163 lines
8.5 KiB
C
163 lines
8.5 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PXG_JOINT_MANAGER_H
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#define PXG_JOINT_MANAGER_H
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#include "foundation/PxPinnedArray.h"
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#include "foundation/PxHashMap.h"
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#include "CmIDPool.h"
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#include "PxgD6JointData.h"
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#include "PxgConstraintPrep.h"
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#include "PxgConstraintIdMap.h"
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namespace physx
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{
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namespace IG
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{
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class IslandSim;
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class CPUExternalData;
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class GPUExternalData;
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}
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namespace Dy
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{
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struct Constraint;
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}
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struct PxgSolverConstraintManagerConstants;
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//This manager should separate the joint types because we just support D6Joint in the constaint pre-prepare code
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class PxgJointManager
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{
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public:
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typedef PxPinnedArray<PxgConstraintIdMapEntry> ConstraintIdMap;
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PxgJointManager(const PxVirtualAllocator& allocator, bool isDirectGpuApiEnabled);
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~PxgJointManager();
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void reserveMemory(PxU32 maxConstraintRows);
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void reserveMemoryPreAddRemove(); // reserveMemory() above can not be used because it gets called after
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// joints get added/removed during constraint partitioning
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void registerJoint(const Dy::Constraint& constraint);
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void removeJoint(PxU32 edgeIndex, PxArray<PxU32>& jointIndices, const IG::CPUExternalData& islandSimCpuData, const IG::GPUExternalData& islandSimGpuData);
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void addJoint( PxU32 edgeIndex, const Dy::Constraint* constraint, IG::IslandSim& islandSim, PxArray<PxU32>& jointIndices,
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PxPinnedArray<PxgSolverConstraintManagerConstants>& managerIter, PxU32 uniqueId);
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void updateJoint(PxU32 edgeIndex, const Dy::Constraint* constraint);
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void update(PxArray<PxU32>& jointOutputIndex);
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void reset();
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PxU32 getGpuNbRigidConstraints();
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PxU32 getGpuNbArtiConstraints();
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PxU32 getCpuNbRigidConstraints();
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PxU32 getCpuNbArtiConstraints();
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PxU32 getGpuNbActiveRigidConstraints();
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PxU32 getGpuNbActiveArtiConstraints();
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PX_FORCE_INLINE const PxArray<const Dy::Constraint*>& getCpuRigidConstraints() const { return mCpuRigidConstraints; }
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PX_FORCE_INLINE const PxArray<const Dy::Constraint*>& getCpuArtiConstraints() const { return mCpuArtiConstraints; }
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PX_FORCE_INLINE const PxInt32ArrayPinned& getDirtyGPURigidJointDataIndices() const { return mDirtyGPURigidJointDataIndices; }
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PX_FORCE_INLINE const PxInt32ArrayPinned& getDirtyGPUArtiJointDataIndices() const { return mDirtyGPUArtiJointDataIndices; }
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PX_FORCE_INLINE const PxPinnedArray<PxgD6JointData>& getGpuRigidJointData() const { return mGpuRigidJointData; }
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PX_FORCE_INLINE const PxPinnedArray<PxgD6JointData>& getGpuArtiJointData() const { return mGpuArtiJointData; }
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PX_FORCE_INLINE const PxPinnedArray<PxgConstraintPrePrep>& getGpuRigidJointPrePrep() const { return mGpuRigidJointPrePrep; }
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PX_FORCE_INLINE const PxPinnedArray<PxgConstraintPrePrep>& getGpuArtiJointPrePrep() const { return mGpuArtiJointPrePrep; }
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// PT: these ones are contained in this class but actually filled by external code, PxgJointManager doesn't touch them.(*)
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PX_FORCE_INLINE PxPinnedArray<PxgConstraintData>& getCpuRigidConstraintData() { return mCpuRigidConstraintData; }
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PX_FORCE_INLINE PxPinnedArray<PxgConstraintData>& getCpuArtiConstraintData() { return mCpuArtiConstraintData; }
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PX_FORCE_INLINE PxPinnedArray<Px1DConstraint>& getCpuRigidConstraintRows() { return mCpuRigidConstraintRows; }
