430 lines
23 KiB
C
430 lines
23 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_SIMULATION_CONTROLLER_H
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#define PXS_SIMULATION_CONTROLLER_H
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#include "PxDirectGPUAPI.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxBitMap.h"
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#include "foundation/PxPinnedArray.h"
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#include "foundation/PxUserAllocated.h"
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#include "PxScene.h"
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#include "PxParticleSystem.h"
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#include "PxArticulationTendonData.h"
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#include "PxNodeIndex.h"
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namespace physx
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{
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namespace Dy
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{
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class Context;
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struct Constraint;
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class FeatherstoneArticulation;
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struct ArticulationJointCore;
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class ParticleSystemCore;
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class ParticleSystem;
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#if PX_SUPPORT_GPU_PHYSX
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class DeformableSurface;
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class DeformableVolume;
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#endif
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}
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namespace Bp
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{
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class BoundsArray;
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class BroadPhase;
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class AABBManagerBase;
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}
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namespace IG
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{
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class IslandSim;
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}
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namespace Sc
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{
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class BodySim;
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class ShapeSimBase;
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}
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class PxsTransformCache;
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class PxvNphaseImplementationContext;
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class PxBaseTask;
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class PxsContext;
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class PxsRigidBody;
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class PxsKernelWranglerManager;
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class PxsHeapMemoryAllocatorManager;
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class PxgParticleSystemCore;
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struct PxConeLimitedConstraint;
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struct PxsShapeCore;
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class PxPhysXGpu;
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struct PxgSolverConstraintManagerConstants;
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struct PxsExternalAccelerationProvider;
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class PxsSimulationControllerCallback : public PxUserAllocated
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{
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public:
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virtual void updateScBodyAndShapeSim(PxBaseTask* continuation) = 0;
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virtual PxU32 getNbCcdBodies() = 0;
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virtual ~PxsSimulationControllerCallback() {}
