303 lines
11 KiB
C
303 lines
11 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_CONTEXT_H
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#define PXS_CONTEXT_H
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#include "foundation/PxPinnedArray.h"
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#include "foundation/PxPool.h"
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#include "PxVisualizationParameter.h"
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#include "PxSceneDesc.h"
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#include "common/PxRenderOutput.h"
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#include "CmPool.h"
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#include "PxvNphaseImplementationContext.h"
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#include "PxvSimStats.h"
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#include "PxsContactManager.h"
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#include "PxcNpBatch.h"
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#include "PxcConstraintBlockStream.h"
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#include "PxcNpCacheStreamPair.h"
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#include "PxcNpMemBlockPool.h"
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#include "CmUtils.h"
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#include "CmTask.h"
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#include "PxContactModifyCallback.h"
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#include "PxsTransformCache.h"
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#include "GuPersistentContactManifold.h"
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#include "PxcNpThreadContext.h"
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namespace physx
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{
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#if PX_SUPPORT_GPU_PHYSX
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class PxCudaContextManager;
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#endif
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class PxsRigidBody;
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struct PxcConstraintBlock;
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class PxsMaterialManager;
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class PxsCCDContext;
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struct PxsContactManagerOutput;
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struct PxvContactManagerTouchEvent;
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namespace Cm
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{
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class FlushPool;
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}
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namespace IG
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{
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typedef PxU32 EdgeIndex;
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}
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enum PxsTouchEventCount
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{
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PXS_LOST_TOUCH_COUNT,
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PXS_NEW_TOUCH_COUNT,
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PXS_CCD_RETOUCH_COUNT, // pairs that are touching at a CCD pass and were touching at discrete collision or at a previous CCD pass already
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// (but they could have lost touch in between)
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PXS_TOUCH_EVENT_COUNT
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};
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class PxsContext : public PxUserAllocated, public PxcNpContext
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{
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PX_NOCOPY(PxsContext)
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public:
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PxsContext(const PxSceneDesc& desc, PxTaskManager*, Cm::FlushPool&, PxCudaContextManager*, PxU32 poolSlabSize, PxU64 contextID);
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~PxsContext();
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void createTransformCache(PxVirtualAllocatorCallback& allocatorCallback);
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PxsContactManager* createContactManager(PxsContactManager* contactManager, bool useCCD);
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void createCache(Gu::Cache& cache, PxGeometryType::Enum geomType0, PxGeometryType::Enum geomType1);
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void destroyCache(Gu::Cache& cache);
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void destroyContactManager(PxsContactManager* cm);
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PX_FORCE_INLINE PxU64 getContextId() const { return mContextID; }
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// Collision properties
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PX_FORCE_INLINE PxContactModifyCallback* getContactModifyCallback() const { return mContactModifyCallback; }
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PX_FORCE_INLINE void setContactModifyCallback(PxContactModifyCallback* c) { mContactModifyCallback = c; mNpImplementationContext->setContactModifyCallback(c);}
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// resource-related
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void setScratchBlock(void* addr, PxU32 size);
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PX_FORCE_INLINE void setContactDistance(const PxFloatArrayPinned* contactDistances) { mContactDistances = contactDistances; }
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// Task-related
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void updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation,
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PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShapeTask);
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void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation);
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void fetchUpdateContactManager();
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void swapStreams();
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void resetThreadContexts();
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// Manager status change
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bool getManagerTouchEventCount(PxU32* newTouch, PxU32* lostTouch, PxU32* ccdTouch) const;
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void fillManagerTouchEvents(
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PxvContactManagerTouchEvent* newTouch, PxU32& newTouchCount,
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PxvContactManagerTouchEvent* lostTouch, PxU32& lostTouchCount,
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PxvContactManagerTouchEvent* ccdTouch, PxU32& ccdTouchCount);
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void beginUpdate();
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// PX_ENABLE_SIM_STATS
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PX_FORCE_INLINE PxvSimStats& getSimStats() { return mSimStats; }
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PX_FORCE_INLINE const PxvSimStats& getSimStats() const { return mSimStats; }
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PX_FORCE_INLINE Cm::FlushPool& getTaskPool() const { return mTaskPool; }
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PX_FORCE_INLINE PxRenderBuffer& getRenderBuffer() { return mRenderBuffer; }
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PX_FORCE_INLINE PxReal getRenderScale() const { return mVisualizationParams[PxVisualizationParameter::eSCALE]; }
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PX_FORCE_INLINE PxReal getVisualizationParameter(PxVisualizationParameter::Enum param) const
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{
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PX_ASSERT(param < PxVisualizationParameter::eNUM_VALUES);
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return mVisualizationParams[param];
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}
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PX_FORCE_INLINE void setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value)
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{
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PX_ASSERT(param < PxVisualizationParameter::eNUM_VALUES);
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PX_ASSERT(value >= 0.0f);
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mVisualizationParams[param] = value;
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}
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PX_FORCE_INLINE void setVisualizationCullingBox(const PxBounds3& box) { mVisualizationCullingBox = box; }
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PX_FORCE_INLINE const PxBounds3& getVisualizationCullingBox() const { return mVisualizationCullingBox; }
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PX_FORCE_INLINE bool getPCM() const { return mPCM; }
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PX_FORCE_INLINE bool getContactCacheFlag() const { return mContactCache; }
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PX_FORCE_INLINE bool getCreateAveragePoint() const { return mCreateAveragePoint; }
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// general stuff
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void shiftOrigin(const PxVec3& shift);
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PX_FORCE_INLINE void setPCM(bool enabled) { mPCM = enabled; }
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PX_FORCE_INLINE void setContactCache(bool enabled) { mContactCache = enabled; }
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PX_FORCE_INLINE PxcScratchAllocator& getScratchAllocator() { return mScratchAllocator; }
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PX_FORCE_INLINE PxsTransformCache& getTransformCache() { return *mTransformCache; }
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PX_FORCE_INLINE const PxReal* getContactDistances() const { return mContactDistances->begin(); }
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PX_FORCE_INLINE PxvNphaseImplementationContext* getNphaseImplementationContext() const { return mNpImplementationContext; }
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PX_FORCE_INLINE void setNphaseImplementationContext(PxvNphaseImplementationContext* ctx) { mNpImplementationContext = ctx; }
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PX_FORCE_INLINE PxvNphaseImplementationContext* getNphaseFallbackImplementationContext() const { return mNpFallbackImplementationContext; }
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PX_FORCE_INLINE void setNphaseFallbackImplementationContext(PxvNphaseImplementationContext* ctx) { mNpFallbackImplementationContext = ctx; }
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PxU32 getMaxPatchCount() const { return mMaxPatches; }
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PX_FORCE_INLINE PxcNpThreadContext* getNpThreadContext()
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{
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// We may want to conditional compile to exclude this on single threaded implementations
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// if it is determined to be a performance hit.
