[Bleeding] help with variable scene controller

CHICO

13-05-2008 20:19:05

I'm trying to integrate NxOgre into a simulator that I'm modifying. I want to use my own time controller because the simulator has a variable timestep length and, most of the time, it is run with graphics turned off. I still want the ability to use NxOgre for visualization for demo purposes.

Here is what I have so far:

"SimulationPhysics.h"



namespace Ogre

{

	class Root;

	class RenderSystem;

	class RenderWindow;

	class SceneManager;

	class Camera;

	class Viewport;

	class Light;

};



namespace NxOgre

{

	class World;

	class Scene;

	class Body;

};



class MyTimeController;



/// NxOgre interface class

class SimulationPhysics

{

protected:

	Ogre::Root *root;			///< OGRE starting point

	Ogre::RenderSystem *renderSystem;	///< OGRE rendering system

	Ogre::RenderWindow *window;		///< OGRE rendering window

	Ogre::SceneManager *sceneManager;	///< Used for managing all objects in the scene (like the camera)

	Ogre::Camera *camera;			///< Visualization camera

	Ogre::Viewport *viewport;		///< Viewport for the camera

	Ogre::Light *light;			///< Light source



	void initGraphics();			///< Initialize OGRE for NxOgre physics visualization

	void initControls();			///< Initialize OIS controls for NxOgre physics visualization

	void initScene();			///< Initialize OGRE scene for NxOgre physics visualization

	void start();				///< Start the NxOgre physics simulation



public:

	NxOgre::World *world;			///< Pointer to physics world information

	NxOgre::Scene *scene;			///< Physics scene information

	NxOgre::Body *testBody;

	MyTimeController *time;			///< Physics time controller



	SimulationPhysics();			///< Basic constructor

	SimulationPhysics(MyTimeController *tc);///< Constructor with time controller

	~SimulationPhysics();			///< Destructor

};

"SimulationPhysics.cpp"



#include "Ogre.h"

#include "NxOgre.h"

#include "MyTimeController.h"

#include "SimulationPhysics.h"

#include "CakeOgre.h"



/// Basic constructor

/// Input:

///   void

/// Output:

///   void

SimulationPhysics::SimulationPhysics()

{

	// Initialize OGRE for NxOgre physics visualization

	initGraphics();

	// Initialize OIS controls for NxOgre physics visualization

	initControls();	

	// Initialize OGRE scene for NxOgre physics visualization

	initScene();

	// Start the NxOgre physics simulation

	start();

}



/// Constructor with time controller

/// Input:

///   tc

/// Output:

///   void

SimulationPhysics::SimulationPhysics(MyTimeController *tc)

{

	//Set TimeController

	time = tc;



	// Initialize OGRE for NxOgre physics visualization

	initGraphics();

	// Initialize OIS controls for NxOgre physics visualization

	initControls();	

	// Initialize OGRE scene for NxOgre physics visualization

	initScene();

	// Start the NxOgre physics simulation

	start();

}



/// Basic destructor

/// Input:

///   void

/// Output:

///   void

SimulationPhysics::~SimulationPhysics()

{

	if(world) delete world;

}



/// Initialize OGRE for NxOgre physics visualization

/// Input:

///   void

/// Output:

///   void

void SimulationPhysics::initGraphics()

{

	//Init Root

	root = new Ogre::Root("","","ogre.log");



	//Load different plugins if in debug mode

#ifdef _DEBUG

	root->loadPlugin("RenderSystem_GL_d");

	root->loadPlugin("RenderSystem_Direct3D9_d");

	root->loadPlugin("Plugin_ParticleFX_d");

	root->loadPlugin("Plugin_CgProgramManager_d");

#else	

	root->loadPlugin("RenderSystem_GL");

	root->loadPlugin("RenderSystem_Direct3D9");

	root->loadPlugin("Plugin_ParticleFX");

	root->loadPlugin("Plugin_CgProgramManager");

#endif



	//Allocate resource manager

	Ogre::ResourceGroupManager* rgm = Ogre::ResourceGroupManager::getSingletonPtr();

	Ogre::String resourceLocation = "media/";



	//This tends to get messed up alot.  Print directory info.

	{

		char temp[500];

		GetCurrentDirectory(500,temp);

		std::cout << "Looking for media at:" << temp << resourceLocation << std::endl;

	}



	//Add resources

	rgm->addResourceLocation(resourceLocation + "cake.zip", "Zip");

	rgm->addResourceLocation(resourceLocation + "meshes", "FileSystem");

	rgm->addResourceLocation(resourceLocation + "materials", "FileSystem");

	rgm->addResourceLocation(resourceLocation + "images", "FileSystem");

	rgm->addResourceLocation(resourceLocation + "gui", "FileSystem");

	rgm->addResourceLocation(resourceLocation + "other", "FileSystem");



	//Locate and set rendering system.  It prefers Direct3D9.