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PX_FORCE_INLINE PxPinnedArray<Px1DConstraint>& getCpuArtiConstraintRows() { return mCpuArtiConstraintRows; }
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PX_FORCE_INLINE const ConstraintIdMap& getGpuConstraintIdMapHost() const { return mGpuConstraintIdMapHost; }
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PX_FORCE_INLINE bool getAndClearConstraintIdMapDirtyFlag()
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{
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const bool isDirty = mIsGpuConstraintIdMapDirty;
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mIsGpuConstraintIdMapDirty = false;
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return isDirty;
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}
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private:
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PxHashMap<PxU32, PxU32> mGpuRigidConstraintIndices;
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PxHashMap<PxU32, PxU32> mGpuArtiConstraintIndices;
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PxHashMap<PxU32, PxU32> mCpuRigidConstraintIndices;
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PxHashMap<PxU32, PxU32> mCpuArtiConstraintIndices;
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PxArray<const Dy::Constraint*> mCpuRigidConstraints;
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PxArray<const Dy::Constraint*> mCpuArtiConstraints;
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PxArray<PxU32> mCpuRigidUniqueIndex;
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PxArray<PxU32> mCpuArtiUniqueIndex;
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PxArray<PxU32> mCpuRigidConstraintEdgeIndices;
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PxArray<PxU32> mCpuArtiConstraintEdgeIndices;
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PxPinnedArray<PxgD6JointData> mGpuRigidJointData; // this is the input (PxgD6JointData) for rigid body we need to DMA to GPU so that GPU can fill in PxgConstraintData
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PxPinnedArray<PxgD6JointData> mGpuArtiJointData; // this is the input (PxgD6JointData) for articulation we need to DMA to GPU so that GPU can fill in PxgConstraintData
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PxPinnedArray<PxgConstraintPrePrep> mGpuRigidJointPrePrep; // this is the input (PxgConstraintPrePrep) for rigid body we need to DMA to GPU so that GPU can fill in PxgConstraintData
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PxPinnedArray<PxgConstraintPrePrep> mGpuArtiJointPrePrep; // this is the input (PxgConstraintPrePrep) for articulation we need to DMA to GPU so that GPU can fill in PxgConstraintData
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PxPinnedArray<PxgConstraintData> mCpuRigidConstraintData; // (*) this need to append to the GPU result (PxgConstraintData) after the first past pre-prepare code
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PxPinnedArray<Px1DConstraint> mCpuRigidConstraintRows; // (*) this need to append to the GPU result (Px1DConstraint) after the first past pre-prepare code
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PxPinnedArray<PxgConstraintData> mCpuArtiConstraintData; // (*) this need to append to the GPU result (PxgConstraintData) after the first past pre-prepare code
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PxPinnedArray<Px1DConstraint> mCpuArtiConstraintRows; // (*) this need to append to the GPU result (Px1DConstraint) after the first past pre-prepare code
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PxInt32ArrayPinned mDirtyGPURigidJointDataIndices; // the dirty list indices of PxgD6JointData
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PxInt32ArrayPinned mDirtyGPUArtiJointDataIndices; // the dirty list indices of PxgD6JointData
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ConstraintIdMap mGpuConstraintIdMapHost; // See PxgConstraintIdMapEntry for details. Only used when direct GPU API is enabled and
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// for joint/constraints that have the shader run on GPU.
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PxHashMap<PxU32, PxU32> mEdgeIndexToGpuConstraintIdMap; // Get from edge index to constraint ID. Only used when direct GPU API is
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// enabled and for joint/constraints that have the shader run on GPU.
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Cm::IDPool mGpuRigidJointDataIDPool; //each PxgD6JointData has an unique id. We can recycle the id when a joint has been removed from the joint manager
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Cm::IDPool mGpuArtiJointDataIDPool;
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public:
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// PT: not sure why these are here, it's computed by PxgGpuContext at the same time it fills the CPU constraint data (*)
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PxI32 mNbCpuRigidConstraintRows;
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PxI32 mNbCpuArtiConstraintRows;
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private:
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PxU32 mMaxConstraintId;
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// Tracks all-time highest constraint ID to reserve sufficient space for mGpuConstraintIdMapHost.
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bool mIsGpuConstraintIdMapDirty; // set to true when mGpuConstraintIdMapHost changed and needs to get sent to GPU
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const bool mIsDirectGpuApiEnabled;
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};
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}
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#endif
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