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};
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#if PX_SUPPORT_OMNI_PVD
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class PxsSimulationControllerOVDCallbacks : public PxUserAllocated
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{
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public:
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virtual void processRigidDynamicSet(const PxsRigidBody* const * rigids, const void* dataVec, const PxRigidDynamicGPUIndex* gpuIndices, PxRigidDynamicGPUAPIWriteType::Enum dataType, PxU32 nbElements) = 0;
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virtual void processArticulationSet(const Dy::FeatherstoneArticulation* const * simBodyVec, const void* dataVec, const PxArticulationGPUIndex* indexVec, PxArticulationGPUAPIWriteType::Enum dataType, PxU32 nbElements,
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PxU32 maxLinks, PxU32 maxDofs, PxU32 maxFixedTendons, PxU32 maxTendonJoints, PxU32 maxSpatialTendons, PxU32 maxSpatialTendonAttachments) = 0;
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// Returns the number of elements in a data block as well as the size of the datablock, see PxArticulationGPUAPIWriteType::Enum for where the sizes etc are derived
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PX_FORCE_INLINE void getArticulationDataElements(PxArticulationGPUAPIWriteType::Enum dataType, PxU32 maxLinks, PxU32 maxDofs, PxU32 maxFixedTendons, PxU32 maxTendonJoints, PxU32 maxSpatialTendons, PxU32 maxSpatialTendonAttachments,
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PxU32& nbSubElements, PxU32& blockSize) const;
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virtual ~PxsSimulationControllerOVDCallbacks() {}
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};
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#endif
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class PxsSimulationController : public PxUserAllocated
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{
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public:
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PxsSimulationController(PxsSimulationControllerCallback* callback, PxIntBool gpu) : mCallback(callback), mGPU(gpu) {}
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virtual ~PxsSimulationController(){}
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virtual void addPxgShape(Sc::ShapeSimBase* /*shapeSimBase*/, const PxsShapeCore* /*shapeCore*/, PxNodeIndex /*nodeIndex*/, PxU32 /*index*/){}
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virtual void setPxgShapeBodyNodeIndex(PxNodeIndex /*nodeIndex*/, PxU32 /*index*/) {}
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virtual void removePxgShape(PxU32 /*index*/){}
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virtual void addDynamic(PxsRigidBody* /*rigidBody*/, const PxNodeIndex& /*nodeIndex*/){}
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virtual void addDynamics(PxsRigidBody** /*rigidBody*/, const PxU32* /*nodeIndex*/, PxU32 /*nbBodies*/) {}
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virtual void addArticulation(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void releaseArticulation(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void releaseDeferredArticulationIds() {}
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#if PX_SUPPORT_GPU_PHYSX
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virtual void addSoftBody(Dy::DeformableVolume* /*deformableVolume*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void releaseSoftBody(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void releaseDeferredSoftBodyIds() {}
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virtual void activateSoftbody(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void deactivateSoftbody(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void activateSoftbodySelfCollision(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void deactivateSoftbodySelfCollision(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void setSoftBodyWakeCounter(Dy::DeformableVolume* /*deformableVolume*/) {}
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virtual void addParticleFilter(Dy::DeformableVolume* /*deformableVolume*/, Dy::ParticleSystem* /*particleSystem*/,