	Ogre::RenderSystemList* renderSystems = root->getAvailableRenderers(); 

	renderSystem = 0;

	for (Ogre::RenderSystemList::iterator it = renderSystems->begin(); it != renderSystems->end(); it++)

	{

		renderSystem = *it;

		if (renderSystem->getName() == "Direct3D9 Rendering Subsystem") break;

	}

	if (renderSystem == 0) std::cout << "Cannot locate Rendering Subsystem" << std::endl;

	root->setRenderSystem(renderSystem);



	//Configure the rendering system

	renderSystem->setConfigOption("Full Screen", "No");

	renderSystem->setConfigOption("VSync", "No");

	std::stringstream strVideoMode;

	strVideoMode << 1024 << " x " << 768 << " @ " << 32 << "-bit colour";

	renderSystem->setConfigOption("Video Mode", strVideoMode.str());



	//Create the visualization window

	window = root->initialise(true, "SIM");

	Ogre::TextureManager::getSingleton().setDefaultNumMipmaps(1);

	Ogre::MaterialManager::getSingleton().setDefaultTextureFiltering(Ogre::TFO_ANISOTROPIC);

	Ogre::MaterialManager::getSingleton().setDefaultAnisotropy(8); 

	Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();



	return;

}



/// Initialize OGRE for NxOgre physics visualization

/// Input:

///   void

/// Output:

///   void

void SimulationPhysics::initControls() 

{

	//Find the window	

	size_t window_handle;

	window->getCustomAttribute("WINDOW", &window_handle);

	std::ostringstream window_handle_string;

	window_handle_string << window_handle;

	

	//FIXME disable controls for now

	//OIS::ParamList ois_params;

	//ois_params.insert(std::make_pair(std::string("WINDOW"), window_handle_string.str()));

	//mInputManager = InputManager::createInputSystem(ois_params);

	//mKeyboard = static_cast<Keyboard*>(mInputManager->createInputObject( OISKeyboard, false ));

	//mMouse = static_cast<Mouse*>(mInputManager->createInputObject( OISMouse, false));



	return;

}



/// Initialize the scene NxOgre physics visualization

/// Input:

///   void

/// Output:

///   void

void SimulationPhysics::initScene() 

{

	//sceneManager creation

	sceneManager = root->createSceneManager(Ogre::ST_GENERIC, "SIM");

	

	//Create camera

	camera = sceneManager->createCamera("Camera");

	//Create viewport and associate with window

	viewport = window->addViewport(camera);

	viewport->setBackgroundColour(Ogre::ColourValue::Black);



	//Set Camera options

	camera->setAspectRatio(Ogre::Real(viewport->getActualWidth()) / Ogre::Real(viewport->getActualHeight()));

	camera->setPosition(12,12,12);

	camera->lookAt(0,1,0);

	camera->setNearClipDistance(0.05f);



	//Create light and set

	sceneManager->setAmbientLight(Ogre::ColourValue(0.8,0.8,0.8));

	light = sceneManager->createLight("Light");

	light->setType(Ogre::Light::LT_SPOTLIGHT);

	light->setPosition(50,20,50);

	light->setSpotlightRange(Ogre::Degree(30), Ogre::Degree(50));

	Ogre::Vector3 dir(-light->getPosition());

	dir.normalise();

	light->setDirection(dir);

	light->setDiffuseColour(0.35, 0.35, 0.35);

	light->setSpecularColour(0.9, 0.9, 0.9);



	//Set shadows

	sceneManager->setShadowTechnique(Ogre::SHADOWTYPE_TEXTURE_MODULATIVE);

	Ogre::ShadowCameraSetupPtr shadows(new Ogre::LiSPSMShadowCameraSetup());

	sceneManager->setShadowTexturePixelFormat(Ogre::PF_L8);

	sceneManager->setShadowTextureCasterMaterial(Ogre::StringUtil::BLANK);

	sceneManager->setShadowTextureReceiverMaterial(Ogre::StringUtil::BLANK);

	sceneManager->setShadowTextureSelfShadow(false);

	sceneManager->setShadowColour(Ogre::ColourValue(0.6, 0.6, 0.6));

	sceneManager->setShadowTextureSize(2048);

	sceneManager->setShadowFarDistance(72);

	sceneManager->setShadowCameraSetup(shadows);



	return;

}



/// Start the NxOgre physics

/// Input:

///   void

/// Output:

///   void

void SimulationPhysics::start() 

{

	//Create World and main scene

	NxOgre::PhysXParams params;

	params.mTimeController = NxOgre::PhysXParams::TC_PTR;

	params.mCustomTimeControllerPtr = time;

	world = new NxOgre::World(params);