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return mNpThreadContextPool.get();
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}
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PX_FORCE_INLINE void putNpThreadContext(PxcNpThreadContext* threadContext)
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{ mNpThreadContextPool.put(threadContext); }
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PX_FORCE_INLINE PxMutex& getLock() { return mLock; }
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PX_FORCE_INLINE PxTaskManager& getTaskManager()
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{
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PX_ASSERT(mTaskManager);
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return *mTaskManager;
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}
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PX_FORCE_INLINE PxCudaContextManager* getCudaContextManager()
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{
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return mCudaContextManager;
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}
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PX_FORCE_INLINE void clearManagerTouchEvents();
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PX_FORCE_INLINE Cm::PoolList<PxsContactManager>& getContactManagerPool()
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{
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return mContactManagerPool;
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}
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PX_FORCE_INLINE void setActiveContactManager(const PxsContactManager* manager, PxIntBool useCCD)
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{
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/*const PxU32 index = manager->getIndex();
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if(index >= mActiveContactManager.size())
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{
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const PxU32 newSize = (2 * index + 256)&~255;
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mActiveContactManager.resize(newSize);
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}
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mActiveContactManager.set(index);*/
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//Record any pairs that have CCD enabled!
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if(useCCD)
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{
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const PxU32 index = manager->getIndex();
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if(index >= mActiveContactManagersWithCCD.size())
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{
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const PxU32 newSize = (2 * index + 256)&~255;
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mActiveContactManagersWithCCD.resize(newSize);
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}
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mActiveContactManagersWithCCD.set(index);
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}
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}
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private:
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void mergeCMDiscreteUpdateResults(PxBaseTask* continuation);
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// Threading
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PxcThreadCoherentCache<PxcNpThreadContext, PxcNpContext>
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mNpThreadContextPool;
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// Contact managers
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Cm::PoolList<PxsContactManager> mContactManagerPool;
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PxPool<Gu::LargePersistentContactManifold> mManifoldPool;
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PxPool<Gu::SpherePersistentContactManifold> mSphereManifoldPool;
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// PxBitMap mActiveContactManager;
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PxBitMap mActiveContactManagersWithCCD; //KS - adding to filter any pairs that had a touch
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PxBitMap mContactManagersWithCCDTouch; //KS - adding to filter any pairs that had a touch
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PxBitMap mContactManagerTouchEvent;
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//Cm::BitMap mContactManagerPatchChangeEvent;
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PxU32 mCMTouchEventCount[PXS_TOUCH_EVENT_COUNT];
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PxMutex mLock;
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PxContactModifyCallback* mContactModifyCallback;
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// narrowphase platform-dependent implementations support
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PxvNphaseImplementationContext* mNpImplementationContext;
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PxvNphaseImplementationContext* mNpFallbackImplementationContext;
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// debug rendering (CS TODO: MS would like to have these wrapped into a class)
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PxReal mVisualizationParams[PxVisualizationParameter::eNUM_VALUES];
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PxBounds3 mVisualizationCullingBox;
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PxTaskManager* mTaskManager;
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Cm::FlushPool& mTaskPool;
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PxCudaContextManager* mCudaContextManager;
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// PxU32 mTouchesLost;
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// PxU32 mTouchesFound;
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// PX_ENABLE_SIM_STATS
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PxvSimStats mSimStats;
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bool mPCM;
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bool mContactCache;
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bool mCreateAveragePoint;
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PxsTransformCache* mTransformCache;
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const PxFloatArrayPinned* mContactDistances;
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PxU32 mMaxPatches;
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const PxU64 mContextID;
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friend class PxsCCDContext;
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friend class PxsNphaseImplementationContext;
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friend class PxgNphaseImplementationContext; //FDTODO ideally it shouldn't be here..
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};
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PX_FORCE_INLINE void PxsContext::clearManagerTouchEvents()
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{
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mContactManagerTouchEvent.clear();
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for(PxU32 i = 0; i < PXS_TOUCH_EVENT_COUNT; ++i)
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{
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mCMTouchEventCount[i] = 0;
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}
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}
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}
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#endif
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