242 lines
9.3 KiB
C
242 lines
9.3 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 PX_PHYSX_GPU_H
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#define PX_PHYSX_GPU_H
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#include "task/PxTask.h"
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#include "foundation/PxPinnedArray.h"
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#include "common/PxPhysXCommonConfig.h"
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#include "PxSceneDesc.h"
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#include "cudamanager/PxCudaContextManager.h"
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#include "PxSparseGridParams.h"
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namespace physx
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{
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class PxFoundation;
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class PxCudaContextManagerDesc;
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class PxvNphaseImplementationContext;
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class PxsContext;
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class PxsKernelWranglerManager;
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class PxvNphaseImplementationFallback;
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struct PxGpuDynamicsMemoryConfig;
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class PxsMemoryManager;
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class PxsHeapMemoryAllocatorManager;
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class PxsSimulationController;
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class PxsSimulationControllerCallback;
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class PxsParticleBuffer;
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class PxsParticleAndDiffuseBuffer;
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class PxsParticleClothBuffer;
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class PxsParticleRigidBuffer;
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class PxDelayLoadHook;
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class PxsTransformCache;
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class PxIsosurfaceExtractor;
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class PxSparseGridIsosurfaceExtractor;
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struct PxIsosurfaceParams;
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class PxAnisotropyGenerator;
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class PxSmoothedPositionGenerator;
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class PxParticleNeighborhoodProvider;
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class PxPhysicsGpu;
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struct PxvSimStats;
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namespace Bp
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{
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class BroadPhase;
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class AABBManagerBase;
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class BoundsArray;
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}
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namespace Dy
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{
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class Context;
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}
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namespace IG
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{
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class IslandSim;
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class SimpleIslandManager;
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}
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namespace Cm
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{
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class FlushPool;
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}
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/**
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\brief Interface to create and run CUDA enabled PhysX features.
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The methods of this interface are expected not to be called concurrently.
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Also they are expected to not be called concurrently with any tasks spawned before the end pipeline ... TODO make clear.
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*/
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class PxPhysXGpu
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{
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protected:
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virtual ~PxPhysXGpu() {}
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PxPhysXGpu() {}
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public:
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/**
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\brief Closes this instance of the interface.
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*/
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virtual void release() = 0;
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virtual PxsParticleBuffer* createParticleBuffer(PxU32 maxNumParticles, PxU32 maxVolumes, PxCudaContextManager& cudaContextManager) = 0;
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virtual PxsParticleAndDiffuseBuffer* createParticleAndDiffuseBuffer(PxU32 maxParticles, PxU32 maxVolumes, PxU32 maxDiffuseParticles, PxCudaContextManager& cudaContextManager) = 0;
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virtual PxsParticleClothBuffer* createParticleClothBuffer(PxU32 maxNumParticles, PxU32 maxVolumes, PxU32 maxNumCloths, PxU32 maxNumTriangles, PxU32 maxNumSprings, PxCudaContextManager& cudaContextManager) = 0;
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virtual PxsParticleRigidBuffer* createParticleRigidBuffer(PxU32 maxNumParticles, PxU32 maxVolumes, PxU32 maxNumRigids, PxCudaContextManager& cudaContextManager) = 0;
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/**
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Create GPU memory manager.
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*/
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virtual PxsMemoryManager* createGpuMemoryManager(PxCudaContextManager* cudaContextManager) = 0;
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virtual PxsHeapMemoryAllocatorManager* createGpuHeapMemoryAllocatorManager(
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const PxU32 heapCapacity,
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PxsMemoryManager* memoryManager,
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const PxU32 gpuComputeVersion) = 0;
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/**
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Create GPU kernel wrangler manager. If a kernel wrangler manager already exists, then that one will be returned.
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The kernel wrangler manager should not be deleted. It will automatically be deleted when the PxPhysXGpu singleton gets released.
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*/
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virtual PxsKernelWranglerManager* getGpuKernelWranglerManager(
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PxCudaContextManager* cudaContextManager) = 0;
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/**
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Create GPU broadphase.
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*/
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virtual Bp::BroadPhase* createGpuBroadPhase(
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const PxGpuBroadPhaseDesc& desc,
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PxsKernelWranglerManager* gpuKernelWrangler,
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PxCudaContextManager* cudaContextManager,
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PxU32 gpuComputeVersion,
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const PxGpuDynamicsMemoryConfig& config,
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PxsHeapMemoryAllocatorManager* heapMemoryManager, PxU64 contextID) = 0;
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/**
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Create GPU aabb manager.
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*/
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virtual Bp::AABBManagerBase* createGpuAABBManager(
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PxsKernelWranglerManager* gpuKernelWrangler,
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PxCudaContextManager* cudaContextManager,
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const PxU32 gpuComputeVersion,
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const PxGpuDynamicsMemoryConfig& config,
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PxsHeapMemoryAllocatorManager* heapMemoryManager,
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Bp::BroadPhase& bp,
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Bp::BoundsArray& boundsArray,
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PxFloatArrayPinned& contactDistance,
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PxU32 maxNbAggregates, PxU32 maxNbShapes,
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PxVirtualAllocator& allocator,
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PxU64 contextID,
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PxPairFilteringMode::Enum kineKineFilteringMode,
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PxPairFilteringMode::Enum staticKineFilteringMode) = 0;
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virtual Bp::BoundsArray* createGpuBounds(PxVirtualAllocator& allocator) = 0;
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/**
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Create GPU narrow phase context.