	//attach PhysX driver to time controller

	time->physXDriver = world->getPhysXDriver();



	//Create physics scene

	scene = world->createScene("SIM","renderer: ogre, gravity: no, floor: no, controller: variable");



	//Add test object to the scene

	testBody = scene->createBody("Boo; cube.1m.mesh", new Cube(1), Vector3(0.5f, 0.5f, 0.5f), ActorParams("Mass: 10"));

	time->testBody = testBody;

}

"MyTimeController.h"



#include "NxOgreTimeController.h"



namespace NxOgre

{

	class PhysXDriver;

	class Body;

};



///Time controller class.  Used to control physics simulation.

class MyTimeController : public NxOgre::TimeController 

{

public:

	double currentTime;					///< Current simulation time

	double timeStep;					///< Length of the timestep

	NxOgre::PhysXDriver *physXDriver;			///< Stores the pointer to the physics simulator

	NxOgre::Body *testBody;

	

	MyTimeController();					///< Basic constructor

	MyTimeController(double ts);				///< Constructor with timestep specified

	MyTimeController(NxOgre::PhysXDriver *driver,double ts);///< Constructor to use with physics simulator

	~MyTimeController();					///< Basic destructor



	bool nextTimeStep();					///< Advance clock

};

"MyTimeController.cpp"



#include "NxOgreTimeController.h"

#include "NxOgrePhysXDriver.h"

#include "NxOgreBody.h"

#include "NxVec3.h"

#include "MyTimeController.h"





/// Basic constructor

/// Input:

///   void

/// Output:

///   void

MyTimeController::MyTimeController()

: currentTime(0)

, timeStep(0)

, physXDriver(0)

{}



/// Conmstructor with timestep initialization

/// Input:

///   ts: timestep length (seconds)

/// Output:

///   void

MyTimeController::MyTimeController(double ts)

: currentTime(0)

, timeStep(ts)

, physXDriver(0)

{}



/// Conmstructor with timestep initialization

/// Input:

///   ts: timestep length (seconds)

///   driver: PhysX driver

/// Output:

///   void

MyTimeController::MyTimeController(NxOgre::PhysXDriver *driver, double ts) 

: currentTime(0)

, timeStep(ts)

, physXDriver(driver)

{}



/// Basic destructor

/// Input:

///   void

/// Output:

///   void

MyTimeController::~MyTimeController()

{}



/// Advance the clock one timestep

/// Input:

///   void

/// Output:

///   void

bool MyTimeController::nextTimeStep() 

{

	currentTime += timeStep;



	testBody->moveTowards(NxVec3(0.5f*currentTime, 0.5f*currentTime, .5f*currentTime));

	physXDriver->simulate(timeStep);

	physXDriver->render(timeStep);

	return true;

}

The problem that I'm having is that this line hangs when MyTimeController::nextTimeStep() runs (timeStep = 1.0/60.0):



     physXDriver->simulate(timeStep);

I've run it in the debugger, and its getting stuck at the loop at line 115 of NxOgreSceneController:



while (!mNxScene->fetchResults(NX_RIGID_BODY_FINISHED,false))

   ;

Sorry for the long post. I would appreciate any and all help on how to proceed. Thanks.

betajaen

13-05-2008 20:22:52

It may be a bug with the VariableSceneController. Have you tried the accumulator with your code? If that works then the loop is causing the hanging.

CHICO

13-05-2008 20:31:28

It may be a bug with the VariableSceneController. Have you tried the accumulator with your code? If that works then the loop is causing the hanging.

No, I haven't tried that yet. I'll give it a go and post how it turns out.

CHICO

14-05-2008 23:10:32

It may be a bug with the VariableSceneController. Have you tried the accumulator with your code? If that works then the loop is causing the hanging.

No, I haven't tried that yet. I'll give it a go and post how it turns out.

Well, I tried using the accumulator, and it now hangs within the fetchResults() call on line 251 of NxOgreSceneController.cpp:



mNxScene->fetchResults(NX_RIGID_BODY_FINISHED, true);

I've run it in the PhysX debugger and this is what it looks like when my application hangs (I've added some more objects to the scene):

Whats weird is that it looks like its setting up the scene fine. Also, cake still works as intended, so I don't think I have a corrupted installation. You think there's maybe an issue with how I'm setting up my Scene or World parameters?

betajaen

15-05-2008 00:44:59

Very strange. The only concern I have is that the "time" variable may be uninitialized or the deltaTime injected is a weird number.

And this number:

namespace NxOgre

{

   class PhysXDriver;

   class Body;

};

Forward declaration is okay, but I would include NxOgre.h just in-case. If worse comes to worst, you can not use the TimeController, and just use simulate/render directly. Just set mTimeController to TC_NONE.