271 lines
10 KiB
C
271 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 PXG_BODYSIM_MANAGER_H
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#define PXG_BODYSIM_MANAGER_H
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#include "foundation/PxBitMap.h"
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#include "foundation/PxPinnedArray.h"
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#include "PxgCudaMemoryAllocator.h"
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#include "PxNodeIndex.h"
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#include "PxgBodySim.h"
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#include "CmIDPool.h"
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#include "CmBlockArray.h"
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#include "foundation/PxHashMap.h"
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namespace physx
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{
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class PxsRigidBody;
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struct PxsExternalAccelerationProvider;
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namespace IG
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{
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class NodeIndex;
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}
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namespace Dy
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{
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class FeatherstoneArticulation;
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class DeformableSurface;
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class DeformableVolume;
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class ParticleSystem;
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}
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struct PxgRemapIndices
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{
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public:
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PxU32 nodeIndex; //this is the index to PxgBodySim in GPU
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PxU32 remapIndex; //this is the index map between PxgBodySim and the PxgArticulation in GPU
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};
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struct PxgArticulationUpdate
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{
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PxU32 articulationIndex; //Which articulation on GPU
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Dy::FeatherstoneArticulation* articulation; //Which articulation on CPU
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};
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struct PxgArticulationIndices : public PxgRemapIndices {};
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struct PxgSoftBodyIndices : public PxgRemapIndices {};
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struct PxgFEMClothIndices : public PxgRemapIndices {};
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struct PxgParticleSystemIndices : public PxgRemapIndices {};
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struct PxgStaticConstraint
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{
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PxU32 uniqueId;
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PxU32 linkID;
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};
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struct PxgSelfConstraint
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{
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PxU32 uniqueId;
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PxU32 linkID0;
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PxU32 linkID1;
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};
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struct PxgStaticConstraints
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{
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static const PxU32 MaxConstraints = 16;
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PxArray<PxgStaticConstraint> mStaticContacts;
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PxArray<PxgStaticConstraint> mStaticJoints;
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};
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struct PxgArticulationSelfConstraints
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{
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static const PxU32 MaxConstraints = 32;
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PxArray<PxgSelfConstraint> mSelfContacts;
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PxArray<PxgSelfConstraint> mSelfJoints;
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};
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class PxgBodySimManager
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{
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PX_NOCOPY(PxgBodySimManager)
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public:
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PxgBodySimManager(const PxVirtualAllocator& allocator) : mNewUpdatedBodies(allocator),
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mTotalNumBodies(0), mNbUpdatedBodies(0),
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mTotalNumArticulations(0), mTotalNumSoftBodies(0), mTotalNumFEMCloths(0),
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mTotalNumPBDParticleSystems(0),
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mActivePBDParticleSystems(allocator),
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mActivePBDParticleSystemsDirty(false),
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mActiveSoftbodies(allocator),
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mActiveSelfCollisionSoftbodies(allocator),
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mActiveSoftbodiesDirty(false),
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mActiveFEMCloths(allocator),
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mActiveFEMClothsDirty(false),
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mTotalStaticArticContacts(0),
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mTotalStaticArticJoints(0),
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mTotalSelfArticContacts(0),
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mTotalSelfArticJoints(0),
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mMaxStaticArticContacts(0),
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mMaxStaticArticJoints(0),
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mMaxSelfArticContacts(0),
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mMaxSelfArticJoints(0),
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mTotalStaticRBContacts(0),
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mTotalStaticRBJoints(0),
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mMaxStaticRBContacts(0),
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mMaxStaticRBJoints(0),
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mExternalAccelerations(NULL)
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{
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}
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~PxgBodySimManager();
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void addBody(PxsRigidBody* bodyCore, const PxU32 nodeIndex);
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void addArticulation(Dy::FeatherstoneArticulation* articulation, const PxU32 nodeIndex, bool OmniPVDRecordDirectGPUAPI);
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void releaseArticulation(Dy::FeatherstoneArticulation* articulation, const PxU32 nodeIndex);
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void releaseDeferredArticulationIds();
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void addSoftBody(Dy::DeformableVolume* deformableVolume, const PxU32 nodeIndex);
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void releaseSoftBody(Dy::DeformableVolume* deformableVolume);
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void releaseDeferredSoftBodyIds();
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bool activateSoftbody(Dy::DeformableVolume* deformableVolume);
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bool deactivateSoftbody(Dy::DeformableVolume* deformableVolume);
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bool activateSoftbodySelfCollision(Dy::DeformableVolume* deformableVolume);
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bool deactivateSoftbodySelfCollision(Dy::DeformableVolume* deformableVolume);
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void addFEMCloth(Dy::DeformableSurface*, const PxU32 nodeIndex);
