feat(physics): wire physx sdk into build
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283
engine/third_party/physx/source/geomutils/src/GuBucketPruner.h
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283
engine/third_party/physx/source/geomutils/src/GuBucketPruner.h
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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 GU_BUCKET_PRUNER_H
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#define GU_BUCKET_PRUNER_H
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#include "common/PxPhysXCommonConfig.h"
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#include "GuPruner.h"
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#include "GuSqInternal.h"
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#include "GuPruningPool.h"
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#include "foundation/PxHash.h"
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#define FREE_PRUNER_SIZE 16
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//#define USE_REGULAR_HASH_MAP
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#ifdef USE_REGULAR_HASH_MAP
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#include "foundation/PxHashMap.h"
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#endif
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namespace physx
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{
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class PxRenderOutput;
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namespace Gu
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{
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typedef PxU32 BucketWord;
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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PX_ALIGN_PREFIX(16) struct BucketBox
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{
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PxVec3 mCenter;
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PxU32 mData0; // Integer-encoded min value along sorting axis
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PxVec3 mExtents;
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PxU32 mData1; // Integer-encoded max value along sorting axis
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#if PX_DEBUG
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// PT: we need the original min value for debug checks. Using the center/extents version
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// fails because recomputing the min from them introduces FPU accuracy errors in the values.
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float mDebugMin;
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#endif
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PX_FORCE_INLINE PxVec3 getMin() const
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{
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return mCenter - mExtents;
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}
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PX_FORCE_INLINE PxVec3 getMax() const
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{
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return mCenter + mExtents;
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}
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PX_FORCE_INLINE void setEmpty()
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{
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mCenter = PxVec3(0.0f);
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mExtents = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
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#if PX_DEBUG
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mDebugMin = PX_MAX_BOUNDS_EXTENTS;
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#endif
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}
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}PX_ALIGN_SUFFIX(16);
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PX_ALIGN_PREFIX(16) struct BucketPrunerNode
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{
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BucketPrunerNode();
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void classifyBoxes( float limitX, float limitZ,
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PxU32 nb,
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BucketBox* PX_RESTRICT boxes,
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const PrunerPayload* PX_RESTRICT objects,
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const PxTransform* PX_RESTRICT transforms,
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BucketBox* PX_RESTRICT sortedBoxes,
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PrunerPayload* PX_RESTRICT sortedObjects,
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PxTransform* PX_RESTRICT sortedTransforms,
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bool isCrossBucket, PxU32 sortAxis);
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PX_FORCE_INLINE void initCounters()
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{
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for(PxU32 i=0;i<5;i++)
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mCounters[i] = 0;
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for(PxU32 i=0;i<5;i++)
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mOffsets[i] = 0;
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}
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BucketWord mCounters[5]; // Number of objects in each of the 5 children
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BucketWord mOffsets[5]; // Start index of objects for each of the 5 children
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BucketBox mBucketBox[5]; // AABBs around objects for each of the 5 children
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PxU16 mOrder[8]; // PNS: 5 children => 3 bits/index => 3*5=15 bits total, for each of the 8 canonical directions
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}PX_ALIGN_SUFFIX(16);
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PX_FORCE_INLINE PxU32 PxComputeHash(const PrunerPayload& payload)
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{
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#if PX_P64_FAMILY
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// const PxU32 h0 = PxHash((const void*)payload.data[0]);
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// const PxU32 h1 = PxHash((const void*)payload.data[1]);
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const PxU32 h0 = PxU32(PX_MAX_U32 & payload.data[0]);
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const PxU32 h1 = PxU32(PX_MAX_U32 & payload.data[1]);
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return physx::PxComputeHash(PxU64(h0)|(PxU64(h1)<<32));
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#else
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return physx::PxComputeHash(PxU64(payload.data[0])|(PxU64(payload.data[1])<<32));
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#endif
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}
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#ifdef USE_REGULAR_HASH_MAP
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struct BucketPrunerPair : public PxUserAllocated
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{
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PX_FORCE_INLINE BucketPrunerPair() {}
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PX_FORCE_INLINE BucketPrunerPair(PxU32 index, PxU32 stamp) : mCoreIndex(index), mTimeStamp(stamp) {}
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PxU32 mCoreIndex; // index in mCoreObjects
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PxU32 mTimeStamp;
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};
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typedef PxHashMap<PrunerPayload, BucketPrunerPair> BucketPrunerMap;
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#else
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struct BucketPrunerPair : public PxUserAllocated
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{
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PrunerPayload mData;
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PxU32 mCoreIndex; // index in mCoreObjects
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PxU32 mTimeStamp;
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};
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// Custom hash-map - currently faster than the regular hash-map (PxHashMap), in particular for 'find-and-erase' operations.
