirror-wrap" lang="c++ "><div style="overflow: hidden; position: relative; width: 3px; height: 0px; top: 9.5px; left: 8px;"><textarea autocorrect="off" autocapitalize="off" spellcheck="false" tabindex="0" style="position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;"></textarea
</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-comment">// pobiera położenie aktora</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-variable">PxMat44</span> <span class="cm-variable">transform</span> <span class="cm-operator">=</span> <span class="cm-variable">actor</span><span class="cm-operator">-&gt;</span><span class="cm-variable">getGlobalPose</span>();</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-keyword">auto</span> <span class="cm-operator">&amp;</span><span class="cm-variable">c0</span> <span class="cm-operator">=</span> <span class="cm-variable">transform</span>.<span class="cm-variable">column0</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-keyword">auto</span> <span class="cm-operator">&amp;</span><span class="cm-variable">c1</span> <span class="cm-operator">=</span> <span class="cm-variable">transform</span>.<span class="cm-variable">column1</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-keyword">auto</span> <span class="cm-operator">&amp;</span><span class="cm-variable">c2</span> <span class="cm-operator">=</span> <span class="cm-variable">transform</span>.<span class="cm-variable">column2</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-keyword">auto</span> <span class="cm-operator">&amp;</span><span class="cm-variable">c3</span> <span class="cm-operator">=</span> <span class="cm-variable">transform</span>.<span class="cm-variable">column3</span>;</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"><span cm-text="" cm-zwsp="">
</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-comment">// ustawia wartości macierzy z userData</span></span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-operator">*</span><span class="cm-variable">modelMatrix</span> <span class="cm-operator">=</span> <span class="cm-variable">glm::mat4</span>(</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-variable">c0</span>.<span class="cm-variable">x</span>, <span class="cm-variable">c0</span>.<span class="cm-variable">y</span>, <span class="cm-variable">c0</span>.<span class="cm-variable">z</span>, <span class="cm-variable">c0</span>.<span class="cm-variable">w</span>,</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-variable">c1</span>.<span class="cm-variable">x</span>, <span class="cm-variable">c1</span>.<span class="cm-variable">y</span>, <span class="cm-variable">c1</span>.<span class="cm-variable">z</span>, <span class="cm-variable">c1</span>.<span class="cm-variable">w</span>,</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-variable">c2</span>.<span class="cm-variable">x</span>, <span class="cm-variable">c2</span>.<span class="cm-variable">y</span>, <span class="cm-variable">c2</span>.<span class="cm-variable">z</span>, <span class="cm-variable">c2</span>.<span class="cm-variable">w</span>,</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<span class="cm-variable">c3</span>.<span class="cm-variable">x</span>, <span class="cm-variable">c3</span>.<span class="cm-variable">y</span>, <span class="cm-variable">c3</span>.<span class="cm-variable">z</span>, <span class="cm-variable">c3</span>.<span class="cm-variable">w</span>);</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; &nbsp; &nbsp; }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;"> &nbsp; }</span></pre><pre class=" CodeMirror-line " role="presentation"><span role="presentation" style="padding-right: 0.1px;">}</span></pre></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 805px;"></div><div class="CodeMirror-gutters" style="display: none; height: 805px;"></div></div></div></pre><h2 id='tworzenie-aktora'><span>Tworzenie aktora</span></h2><p><span>Aktora tworzy się za pomocą metod klasy </span><code>PxPhysics</code><span>, jest ona dostępna u nas po </span><code>pxScene.physics</code><span> (pamiętaj, że jest to wskaźnik i trzeba używać strzałki zamiast kropki do wywołania metod). </span></p><p><span>Aby stworzyć aktora należy użyć metody </span><code>createRigidStatic</code><span> lub </span><code>createRigidDynamic</code><span>, które tworzą odpowiednio statycznego i dynamicznego aktora (o aktorze statycznym można pomyśleć jak o obiekcie z nieskończoną masą, na którego nie działają żadne siły). Funkcja przyjmuje argument </span><code>transform</code><span>, który jest początkową pozycją. </span></p><p><span>Następnie musimy określić kształt obiektu za pomocą za pomocą metody </span><code>createShape</code><span> ona z kolei przyjmuje 2 argumenty: geometrię i materiał. Geometria odpowiada za kształt obiektu (przykładowo </span><code>PxPlaneGeometry()</cod
</span></span></pre></div></div></div></div></div></div><div style="position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 345px;"></div><div class="CodeMirror-gutters" style="display: none; height: 345px;"></div></div></div></pre><p><span>Samą obsługę zdarzeń definiujemy za pomocą wywołań zwrotnych - </span><em><span>callbacków</span></em><span>. </span></p><blockquote><p><span>Wywołanie zwrotne można rozumieć jako odwrotność wywołania funkcji. Zwykle programista wykorzystuje biblioteki poprzez wywoływanie zawartych w niej funkcji. W tym przypadku jest odwrotnie: programista pisze funkcję i przekazuje ją bibliotece, która odpowiada za jej użycie w odpowiednim momencie. </span></p></blockquote><p><em><span>Callback</span></em><span> ustala się poprzez ustawienie odpowiedeniego atrybutu:</span></p><p><span> </span><code>sceneDesc.simulationEventCallback = simulationEventCallback;</code></p><p><span>Klasa obiektu </span><code>simulationEventCallback</code><span> musi dziedziczyć po klasie </span><code>PxSimulationEventCallback</code><span>, która zawiera szereg metod będących różnymi </span><code>callbackami</code><span> odpowiadającymi za różne zdarzenia. Nas będzie interesować metoda </span><code>onContact</code><span>, która jest wywoływana dla każdego zetknięcia się dwóch obiektów w scenie.</span></p><h3 id='zadania'><span>Zadania </span></h3><p><span>Wykonaj zadania opisane w </span><strong><span>main8_3.cpp</span></strong><span>. </span></p><p><span>Jak zrobisz raportowanie na konsoli zderzeń pomiędzy kulą a kostkami zmodyfikuj kod tak, żeby kostki, które zetkną się z kulą znikały</span></p></div></div>
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