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PxU32 /*particleId*/, PxU32 /*userBufferId*/, PxU32 /*tetId*/) {}
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virtual void removeParticleFilter(Dy::DeformableVolume* /*deformableVolume*/,
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const Dy::ParticleSystem* /*particleSystem*/, PxU32 /*particleId*/, PxU32 /*userBufferId*/, PxU32 /*tetId*/) {}
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virtual PxU32 addParticleAttachment(Dy::DeformableVolume* /*deformableVolume*/, const Dy::ParticleSystem* /*particleSystem*/,
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PxU32 /*particleId*/, PxU32 /*userBufferId*/, PxU32 /*tetId*/, const PxVec4& /*barycentrics*/, const bool /*isActive*/) { return 0; }
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virtual void removeParticleAttachment(Dy::DeformableVolume* /*deformableVolume*/, PxU32 /*handle*/) {}
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virtual void addRigidFilter(Dy::DeformableVolume* /*deformableVolume*/, const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*vertIndex*/) {}
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virtual void removeRigidFilter(Dy::DeformableVolume* /*deformableVolume*/,
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const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*vertIndex*/) {}
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virtual PxU32 addRigidAttachment(Dy::DeformableVolume* /*deformableVolume*/, const PxNodeIndex& /*softBodyNodeIndex*/,
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PxsRigidBody* /*rigidBody*/, const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*vertIndex*/, const PxVec3& /*actorSpacePose*/,
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PxConeLimitedConstraint* /*constraint*/, const bool /*isActive*/, bool /*doConversion*/) { return 0; }
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virtual void removeRigidAttachment(Dy::DeformableVolume* /*deformableVolume*/, PxU32 /*handle*/) {}
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virtual void addTetRigidFilter(Dy::DeformableVolume* /*deformableVolume*/,
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const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*tetId*/) {}
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virtual PxU32 addTetRigidAttachment(Dy::DeformableVolume* /*deformableVolume*/,
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PxsRigidBody* /*rigidBody*/, const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*tetIdx*/,
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const PxVec4& /*barycentrics*/, const PxVec3& /*actorSpacePose*/, PxConeLimitedConstraint* /*constraint*/,
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const bool /*isActive*/, bool /*doConversion*/) { return 0; }
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virtual void removeTetRigidFilter(Dy::DeformableVolume* /*deformableVolume*/,
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const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*tetId*/) {}
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virtual void addSoftBodyFilter(Dy::DeformableVolume* /*deformableVolume0*/, Dy::DeformableVolume* /*deformableVolume1*/, PxU32 /*tetIdx0*/,
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PxU32 /*tetIdx1*/) {}
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virtual void removeSoftBodyFilter(Dy::DeformableVolume* /*deformableVolume0*/, Dy::DeformableVolume* /*deformableVolume1*/, PxU32 /*tetIdx0*/,
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PxU32 /*tetId1*/) {}
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virtual void addSoftBodyFilters(Dy::DeformableVolume* /*deformableVolume0*/, Dy::DeformableVolume* /*deformableVolume1*/, PxU32* /*tetIndices0*/, PxU32* /*tetIndices1*/,
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PxU32 /*tetIndicesSize*/) {}
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virtual void removeSoftBodyFilters(Dy::DeformableVolume* /*deformableVolume0*/, Dy::DeformableVolume* /*deformableVolume1*/, PxU32* /*tetIndices0*/, PxU32* /*tetIndices1*/,
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PxU32 /*tetIndicesSize*/) {}
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virtual PxU32 addSoftBodyAttachment(Dy::DeformableVolume* /*deformableVolume0*/, Dy::DeformableVolume* /*deformableVolume1*/, PxU32 /*tetIdx0*/, PxU32 /*tetIdx1*/,
