192 lines
10 KiB
C
192 lines
10 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 PXS_NPHASE_IMPLEMENTATION_CONTEXT_H
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#define PXS_NPHASE_IMPLEMENTATION_CONTEXT_H
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#include "PxvNphaseImplementationContext.h"
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#include "PxsContactManagerState.h"
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#include "PxcNpCache.h"
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#include "foundation/PxPinnedArray.h"
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class PxsCMDiscreteUpdateTask;
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namespace physx
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{
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struct PxsContactManagers : PxsContactManagerBase
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{
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PxArray<PxsContactManagerOutput> mOutputContactManagers;
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PxArray<PxsContactManager*> mContactManagerMapping;
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PxArray<Gu::Cache> mCaches;
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// PT: these buffers should be in pinned memory but may not be if pinned allocation failed.
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PxPinnedArraySafe<const Sc::ShapeInteraction*> mShapeInteractionsGPU;
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PxFloatArrayPinnedSafe mRestDistancesGPU;
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PxPinnedArraySafe<PxsTorsionalFrictionData> mTorsionalPropertiesGPU;
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PxsContactManagers(const PxU32 bucketId, PxVirtualAllocatorCallback* callback) : PxsContactManagerBase(bucketId),
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mOutputContactManagers ("mOutputContactManagers"),
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mContactManagerMapping ("mContactManagerMapping"),
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mCaches ("mCaches"),
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mShapeInteractionsGPU (callback),
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mRestDistancesGPU (callback),
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mTorsionalPropertiesGPU (callback)
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{
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}
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void clear()
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{
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mOutputContactManagers.forceSize_Unsafe(0);
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mContactManagerMapping.forceSize_Unsafe(0);
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mCaches.forceSize_Unsafe(0);
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mShapeInteractionsGPU.forceSize_Unsafe(0);
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mRestDistancesGPU.forceSize_Unsafe(0);
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mTorsionalPropertiesGPU.forceSize_Unsafe(0);
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}
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private:
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PX_NOCOPY(PxsContactManagers)
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};
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class PxsNphaseImplementationContext : public PxvNphaseImplementationFallback
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{
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PX_NOCOPY(PxsNphaseImplementationContext)
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public:
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PxsNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, PxVirtualAllocatorCallback* callback, PxU32 index, bool gpu) :
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PxvNphaseImplementationFallback (context),
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mNarrowPhasePairs (index, callback),
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mNewNarrowPhasePairs (index, callback),
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mModifyCallback (NULL),
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mIslandSim (islandSim),
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mGPU (gpu)
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{}
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// PxvNphaseImplementationContext
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virtual void destroy() PX_OVERRIDE PX_FINAL;
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virtual void updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation,
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PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShape) PX_OVERRIDE PX_FINAL;
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virtual void postBroadPhaseUpdateContactManager(PxBaseTask*) PX_OVERRIDE PX_FINAL {}
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virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
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virtual void fetchUpdateContactManager() PX_OVERRIDE PX_FINAL {}
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virtual void registerContactManager(PxsContactManager* cm, const Sc::ShapeInteraction* shapeInteraction, PxI32 touching, PxU32 numPatches) PX_OVERRIDE PX_FINAL;
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// virtual void registerContactManagers(PxsContactManager** cm, Sc::ShapeInteraction** shapeInteractions, PxU32 nbContactManagers, PxU32 maxContactManagerId);
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virtual void unregisterContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
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virtual void refreshContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
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virtual void registerShape(const PxNodeIndex& /*nodeIndex*/, const PxsShapeCore& /*shapeCore*/, const PxU32 /*transformCacheID*/, PxActor* /*actor*/, const bool /*isDeformableSurface*/) PX_OVERRIDE PX_FINAL {}
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virtual void unregisterShape(const PxsShapeCore& /*shapeCore*/, const PxU32 /*transformCacheID*/, const bool /*isDeformableSurface*/) PX_OVERRIDE PX_FINAL {}
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virtual void registerAggregate(const PxU32 /*transformCacheID*/) PX_OVERRIDE PX_FINAL {}
