linux - Nvidia の PhysX 3.3 を Linux でリンクするにはどうすればよいですか?

Question

それで、Qt Creator で HelloWorldRender スニペットからコードをコンパイルしようとしています。私ができるようにしたいのは、デバッガーでコードをステップスルーして、それをいじって、その使用方法を理解できるようにすることです。

ただし、問題は、プロジェクトをビルドしようとすると大量のリンカーエラーが発生することです (最大エラーカウントが 1400 を超えています)。原因は、指定されているライブラリの順序によるものであるとほぼ確信しています。

重要なポイント

QMake に不慣れな方へ: これをコンパイルするために GCC が使用されていることに注意してください。QMake で指定されたリンカーの順序は、GCC と 1 対 1 です。
さまざまなリンク順序を試してみましたが、リスト内で特定のライブラリを繰り返すことさえ含むものもありました...エラーカウントを下げることができた最も近いものは約150です.
特に SDK の一部ではない、HelloWorldSnippet ( libRenderSnippetCHECKED.a) に必要な 1 つのライブラリは、問題なくコンパイルされており、ライブラリリストでリンクするように指定されています。
このプロジェクト情報 (リンクするライブラリ、定義するライブラリ) の多くは、このスニペットの Makefile を精査し、(明らかに) 自動生成されたコードの行を解読することから得られたものです。
人気のある API のように見えるにもかかわらず、PhysX のドキュメントは...まばらです。これを Linux 環境で実行する方法を実際に説明しているものをまだ見つけていません (公平を期すために、このリリースは約 2 か月前です)。
使用しているディストリビューションは Ubuntu 13.10 です。Optimus セットアップを使用して、x86_64 アーキテクチャでコンパイルします。

プロジェクトファイルに加えて、便宜上、変更されていない HelloWorld ファイルを含めました。

.pro ファイル

TEMPLATE = app
CONFIG += console
CONFIG -= app_bundle
CONFIG -= qt

SOURCES += main.cpp

INCLUDEPATH +=  /opt/PhysX/Include \
                /opt/PhysX/Include/characterkinematic \
                /opt/PhysX/Include/cloth \
                /opt/PhysX/Include/common \
                /opt/PhysX/Include/cooking \
                /opt/PhysX/Include/extensions \
                /opt/PhysX/Include/foundation \
                /opt/PhysX/Include/geometry \
                /opt/PhysX/Include/particles \
                /opt/PhysX/Include/physxprofilesdk \
                /opt/PhysX/Include/physxvisualdebuggersdk \
                /opt/PhysX/Include/pxtask   \
                /opt/PhysX/Include/vehicle  \
                /opt/PhysX/pvd \
                /opt/PhysX/Snippets/SnippetRender

DEFINES +=  PHYSX_PROFILE_SDK \
            RENDER_SNIPPET \
            NDEBUG \
            PX_CHECKED \
            PX_SUPPORT_VISUAL_DEBUGGER


LIBS += -L/opt/PhysX/Lib/linux64

LIBS += -lPvdRuntimeCHECKED \
        -lSimulationControllerCHECKED \
        -lSceneQueryCHECKED \
        -lLowLevelCHECKED \
        -lLowLevelClothCHECKED \
        -lSnippetRenderCHECKED \
        -lPhysX3CHECKED \
        -lPhysX3VehicleCHECKED \
        -lPhysX3CookingCHECKED \
        -lPhysX3ExtensionsCHECKED \
        -lPhysX3CharacterKinematicCHECKED \
        -lPhysXProfileSDKCHECKED \
        -lPhysXVisualDebuggerSDKCHECKED \
        -lPxTaskCHECKED \
        -lPhysX3CommonCHECKED \
        -lGL \
        -lGLU \
        -lglut \
        -lX11 \
        -lrt \
        -lpthread

SnippetHelloWorld.cpp

// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.


#define PVD_HOST "127.0.0.1"

// ****************************************************************************
// This snippet illustrates simple use of physx
//
// It creates a number of box stacks on a plane, and if rendering, allows the
// user to create new stacks and fire a ball from the camera position
// ****************************************************************************

#include "PxPhysicsAPI.h"
#include <ctype.h>

#if defined(PX_PS3)
#include "PS3Init.h"
#endif

using namespace physx;

PxDefaultAllocator      gAllocator;
PxDefaultErrorCallback  gErrorCallback;

PxFoundation*           gFoundation = NULL;
PxPhysics*              gPhysics    = NULL;

PxDefaultCpuDispatcher* gDispatcher = NULL;
PxScene*                gScene      = NULL;

PxMaterial*             gMaterial   = NULL;

PxVisualDebuggerConnection*
                        gConnection = NULL;

PxReal stackZ = 10.0f;

PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0))
{
    PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
    dynamic->setAngularDamping(0.5f);
    dynamic->setLinearVelocity(velocity);
    gScene->addActor(*dynamic);
    return dynamic;
}

void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
{
    PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
    for(PxU32 i=0; i<size;i++)
    {
        for(PxU32 j=0;j<size-i;j++)
        {
            PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
            PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
            body->attachShape(*shape);
            PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
            gScene->addActor(*body);
        }
    }
    shape->release();
}

void initPhysics(bool interactive)
{
    gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
    PxProfileZoneManager* profileZoneManager = &PxProfileZoneManager::createProfileZoneManager(gFoundation);
    gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,profileZoneManager);

    if(gPhysics->getPvdConnectionManager())
    {
        gPhysics->getVisualDebugger()->setVisualizeConstraints(true);
        gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONTACTS, true);
        gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_SCENEQUERIES, true);
        gConnection = PxVisualDebuggerExt::createConnection(gPhysics->getPvdConnectionManager(), PVD_HOST, 5425, 10);
    }

    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);

    gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);

    PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
    gScene->addActor(*groundPlane);

    for(PxU32 i=0;i<5;i++)
        createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);

    if(!interactive)
        createDynamic(PxTransform(PxVec3(0,40,100)), PxSphereGeometry(10), PxVec3(0,-50,-100));
}

void stepPhysics(bool interactive)
{
    PX_UNUSED(interactive)
    gScene->simulate(1.0f/60.0f);
    gScene->fetchResults(true);
}

void cleanupPhysics(bool interactive)
{
    PX_UNUSED(interactive)
    gScene->release();
    gDispatcher->release();
    PxProfileZoneManager* profileZoneManager = gPhysics->getProfileZoneManager();
    if(gConnection != NULL)
        gConnection->release();
    gPhysics->release();
    profileZoneManager->release();
    gFoundation->release();

    printf("SnippetHelloWorld done.\n");
}

void keyPress(const char key, const PxTransform& camera)
{
    switch(toupper(key))
    {
    case 'B':   createStack(PxTransform(PxVec3(0,0,stackZ-=10.0f)), 10, 2.0f);                      break;
    case ' ':   createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200);   break;
    }
}

#ifdef PX_XBOXONE
int main(Platform::Array<Platform::String^>^)
#else
int main(int, char**)
#endif
{
#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
}

SnippetHelloWorldRender.cpp

// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#ifdef RENDER_SNIPPET
#include "PxPhysicsAPI.h"

#ifndef _HAS_EXCEPTIONS
#define _HAS_EXCEPTIONS 0
#endif
#include <vector>
#include "SnippetRender.h"
#include "SnippetCamera.h"

using namespace physx;

extern void initPhysics(bool interactive);
extern void stepPhysics(bool interactive);
extern void cleanupPhysics(bool interactive);
extern void keyPress(const char key, const PxTransform& camera);

namespace
{
Snippets::Camera*   sCamera;

void motionCallback(int x, int y)
{
    sCamera->handleMotion(x, y);
}

void keyboardCallback(unsigned char key, int x, int y)
{
    if(key==27)
        exit(0);

    if(!sCamera->handleKey(key, x, y))
        keyPress(key, sCamera->getTransform());
}

void mouseCallback(int button, int state, int x, int y)
{
    sCamera->handleMouse(button, state, x, y);
}

void idleCallback()
{
    glutPostRedisplay();
}

void renderCallback()
{
    stepPhysics(true);

    Snippets::startRender(sCamera->getEye(), sCamera->getDir());

    PxScene* scene;
    PxGetPhysics().getScenes(&scene,1);
    PxU32 nbActors = scene->getNbActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC | PxActorTypeSelectionFlag::eRIGID_STATIC);
    if(nbActors)
    {
        std::vector<PxRigidActor*> actors(nbActors);
        scene->getActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC | PxActorTypeSelectionFlag::eRIGID_STATIC, (PxActor**)&actors[0], nbActors);
        Snippets::renderActors(&actors[0], (PxU32)actors.size(), true);
    }

    Snippets::finishRender();
}

void exitCallback(void)
{
    delete sCamera;
    cleanupPhysics(true);
}
}

void renderLoop()
{
    sCamera = new Snippets::Camera(PxVec3(50.0f, 50.0f, 50.0f), PxVec3(-0.6f,-0.2f,-0.7f));

    Snippets::setupDefaultWindow("PhysX Snippet HelloWorld");
    Snippets::setupDefaultRenderState();

    glutIdleFunc(idleCallback);
    glutDisplayFunc(renderCallback);
    glutKeyboardFunc(keyboardCallback);
    glutMouseFunc(mouseCallback);
    glutMotionFunc(motionCallback);
    motionCallback(0,0);

    atexit(exitCallback);

    initPhysics(true);
    glutMainLoop();
}
#endif

linux - Nvidia の PhysX 3.3 を Linux でリンクするにはどうすればよいですか?

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