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const PxVec4& /*tetBarycentric0*/, const PxVec4& /*tetBarycentric1*/,
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PxConeLimitedConstraint* /*constraint*/, PxReal /*constraintOffset*/, const bool /*isActive*/, bool /*doConversion*/) { return 0; }
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virtual void removeSoftBodyAttachment(Dy::DeformableVolume* /*deformableVolume0*/, PxU32 /*handle*/) {}
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virtual void addClothFilter(Dy::DeformableVolume* /*deformableVolume*/, Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*triIdx*/, PxU32 /*tetIdx*/) {}
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virtual void removeClothFilter(Dy::DeformableVolume* /*deformableVolume*/, Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*triIdx*/, PxU32 /*tetIdx*/) {}
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virtual void addVertClothFilter(Dy::DeformableVolume* /*deformableVolume*/, Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*vertIdx*/, PxU32 /*tetIdx*/) {}
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virtual void removeVertClothFilter(Dy::DeformableVolume* /*deformableVolume*/, Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*vertIdx*/, PxU32 /*tetIdx*/) {}
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virtual PxU32 addClothAttachment(Dy::DeformableVolume* /*deformableVolume*/, Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*triIdx*/,
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const PxVec4& /*triBarycentric*/, PxU32 /*tetIdx*/, const PxVec4& /*tetBarycentric*/,
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PxConeLimitedConstraint* /*constraint*/, PxReal /*constraintOffset*/,
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const bool /*isActive*/, bool /*doConversion*/) { return 0; }
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virtual void removeClothAttachment(Dy::DeformableVolume* /*deformableVolume*/,PxU32 /*handle*/) {}
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virtual void addFEMCloth(Dy::DeformableSurface*, const PxNodeIndex&) {}
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virtual void releaseFEMCloth(Dy::DeformableSurface*) {}
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virtual void releaseDeferredFEMClothIds() {}
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virtual void activateCloth(Dy::DeformableSurface*) {}
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virtual void deactivateCloth(Dy::DeformableSurface*) {}
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virtual void setClothWakeCounter(Dy::DeformableSurface*) {}
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virtual PxU32 addRigidAttachment(Dy::DeformableSurface* /*cloth*/, const PxNodeIndex& /*clothNodeIndex*/,
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PxsRigidBody* /*rigidBody*/, const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*vertIndex*/, const PxVec3& /*actorSpacePose*/,
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PxConeLimitedConstraint* /*constraint*/, const bool /*isActive*/) { return 0; }
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virtual void removeRigidAttachment(Dy::DeformableSurface* /*cloth*/, PxU32 /*handle*/) {}
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virtual void addTriRigidFilter(Dy::DeformableSurface* /*deformableSurface*/,
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const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*triIdx*/) {}
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virtual void removeTriRigidFilter(Dy::DeformableSurface* /*deformableSurface*/,
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const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*triIdx*/) {}
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virtual PxU32 addTriRigidAttachment(Dy::DeformableSurface* /*deformableSurface*/,
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PxsRigidBody* /*rigidBody*/, const PxNodeIndex& /*rigidNodeIndex*/, PxU32 /*triIdx*/, const PxVec4& /*barycentrics*/,
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const PxVec3& /*actorSpacePose*/, PxConeLimitedConstraint* /*constraint*/,
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const bool /*isActive*/) { return 0; }
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virtual void removeTriRigidAttachment(Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*handle*/) {}