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*/
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virtual PxvNphaseImplementationContext* createGpuNphaseImplementationContext(PxsContext& context,
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PxsKernelWranglerManager* gpuKernelWrangler,
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PxvNphaseImplementationFallback* fallbackForUnsupportedCMs,
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const PxGpuDynamicsMemoryConfig& gpuDynamicsConfig, void* contactStreamBase, void* patchStreamBase, void* forceAndIndiceStreamBase,
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PxBoundsArrayPinned& bounds, IG::IslandSim* islandSim,
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physx::Dy::Context* dynamicsContext, const PxU32 gpuComputeVersion, PxsHeapMemoryAllocatorManager* heapMemoryManager,
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bool useGpuBP) = 0;
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/**
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Create GPU simulation controller.
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*/
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virtual PxsSimulationController* createGpuSimulationController(PxsKernelWranglerManager* gpuWranglerManagers,
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PxCudaContextManager* cudaContextManager,
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Dy::Context* dynamicContext, PxvNphaseImplementationContext* npContext, Bp::BroadPhase* bp,
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bool useGpuBroadphase,
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PxsSimulationControllerCallback* callback, PxU32 gpuComputeVersion, PxsHeapMemoryAllocatorManager* heapMemoryManager,
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PxU32 maxSoftBodyContacts, PxU32 maxDeformableSurfaceContacts, PxU32 maxParticleContacts,
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PxU32 collisionStackSizeBytes, bool enableBodyAccelerations) = 0;
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/**
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Create GPU dynamics context.
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*/
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virtual Dy::Context* createGpuDynamicsContext(Cm::FlushPool& taskPool, PxsKernelWranglerManager* gpuKernelWragler,
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PxCudaContextManager* cudaContextManager,
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const PxGpuDynamicsMemoryConfig& config, IG::SimpleIslandManager& islandManager, PxU32 maxNumPartitions, PxU32 maxNumStaticPartitions,
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bool enableStabilization, bool useEnhancedDeterminism, PxReal maxBiasCoefficient,
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PxU32 gpuComputeVersion, PxvSimStats& simStats, PxsHeapMemoryAllocatorManager* heapMemoryManager,
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bool frictionEveryIteration, bool externalForcesEveryTgsIterationEnabled, PxSolverType::Enum solverType,
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PxReal lengthScale, bool enableDirectGPUAPI, PxU64 contextID, bool isResidualReportingEnabled) = 0;
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};
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}
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/**
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Create PxPhysXGpu interface class.
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*/
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxPhysXGpu* PX_CALL_CONV PxCreatePhysXGpu();
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/**
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Create a cuda context manager. Set launchSynchronous to true for Cuda to report the actual point of failure.
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*/
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxCudaContextManager* PX_CALL_CONV PxCreateCudaContextManager(physx::PxFoundation& foundation, const physx::PxCudaContextManagerDesc& desc, physx::PxProfilerCallback* profilerCallback = NULL, bool launchSynchronous = false);
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/**
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Set profiler callback.
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*/
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PX_C_EXPORT PX_PHYSX_GPU_API void PX_CALL_CONV PxSetPhysXGpuProfilerCallback(physx::PxProfilerCallback* profilerCallback);
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/**
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Set PhysXFoundation instance.
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*/
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PX_C_EXPORT PX_PHYSX_GPU_API void PX_CALL_CONV PxSetPhysXGpuFoundationInstance(physx::PxFoundation& foundation);
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/**
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Query the device ordinal - depends on control panel settings.
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*/
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PX_C_EXPORT PX_PHYSX_GPU_API int PX_CALL_CONV PxGetSuggestedCudaDeviceOrdinal(physx::PxErrorCallback& errc);
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// Implementation of the corresponding functions from PxGpu.h/cpp in the GPU shared library
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PX_C_EXPORT PX_PHYSX_GPU_API void PX_CALL_CONV PxGpuCudaRegisterFunction(int moduleIndex, const char* functionName);
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PX_C_EXPORT PX_PHYSX_GPU_API void** PX_CALL_CONV PxGpuCudaRegisterFatBinary(void* fatBin);
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#if PX_SUPPORT_GPU_PHYSX
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxKernelIndex* PX_CALL_CONV PxGpuGetCudaFunctionTable();
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxU32 PX_CALL_CONV PxGpuGetCudaFunctionTableSize();
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PX_C_EXPORT PX_PHYSX_GPU_API void** PX_CALL_CONV PxGpuGetCudaModuleTable();
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxU32 PX_CALL_CONV PxGpuGetCudaModuleTableSize();
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PX_C_EXPORT PX_PHYSX_GPU_API physx::PxPhysicsGpu* PX_CALL_CONV PxGpuCreatePhysicsGpu();
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#endif
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#endif // PX_PHYSX_GPU_H
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