220 lines
8.2 KiB
C++
220 lines
8.2 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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#include "PxgShapeSimManager.h"
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#include "PxgHeapMemAllocator.h"
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#include "PxgNarrowphaseCore.h"
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#include "GuBounds.h"
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#include "CmTask.h"
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#include "CmFlushPool.h"
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#include "PxgSimulationCoreDesc.h"
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#include "PxgCudaMemoryAllocator.h"
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#include "cudamanager/PxCudaContext.h"
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#include "CudaKernelWrangler.h"
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#include "PxgKernelIndices.h"
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#include "PxgSimulationCoreKernelIndices.h"
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#define SSM_GPU_DEBUG 0
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using namespace physx;
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PxgShapeSimManager::PxgShapeSimManager(PxgHeapMemoryAllocatorManager* heapMemoryManager) :
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mTotalNumShapes (0),
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mNbTotalShapeSim (0),
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mPxgShapeSimPool (PxVirtualAllocator(heapMemoryManager->mMappedMemoryAllocators)),
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mShapeSimBuffer (heapMemoryManager, PxsHeapStats::eSIMULATION),
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mNewShapeSimBuffer (heapMemoryManager, PxsHeapStats::eSIMULATION)
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{
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}
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void PxgShapeSimManager::addPxgShape(Sc::ShapeSimBase* shapeSimBase, const PxsShapeCore* shapeCore, PxNodeIndex nodeIndex, PxU32 index)
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{
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if(mShapeSims.capacity() <= index)
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{
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mShapeSims.resize(2*index+1);
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mShapeSimPtrs.resize(2*index+1);
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}
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mShapeSims[index].mShapeCore = shapeCore;
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mShapeSims[index].mElementIndex_GPU = index;
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mShapeSims[index].mBodySimIndex_GPU = nodeIndex;
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mShapeSimPtrs[index] = shapeSimBase;
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mNewShapeSims.pushBack(index);
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mTotalNumShapes = PxMax(mTotalNumShapes, index+1);
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}
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// This method assigns the bodySimIndex for articulation links because the nodeIndex is not available for articulation links
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// until after creation, when they are inserted into the articulation and receive their node index.
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void PxgShapeSimManager::setPxgShapeBodyNodeIndex(PxNodeIndex nodeIndex, PxU32 index)
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{
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mShapeSims[index].mBodySimIndex_GPU = nodeIndex;
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}
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void PxgShapeSimManager::removePxgShape(PxU32 index)
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{
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mShapeSims[index].mBodySimIndex_GPU = PxNodeIndex(PX_INVALID_NODE);
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mShapeSims[index].mElementIndex_GPU = PX_INVALID_U32;
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mShapeSimPtrs[index] = NULL;
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mNewShapeSims.pushBack(index);
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}
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namespace physx // PT: only in physx namespace for the friend access to work
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{
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class PxgCopyToShapeSimTask : public Cm::Task
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{
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PxgShapeSimManager* mShapeSimManager;
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PxgGpuNarrowphaseCore* mNpCore;
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const PxU32 mStartIndex;
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const PxU32 mNbToProcess;
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public:
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PxgCopyToShapeSimTask(PxgShapeSimManager* shapeSimManager, PxgGpuNarrowphaseCore* npCore, PxU32 startIdx, PxU32 nbToProcess) :
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Cm::Task (0), // PT: TODO: add missing context ID ... but then again it's missing from most of the GPU code anyway
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mShapeSimManager (shapeSimManager),
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mNpCore (npCore),
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mStartIndex (startIdx),
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mNbToProcess (nbToProcess)
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{
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}
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virtual void runInternal()
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{
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PxgNewShapeSim* dst = mShapeSimManager->mPxgShapeSimPool.begin();
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const PxU32* newShapeSimsIndices = mShapeSimManager->mNewShapeSims.begin();
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const PxgShapeSimData* src = mShapeSimManager->mShapeSims.begin();
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PxgGpuNarrowphaseCore* npCore = mNpCore;
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const PxU32 shapeStartIndex = mStartIndex;
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const PxU32 endIndex = mNbToProcess + shapeStartIndex;
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for (PxU32 i = shapeStartIndex; i < endIndex; ++i)
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{
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PxgNewShapeSim& shapeSim = dst[i];
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const PxU32 shapeIndex = newShapeSimsIndices[i];
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const PxgShapeSimData& shapeLL = src[shapeIndex];
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const PxsShapeCore* shapeCore = shapeLL.mShapeCore;
