132 lines
6.5 KiB
C
132 lines
6.5 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_PARTITION_EDGE_H
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#define PXS_PARTITION_EDGE_H
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// PT: this is a temporary place for code related to PartitionEdge. This seems to be a GPU-only class
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// but for some reason some CPU bits do need it. Ideally it would be fully contained inside the GPU DLL.
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#include "PxsIslandSim.h"
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#include "PxcNpWorkUnit.h"
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namespace physx
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{
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// PT: TODO: mNextPatch is almost always null so it would make sense to store that cold data somewhere else, e.g:
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// - use one bit to mark the general case where mNextPatch is null
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// - store non-null mNextPatch in a hashmap indexed by mUniqueIndex (no need to reserve the full memory for it)
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//
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// The only annoying bit is that the mechanism needed to actually walk the linked list (i.e. the hashmap) needs to be
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// available in processPartitionEdges below, so that's more GPU stuff exposed to the CPU code. But I guess we crossed
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// that line a while ago when the heads of the LLs moved to the low-level island manager anyway. And in fact we could
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// put the two in the same structure eventually, like a PartitionEdgeManager.
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//
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// In any case the benefit of the change would be a smaller PartitionEdge. Going further, the nodes can be retrieved from
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// the edge index, so if mNextPatch also disappears then only the unique ID remains, which.... can be derived from
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// the PartitionEdge address?! So it would be just the "edge index" with some bits encoded in it, just 4 bytes.
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//
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// This is per-edge data so we could also merge this with CPUExternalData, which already contains the node indices, and
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// has an implicit unique index as the index into mEdgeNodeIndices. But maybe we cannot because there can be multiple
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// PartitionEdge for the same source edge (hence the linked list).
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//
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// Another idea would be to store the edge index instead. You would need access to the edge manager in CPU code but no
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// hashmap or new structure is needed.
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struct PartitionEdge
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{
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enum Enum
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{
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HAS_INFINITE_MASS0 = (1<<0),
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HAS_INFINITE_MASS1 = (1<<1),
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HAS_THRESHOLD = (1<<2),
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IS_CONTACT = (1<<3),
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SPECIAL_HANDLED = (1<<4),
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NB_BITS = 5
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};
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PxNodeIndex mNode0; //! The node index for node 0. Can be obtained from the edge index alternatively
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PxNodeIndex mNode1; //! The node index for node 1. Can be obtained from the edge index alternatively
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PartitionEdge* mNextPatch; //! for the contact manager has more than 1 patch, we have next patch's edge and previous patch's edge to connect to this edge
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private:
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IG::EdgeIndex mEdgeIndex; //! The edge index into the island manager. Used to identify the contact manager/constraint
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public:
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PxU32 mUniqueIndex; //! a unique ID for this edge
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PX_FORCE_INLINE IG::EdgeIndex getEdgeIndex() const { return mEdgeIndex >> NB_BITS; }
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PX_FORCE_INLINE PxU32 isArticulation0() const { return mNode0.isArticulation(); }
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PX_FORCE_INLINE PxU32 isArticulation1() const { return mNode1.isArticulation(); }
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PX_FORCE_INLINE PxU32 hasInfiniteMass0() const { return mEdgeIndex & HAS_INFINITE_MASS0; }
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PX_FORCE_INLINE PxU32 hasInfiniteMass1() const { return mEdgeIndex & HAS_INFINITE_MASS1; }
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PX_FORCE_INLINE void setInfiniteMass0() { mEdgeIndex |= HAS_INFINITE_MASS0; }
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PX_FORCE_INLINE void setInfiniteMass1() { mEdgeIndex |= HAS_INFINITE_MASS1; }
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PX_FORCE_INLINE void setHasThreshold() { mEdgeIndex |= HAS_THRESHOLD; }
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PX_FORCE_INLINE PxU32 hasThreshold() const { return mEdgeIndex & HAS_THRESHOLD; }
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PX_FORCE_INLINE void setIsContact() { mEdgeIndex |= IS_CONTACT; }
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PX_FORCE_INLINE PxU32 isContact() const { return mEdgeIndex & IS_CONTACT; }
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PX_FORCE_INLINE void setSpecialHandled() { mEdgeIndex |= SPECIAL_HANDLED; }
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PX_FORCE_INLINE void clearSpecialHandled() { mEdgeIndex &= ~SPECIAL_HANDLED; }
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PX_FORCE_INLINE PxU32 isSpecialHandled() const { return mEdgeIndex & SPECIAL_HANDLED; }
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//KS - This constructor explicitly does not set mUniqueIndex. It is filled in by the pool allocator and this constructor
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//is called afterwards. We do not want to stomp the uniqueIndex value
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PartitionEdge(IG::EdgeIndex index) :
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mNextPatch(NULL),
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mEdgeIndex(index << NB_BITS)
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{
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PX_ASSERT(!(index & 0xf8000000)); // PT: reserve 5 bits for internal flags
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}
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PartitionEdge)<=32); // PT: 2 of them per cache-line
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static PX_FORCE_INLINE void processPartitionEdges(const IG::GPUExternalData* gpuData, const PxcNpWorkUnit& unit)
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{
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if(gpuData && !(unit.mFlags & PxcNpWorkUnitFlag::eDISABLE_RESPONSE))
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{
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PxU32* edgeNodeIndices = gpuData->getEdgeNodeIndexPtr();
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if(edgeNodeIndices) // PT: only non-null for GPU version
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{
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const PartitionEdge* partitionEdge = gpuData->getFirstPartitionEdge(unit.mEdgeIndex);
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while(partitionEdge)
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{
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edgeNodeIndices[partitionEdge->mUniqueIndex] = unit.mNpIndex;
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partitionEdge = partitionEdge->mNextPatch;
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}
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}
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}
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}
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}
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#endif
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