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virtual void addClothFilter(Dy::DeformableSurface* /*deformableSurface0*/, Dy::DeformableSurface* /*deformableSurface1*/, PxU32 /*triIdx0*/, PxU32 /*triIdx1*/) {}
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virtual void removeClothFilter(Dy::DeformableSurface* /*deformableSurface0*/, Dy::DeformableSurface* /*deformableSurface1*/, PxU32 /*triIdx0*/, PxU32 /*triIdx1*/) {}
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virtual PxU32 addTriClothAttachment(Dy::DeformableSurface* /*deformableSurface0*/, Dy::DeformableSurface* /*deformableSurface1*/, PxU32 /*triIdx0*/, PxU32 /*triIdx1*/,
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const PxVec4& /*triBarycentric0*/, const PxVec4& /*triBarycentric1*/, const bool /*addToActive*/) { return 0; }
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virtual void removeTriClothAttachment(Dy::DeformableSurface* /*deformableSurface*/, PxU32 /*handle*/) {}
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virtual void addParticleSystem(Dy::ParticleSystem* /*particleSystem*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void releaseParticleSystem(Dy::ParticleSystem* /*particleSystem*/) {}
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virtual void releaseDeferredParticleSystemIds() {}
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#endif
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virtual void setEnableOVDReadback(bool) {}
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virtual bool getEnableOVDReadback() const { return false; }
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virtual void setEnableOVDCollisionReadback(bool) {}
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virtual bool getEnableOVDCollisionReadback() const { return false; }
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#if PX_SUPPORT_OMNI_PVD
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virtual void setOVDCallbacks(PxsSimulationControllerOVDCallbacks& /*ovdCallbacks*/) {}
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#endif
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virtual void updateDynamic(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void addJoint(const Dy::Constraint&) {}
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virtual void updateJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/){}
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virtual void updateBodies(PxsRigidBody** /*rigidBodies*/, PxU32* /*nodeIndices*/, const PxU32 /*nbBodies*/, PxsExternalAccelerationProvider* /*externalAccelerations*/) {}
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// virtual void updateBody(PxsRigidBody* /*rigidBody*/, const PxU32 /*nodeIndex*/) {}
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virtual void updateBodies(PxBaseTask* /*continuation*/){}
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virtual void updateShapes(PxBaseTask* /*continuation*/) {}
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virtual void preIntegrateAndUpdateBound(PxBaseTask* /*continuation*/, const PxVec3 /*gravity*/, const PxReal /*dt*/){}
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virtual void updateParticleSystemsAndSoftBodies(){}
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virtual void sortContacts(){}
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virtual void update(PxBitMapPinned& /*changedHandleMap*/){}
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virtual void updateArticulation(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void updateArticulationJoint(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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// virtual void updateArticulationTendon(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void updateArticulationExtAccel(Dy::FeatherstoneArticulation* /*articulation*/, const PxNodeIndex& /*nodeIndex*/) {}
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virtual void updateArticulationAfterIntegration(PxsContext* /*llContext*/, Bp::AABBManagerBase* /*aabbManager*/,
|
||
|
|
PxArray<Sc::BodySim*>& /*ccdBodies*/, PxBaseTask* /*continuation*/, IG::IslandSim& /*islandSim*/, float /*dt*/) {}
|
||
|
|
|
||
|
|
virtual void mergeChangedAABBMgHandle() {}
|
||
|
|