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shapeSim.mTransform = shapeCore->getTransform();
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shapeSim.mElementIndex = shapeLL.mElementIndex_GPU;
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shapeSim.mBodySimIndex = shapeLL.mBodySimIndex_GPU;
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shapeSim.mShapeFlags = shapeCore->mShapeFlags;
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// ML: if the shape has been removed, we shouldn't calculate the bound (PT: otherwise it crashes, as the corresponding shape data has already been deleted)
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if (shapeSim.mElementIndex != PX_INVALID_U32)
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shapeSim.mLocalBounds = Gu::computeBounds(shapeCore->mGeometry.getGeometry(), PxTransform(PxIdentity));
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else
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shapeSim.mElementIndex = shapeIndex;
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shapeSim.mHullDataIndex = npCore->getShapeIndex(*shapeCore);
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shapeSim.mShapeType = PxU16(shapeCore->mGeometry.getType());
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}
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}
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virtual const char* getName() const
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{
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return "PxgCopyToShapeSimTask";
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}
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private:
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PX_NOCOPY(PxgCopyToShapeSimTask)
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};
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}
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void PxgShapeSimManager::copyToGpuShapeSim(PxgGpuNarrowphaseCore* npCore, PxBaseTask* continuation, Cm::FlushPool& flushPool)
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{
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const PxU32 nbNewShapes = mNewShapeSims.size();
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// PT: ??? why not resize? you're not supposed to abuse forceSize_Unsafe
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mPxgShapeSimPool.forceSize_Unsafe(0);
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mPxgShapeSimPool.reserve(nbNewShapes);
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mPxgShapeSimPool.forceSize_Unsafe(nbNewShapes);
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//mPxgShapeSimPool.resize(nbNewShapes);
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// PT: TODO: better task management....
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const PxU32 maxElementsPerTask = 1024;
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for (PxU32 i = 0; i < nbNewShapes; i += maxElementsPerTask)
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{
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PxgCopyToShapeSimTask* task =
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PX_PLACEMENT_NEW(flushPool.allocate(sizeof(PxgCopyToShapeSimTask)), PxgCopyToShapeSimTask)(this, npCore, i, PxMin(maxElementsPerTask, nbNewShapes - i));
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startTask(task, continuation);
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}
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}
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void PxgShapeSimManager::gpuMemDmaUpShapeSim(PxCudaContext* cudaContext, CUstream stream, KernelWrangler* kernelWrangler)
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{
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const PxU32 nbTotalShapes = mTotalNumShapes;
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const PxPinnedArray<PxgNewShapeSim>& newShapeSimPool = mPxgShapeSimPool;
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const PxU32 nbNewShapes = newShapeSimPool.size();
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//This will allocate PxgShapeSim
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if (nbTotalShapes > mNbTotalShapeSim)
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{
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PxU64 oldCapacity = mShapeSimBuffer.getSize();
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mShapeSimBuffer.allocateCopyOldDataAsync(nbTotalShapes * sizeof(PxgShapeSim), cudaContext, stream, PX_FL);
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if (oldCapacity < mShapeSimBuffer.getSize())
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cudaContext->memsetD32Async(mShapeSimBuffer.getDevicePtr() + oldCapacity, 0xFFFFFFFF, (mShapeSimBuffer.getSize() - oldCapacity) / sizeof(PxU32), stream);
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mNbTotalShapeSim = nbTotalShapes;
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}
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if (nbNewShapes)
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{
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mNewShapeSimBuffer.allocate(nbNewShapes * sizeof(PxgNewShapeSim), PX_FL);
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cudaContext->memcpyHtoDAsync(mNewShapeSimBuffer.getDevicePtr(), newShapeSimPool.begin(), sizeof(PxgNewShapeSim)* nbNewShapes, stream);
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const PxgNewShapeSim* newShapeSimsBufferDeviceData = mNewShapeSimBuffer.getTypedPtr();
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PxgShapeSim* shapeSimsBufferDeviceData = mShapeSimBuffer.getTypedPtr();
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void* kernelParams[] =
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{
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PX_CUDA_KERNEL_PARAM2(newShapeSimsBufferDeviceData),
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PX_CUDA_KERNEL_PARAM2(shapeSimsBufferDeviceData),
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PX_CUDA_KERNEL_PARAM2(nbNewShapes)
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};
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const CUfunction kernelFunction = kernelWrangler->getCuFunction(PxgKernelIds::UPDATE_SHAPES);
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CUresult result = cudaContext->launchKernel(kernelFunction, PxgSimulationCoreKernelGridDim::UPDATE_BODIES_AND_SHAPES, 1, 1, PxgSimulationCoreKernelBlockDim::UPDATE_BODIES_AND_SHAPES, 1, 1, 0, stream, kernelParams, 0, PX_FL);
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PX_UNUSED(result);
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#if SSM_GPU_DEBUG
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result = cudaContext->streamSynchronize(stream);
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if (result != CUDA_SUCCESS)
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PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "updateShapesLaunch kernel fail!\n");
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#endif
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}
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mNewShapeSims.clear();
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}
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