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virtual void registerMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void updateMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void unregisterMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void registerMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void updateMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void unregisterMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void registerMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void updateMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void unregisterMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void registerMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void updateMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void unregisterMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
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virtual void updateShapeMaterial(const PxsShapeCore&) PX_OVERRIDE PX_FINAL {}
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virtual void startNarrowPhaseTasks() PX_OVERRIDE PX_FINAL {}
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virtual void appendContactManagers() PX_OVERRIDE PX_FINAL;
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virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npIndex) PX_OVERRIDE PX_FINAL;
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virtual PxsContactManagerOutputIterator getContactManagerOutputs() PX_OVERRIDE PX_FINAL;
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virtual void setContactModifyCallback(PxContactModifyCallback* callback) PX_OVERRIDE PX_FINAL { mModifyCallback = callback; }
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virtual void acquireContext() PX_OVERRIDE PX_FINAL {}
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virtual void releaseContext() PX_OVERRIDE PX_FINAL {}
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virtual void preallocateNewBuffers(PxU32 /*nbNewPairs*/, PxU32 /*maxIndex*/) PX_OVERRIDE PX_FINAL { /*TODO - implement if it's useful to do so*/}
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virtual void lock() PX_OVERRIDE PX_FINAL { mContactManagerMutex.lock(); }
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virtual void unlock() PX_OVERRIDE PX_FINAL { mContactManagerMutex.unlock(); }
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virtual PxsContactManagerOutputCounts* getLostFoundPatchOutputCounts() PX_OVERRIDE PX_FINAL { return mGPU ? mCmFoundLostOutputCounts.begin() : NULL; }
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virtual PxsContactManager** getLostFoundPatchManagers() PX_OVERRIDE PX_FINAL { return mGPU ? mCmFoundLost.begin() : NULL; }
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virtual PxU32 getNbLostFoundPatchManagers() PX_OVERRIDE PX_FINAL { return mGPU ? mCmFoundLost.size() : 0; }
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virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() PX_OVERRIDE PX_FINAL { return NULL; }
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virtual PxReal* getGPURestDistances() PX_OVERRIDE PX_FINAL { return NULL; }
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virtual Sc::ShapeInteraction** getGPUShapeInteractions() PX_OVERRIDE PX_FINAL { return NULL; }
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virtual PxsTorsionalFrictionData* getGPUTorsionalData() PX_OVERRIDE PX_FINAL { return NULL; }
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//~PxvNphaseImplementationContext
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// PxvNphaseImplementationFallback
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virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
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virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
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virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
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virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
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virtual void appendContactManagersFallback(PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
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virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
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virtual const Sc::ShapeInteraction*const* getShapeInteractionsGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mShapeInteractionsGPU.begin(); }
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virtual const PxReal* getRestDistancesGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mRestDistancesGPU.begin(); }
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virtual const PxsTorsionalFrictionData* getTorsionalDataGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mTorsionalPropertiesGPU.begin(); }
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//~PxvNphaseImplementationFallback
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PxArray<PxU32> mRemovedContactManagers;
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PxsContactManagers mNarrowPhasePairs;
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PxsContactManagers mNewNarrowPhasePairs;
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PxContactModifyCallback* mModifyCallback;
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IG::IslandSim* mIslandSim;
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PxMutex mContactManagerMutex;
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PxArray<PxsCMDiscreteUpdateTask*> mCmTasks;
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PxArray<PxsContactManagerOutputCounts> mCmFoundLostOutputCounts;
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PxArray<PxsContactManager*> mCmFoundLost;
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const bool mGPU;
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private:
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void unregisterContactManagerInternal(PxU32 npIndex, PxsContactManagers& managers, PxsContactManagerOutput* cmOutputs);
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PX_FORCE_INLINE void unregisterAndForceSize(PxsContactManagers& cms, PxU32 index)
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{
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unregisterContactManagerInternal(index, cms, cms.mOutputContactManagers.begin());
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cms.mOutputContactManagers.forceSize_Unsafe(cms.mOutputContactManagers.size()-1);
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}
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void appendNewLostPairs();
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};
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}
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#endif
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