virtual void gpuDmabackData(PxsTransformCache& /*cache*/, Bp::BoundsArray& /*boundArray*/, PxBitMapPinned& /*changedAABBMgrHandles*/, bool /*enableDirectGPUAPI*/){}
|
||
|
|
virtual void updateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation) = 0;
|
||
|
|
virtual PxU32* getActiveBodies() { return NULL; }
|
||
|
|
virtual PxU32* getDeactiveBodies() { return NULL; }
|
||
|
|
virtual void** getRigidBodies() { return NULL; }
|
||
|
|
virtual PxU32 getNbBodies() { return 0; }
|
||
|
|
|
||
|
|
virtual PxU32* getUnfrozenShapes() { return NULL; }
|
||
|
|
virtual PxU32* getFrozenShapes() { return NULL; }
|
||
|
|
virtual Sc::ShapeSimBase** getShapeSims() { return NULL; }
|
||
|
|
virtual PxU32 getNbFrozenShapes() { return 0; }
|
||
|
|
virtual PxU32 getNbUnfrozenShapes() { return 0; }
|
||
|
|
virtual PxU32 getNbShapes() { return 0; }
|
||
|
|
|
||
|
|
virtual void clear() { }
|
||
|
|
virtual void setBounds(Bp::BoundsArray* /*boundArray*/){}
|
||
|
|
virtual void reserve(const PxU32 /*nbBodies*/) {}
|
||
|
|
|
||
|
|
virtual PxU32 getArticulationRemapIndex(const PxU32 /*nodeIndex*/) { return PX_INVALID_U32;}
|
||
|
|
|
||
|
|
//KS - the methods below here should probably be wrapped in if PX_SUPPORT_GPU_PHYSX
|
||
|
|
// PT: isn't the whole class only needed for GPU anyway?
|
||
|
|
// AD: Yes.
|
||
|
|
|
||
|
|
virtual void setDeformableSurfaceGpuPostSolveCallback(PxPostSolveCallback* /*postSolveCallback*/) { }
|
||
|
|
virtual void setDeformableVolumeGpuPostSolveCallback(PxPostSolveCallback* /*postSolveCallback*/) { }
|
||
|
|
|
||
|
|
// NEW DIRECT-GPU API
|
||
|
|
|
||
|
|
virtual bool getRigidDynamicData(void* /*data*/, const PxRigidDynamicGPUIndex* /*gpuIndices*/, PxRigidDynamicGPUAPIReadType::Enum /*dataType*/, PxU32 /*nbElements*/, float /*oneOverDt*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) const { return false; }
|
||
|
|
virtual bool setRigidDynamicData(const void* /*data*/, const PxRigidDynamicGPUIndex* /*gpuIndices*/, PxRigidDynamicGPUAPIWriteType::Enum /*dataType*/, PxU32 /*nbElements*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) { return false; }
|
||
|
|
|
||
|
|
virtual bool getArticulationData(void* /*data*/, const PxArticulationGPUIndex* /*gpuIndices*/, PxArticulationGPUAPIReadType::Enum /*dataType*/, PxU32 /*nbElements*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) const { return false; }
|
||
|
|
virtual bool setArticulationData(const void* /*data*/, const PxArticulationGPUIndex* /*gpuIndices*/, PxArticulationGPUAPIWriteType::Enum /*dataType*/, PxU32 /*nbElements*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) { return false; }
|
||
|
|
virtual bool computeArticulationData(void* /*data*/, const PxArticulationGPUIndex* /*gpuIndices*/, PxArticulationGPUAPIComputeType::Enum /*operation*/, PxU32 /*nbElements*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) { return false; }
|
||
|
|
|
||
|
|
virtual bool evaluateSDFDistances(PxVec4* /*localGradientAndSDFConcatenated*/, const PxShapeGPUIndex* /*shapeIndices*/, const PxVec4* /*localSamplePointsConcatenated*/, const PxU32* /*samplePointCountPerShape*/, PxU32 /*nbElements*/, PxU32 /*maxPointCount*/, CUevent /*startEvent = NULL*/, CUevent /*finishEvent = NULL*/) { return false; }
|
||
|
|
virtual bool copyContactData(void* /*data*/, PxU32* /*numContactPairs*/, const PxU32 /*maxContactPairs*/, CUevent /*startEvent*/, CUevent /*copyEvent*/) { return false; }
|
||
|
|
|
||
|
|
virtual PxArticulationGPUAPIMaxCounts getArticulationGPUAPIMaxCounts() const { return PxArticulationGPUAPIMaxCounts(); }
|
||
|
|
|
||
|
|
virtual bool getD6JointData(void* /*data*/, const PxD6JointGPUIndex* /*gpuIndices*/, PxD6JointGPUAPIReadType::Enum /*dataType*/, PxU32 /*nbElements*/, PxF32 /*oneOverDt*/, CUevent /*startEvent*/, CUevent /*finishEvent*/) const { return false; }
|
||
|
|
|
||
|
|
// END NEW DIRECT-GPU API
|
||
|
|
|
||
|
|
// DEPRECATED DIRECT-GPU API
|
||
|
|
|
||
|
|
PX_DEPRECATED virtual void copySoftBodyDataDEPRECATED(void** /*data*/, void* /*dataSizes*/, void* /*softBodyIndices*/, PxSoftBodyGpuDataFlag::Enum /*flag*/, const PxU32 /*nbCopySoftBodies*/, const PxU32 /*maxSize*/, CUevent /*copyEvent*/) {}
|
||
|
|
PX_DEPRECATED virtual void applySoftBodyDataDEPRECATED(void** /*data*/, void* /*dataSizes*/, void* /*softBodyIndices*/, PxSoftBodyGpuDataFlag::Enum /*flag*/, const PxU32 /*nbUpdatedSoftBodies*/, const PxU32 /*maxSize*/, CUevent /*applyEvent*/, CUevent /*signalEvent*/) {}
|
||
|
|