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void releaseFEMCloth(Dy::DeformableSurface*);
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void releaseDeferredFEMClothIds();
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bool activateCloth(Dy::DeformableSurface*);
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bool deactivateCloth(Dy::DeformableSurface*);
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void addPBDParticleSystem(Dy::ParticleSystem* particleSystem, const PxU32 nodeIndex);
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void releasePBDParticleSystem(Dy::ParticleSystem* particleSystem);
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void releaseDeferredPBDParticleSystemIds();
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void updateBodies(PxsRigidBody** rigidBodies, PxU32* nodeIndices, const PxU32 nbBodies, PxsExternalAccelerationProvider* externalAccelerations);
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void updateBody(const PxNodeIndex&);
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void destroy();
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void updateArticulation(Dy::FeatherstoneArticulation* articulation, const PxU32 nodeIndex);
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void reset();
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void reserve(const PxU32 nbBodies);
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bool addStaticArticulationContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool removeStaticArticulationContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool addStaticArticulationJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool removeStaticArticulationJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool addSelfArticulationContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex0, const PxNodeIndex nodeIndex1);
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bool removeSelfArticulationContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex0, const PxNodeIndex nodeIndex1);
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bool addSelfArticulationJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex0, const PxNodeIndex nodeIndex1);
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bool removeSelfArticulationJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex0, const PxNodeIndex nodeIndex1);
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bool addStaticRBContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool removeStaticRBContactManager(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool addStaticRBJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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bool removeStaticRBJoint(PxU32 uniqueIndex, const PxNodeIndex nodeIndex);
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PX_INLINE PxU32 getArticulationRemapIndex(PxU32 nodeIndex) { return mNodeToRemapMap.find(nodeIndex)->second;}
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PX_INLINE PxU32 getNumActiveParticleSystem()
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{
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return mActivePBDParticleSystems.size();
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}
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PxArray<PxgArticulationUpdate> mUpdatedArticulations;
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PxArray<void*> mBodies; //rigid bodies, articulations, soft bodies and particle systems
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PxArray<PxU32> mNewOrUpdatedBodySims;
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PxArray<PxgArticulationIndices> mNewArticulationSims;
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PxArray<PxgSoftBodyIndices> mNewSoftBodySims;
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PxArray<PxgFEMClothIndices> mNewFEMClothSims;
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PxArray<Dy::DeformableSurface*> mDeformableSurfaces;
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PxArray<Dy::DeformableVolume*> mDeformableVolumes;
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PxArray<PxgParticleSystemIndices> mNewPBDParticleSystemSims;
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Cm::DeferredIDPool mArticulationIdPool; //generate the remap id between pxgbodysim and pxgarticulation
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Cm::DeferredIDPool mSoftBodyIdPool; //generate the remap id between pxgbodysim and pxgsoftbody
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Cm::DeferredIDPool mFEMClothIdPool; //generate the remap id between pxgbodysim and pxgfemcloth
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Cm::DeferredIDPool mPBDParticleSystemIdPool; //generate the remap id between pxgbodysim and pxgparticlesystem
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PxPinnedArray<PxgBodySimVelocityUpdate> mNewUpdatedBodies;
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PxU32 mTotalNumBodies; //include rigid body and articulation
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PxU32 mNbUpdatedBodies; //this is used for multiply threads in the ScBeforeSolverTask to update body information
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PxBitMap mUpdatedMap;
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PxU32 mTotalNumArticulations;
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PxU32 mTotalNumSoftBodies;
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PxU32 mTotalNumFEMCloths;
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PxU32 mTotalNumPBDParticleSystems;
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PxArray<PxU32> mActiveFEMClothIndex;
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PxArray<PxU32> mActiveSoftbodyIndex;
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PxArray<PxU32> mActiveSelfCollisionSoftbodyIndex;
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PxInt32ArrayPinned mActivePBDParticleSystems;
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bool mActivePBDParticleSystemsDirty;
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PxInt32ArrayPinned mActiveSoftbodies;
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PxInt32ArrayPinned mActiveSelfCollisionSoftbodies;
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PxArray<PxU32> mActiveSoftbodiesStaging;
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PxArray<PxU32> mActiveSelfCollisionSoftBodiesStaging;
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bool mActiveSoftbodiesDirty;
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PxInt32ArrayPinned mActiveFEMCloths;
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PxArray<PxU32> mActiveFEMClothStaging;
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bool mActiveFEMClothsDirty;
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PxHashMap<PxU32, PxU32> mNodeToRemapMap;
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#if PX_SUPPORT_OMNI_PVD
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PxHashMap<PxU32, PxU32> mRemapToNodeMap;
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#endif
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PxArray<PxU32> mDeferredFreeNodeIDs;
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Cm::BlockArray<PxgStaticConstraints, 1024> mStaticConstraints;
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Cm::BlockArray<PxgArticulationSelfConstraints, 1024> mArticulationSelfConstraints;
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PxU32 mTotalStaticArticContacts;
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PxU32 mTotalStaticArticJoints;
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PxU32 mTotalSelfArticContacts;
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PxU32 mTotalSelfArticJoints;
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PxU32 mMaxStaticArticContacts;
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PxU32 mMaxStaticArticJoints;
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PxU32 mMaxSelfArticContacts;
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PxU32 mMaxSelfArticJoints;
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PxU32 mTotalStaticRBContacts;
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PxU32 mTotalStaticRBJoints;
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PxU32 mMaxStaticRBContacts;
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PxU32 mMaxStaticRBJoints;
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PxsExternalAccelerationProvider* mExternalAccelerations;
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};
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}
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#endif
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