PX_DEPRECATED virtual void applyParticleBufferDataDEPRECATED(const PxU32* /*indices*/, const PxGpuParticleBufferIndexPair* /*indexPairs*/, const PxParticleBufferFlags* /*flags*/, PxU32 /*nbUpdatedBuffers*/, CUevent /*waitEvent*/, CUevent /*signalEvent*/) {}
|
||
|
|
|
||
|
|
// END DEPRECATED DIRECT-GPU API
|
||
|
|
|
||
|
|
virtual PxU32 getInternalShapeIndex(const PxsShapeCore& /*shapeCore*/) { return PX_INVALID_U32; }
|
||
|
|
|
||
|
|
virtual void syncParticleData() {}
|
||
|
|
|
||
|
|
virtual void updateBoundsAndShapes(Bp::AABBManagerBase& /*aabbManager*/, bool /*useDirectApi*/){}
|
||
|
|
|
||
|
|
#if PX_SUPPORT_GPU_PHYSX
|
||
|
|
virtual PxU32 getNbDeactivatedDeformableSurfaces() const { return 0; }
|
||
|
|
virtual PxU32 getNbActivatedDeformableSurfaces() const { return 0; }
|
||
|
|
|
||
|
|
virtual Dy::DeformableSurface** getDeactivatedDeformableSurfaces() const { return NULL; }
|
||
|
|
virtual Dy::DeformableSurface** getActivatedDeformableSurfaces() const { return NULL; }
|
||
|
|
|
||
|
|
virtual PxU32 getNbDeactivatedDeformableVolumes() const { return 0; }
|
||
|
|
virtual PxU32 getNbActivatedDeformableVolumes() const { return 0; }
|
||
|
|
|
||
|
|
virtual Dy::DeformableVolume** getDeactivatedDeformableVolumes() const { return NULL; }
|
||
|
|
virtual Dy::DeformableVolume** getActivatedDeformableVolumes() const { return NULL; }
|
||
|
|
|
||
|
|
virtual const PxReal* getDeformableVolumeWakeCounters() const { return NULL; }
|
||
|
|
|
||
|
|
virtual bool hasDeformableSurfaces() const { return false; }
|
||
|
|
virtual bool hasDeformableVolumes() const { return false; }
|
||
|
|
#endif
|
||
|
|
|
||
|
|
protected:
|
||
|
|
PxsSimulationControllerCallback* mCallback;
|
||
|
|
public:
|
||
|
|
const PxIntBool mGPU; // PT: true for GPU version, used to quickly skip calls for CPU version
|
||
|
|
};
|
||
|
|
|
||
|
|
#if PX_SUPPORT_OMNI_PVD
|
||
|
|
PX_FORCE_INLINE void PxsSimulationControllerOVDCallbacks::getArticulationDataElements(PxArticulationGPUAPIWriteType::Enum dataType, PxU32 maxLinks, PxU32 maxDofs, PxU32 maxFixedTendons, PxU32 maxTendonJoints, PxU32 maxSpatialTendons, PxU32 maxSpatialTendonAttachments,
|
||
|
|
PxU32& nbSubElements, PxU32& blockSize) const
|
||
|
|
{
|
||
|
|
PxU32 singleSubElementSize = 0;
|
||
|
|
switch(dataType)
|
||
|
|
{
|
||
|
|
case PxArticulationGPUAPIWriteType::eJOINT_POSITION:
|
||
|
|
case PxArticulationGPUAPIWriteType::eJOINT_VELOCITY:
|
||
|
|
case PxArticulationGPUAPIWriteType::eJOINT_FORCE:
|
||
|
|
case PxArticulationGPUAPIWriteType::eJOINT_TARGET_VELOCITY:
|
||
|
|
case PxArticulationGPUAPIWriteType::eJOINT_TARGET_POSITION:
|
||
|
|
{
|
||
|
|
nbSubElements = maxDofs;
|
||
|
|
singleSubElementSize = sizeof(PxReal);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eROOT_GLOBAL_POSE:
|
||
|
|
{
|
||
|
|
nbSubElements = 1;
|
||
|
|
singleSubElementSize = sizeof(PxTransform);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eROOT_LINEAR_VELOCITY:
|
||
|
|
case PxArticulationGPUAPIWriteType::eROOT_ANGULAR_VELOCITY:
|
||
|
|
{
|
||
|
|
nbSubElements = 1;
|
||
|
|
singleSubElementSize = sizeof(PxVec3);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eLINK_FORCE:
|
||
|
|
case PxArticulationGPUAPIWriteType::eLINK_TORQUE:
|
||
|
|
{
|
||
|
|
nbSubElements = maxLinks;
|
||
|
|
singleSubElementSize = sizeof(PxVec3);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eFIXED_TENDON:
|
||
|
|
{
|
||
|
|
nbSubElements = maxFixedTendons;
|
||
|
|
singleSubElementSize = sizeof(PxGpuFixedTendonData);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eFIXED_TENDON_JOINT:
|
||
|
|
{
|
||
|
|
nbSubElements = maxFixedTendons * maxTendonJoints;
|
||
|
|
singleSubElementSize = sizeof(PxGpuTendonJointCoefficientData);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eSPATIAL_TENDON:
|
||
|
|
{
|
||
|
|
nbSubElements = maxSpatialTendons;
|
||
|
|
singleSubElementSize = sizeof(PxGpuSpatialTendonData);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
case PxArticulationGPUAPIWriteType::eSPATIAL_TENDON_ATTACHMENT:
|
||
|
|
{
|
||
|
|
nbSubElements = maxSpatialTendons * maxSpatialTendonAttachments;
|
||
|
|
singleSubElementSize = sizeof(PxGpuTendonAttachmentData);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
default:
|
||
|
|
PX_ALWAYS_ASSERT();
|
||
|
|
nbSubElements = 0;
|
||
|
|
singleSubElementSize = 0;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
blockSize = singleSubElementSize * nbSubElements;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|