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class BucketPrunerMap : public PxUserAllocated
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{
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public:
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BucketPrunerMap();
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~BucketPrunerMap();
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void purge();
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void shrinkMemory();
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BucketPrunerPair* addPair (const PrunerPayload& payload, PxU32 coreIndex, PxU32 timeStamp);
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bool removePair (const PrunerPayload& payload, PxU32& coreIndex, PxU32& timeStamp);
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const BucketPrunerPair* findPair (const PrunerPayload& payload) const;
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PX_FORCE_INLINE PxU32 getPairIndex(const BucketPrunerPair* pair) const
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{
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return (PxU32((size_t(pair) - size_t(mActivePairs)))/sizeof(BucketPrunerPair));
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}
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PxU32 mHashSize;
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PxU32 mMask;
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PxU32 mNbActivePairs;
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PxU32* mHashTable;
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PxU32* mNext;
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BucketPrunerPair* mActivePairs;
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PxU32 mReservedMemory;
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PX_FORCE_INLINE BucketPrunerPair* findPair(const PrunerPayload& payload, PxU32 hashValue) const;
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void removePairInternal(const PrunerPayload& payload, PxU32 hashValue, PxU32 pairIndex);
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void reallocPairs();
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void reserveMemory(PxU32 memSize);
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};
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#endif
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class BucketPrunerCore : public PxUserAllocated
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{
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public:
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PX_PHYSX_COMMON_API BucketPrunerCore(bool externalMemory=true);
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PX_PHYSX_COMMON_API ~BucketPrunerCore();
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void release();
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void setExternalMemory(PxU32 nbObjects, PxBounds3* boxes, PrunerPayload* objects, PxTransform* transforms);
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PX_PHYSX_COMMON_API bool addObject(const PrunerPayload& object, const PxBounds3& worldAABB, const PxTransform& transform, PxU32 timeStamp=0);
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bool removeObject(const PrunerPayload& object, PxU32& timeStamp);
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bool updateObject(const PxBounds3& worldAABB, const PrunerPayload& object, const PxTransform& transform);
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// PT: look for objects marked with input timestamp everywhere in the structure, and remove them. This is the same
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// as calling 'removeObject' individually for all these objects, but much more efficient. Returns number of removed objects.
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PxU32 removeMarkedObjects(PxU32 timeStamp);
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PX_PHYSX_COMMON_API bool raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal& inOutDistance, PrunerRaycastCallback&) const;
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PX_PHYSX_COMMON_API bool overlap(const ShapeData& queryVolume, PrunerOverlapCallback&) const;
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PX_PHYSX_COMMON_API bool sweep(const ShapeData& queryVolume, const PxVec3& unitDir, PxReal& inOutDistance, PrunerRaycastCallback&) const;
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void getGlobalBounds(PxBounds3& bounds) const;
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void shiftOrigin(const PxVec3& shift);
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void visualize(PxRenderOutput& out, PxU32 color) const;
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PX_FORCE_INLINE void build() { classifyBoxes(); }
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#ifdef FREE_PRUNER_SIZE
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PX_FORCE_INLINE PxU32 getNbObjects() const { return mNbFree + mCoreNbObjects; }
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#else
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PX_FORCE_INLINE PxU32 getNbObjects() const { return mCoreNbObjects; }
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#endif
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// private:
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PxU32 mCoreNbObjects; // Current number of objects in core arrays
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PxU32 mCoreCapacity; // Capacity of core arrays
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PxBounds3* mCoreBoxes; // Core array
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PrunerPayload* mCoreObjects; // Core array
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PxTransform* mCoreTransforms;
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PxU32* mCoreRemap; // Remaps core index to sorted index, i.e. sortedIndex = mCoreRemap[coreIndex]
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BucketBox* mSortedWorldBoxes; // Sorted array
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PrunerPayload* mSortedObjects; // Sorted array
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PxTransform* mSortedTransforms;
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#ifdef FREE_PRUNER_SIZE
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PxU32 mNbFree; // Current number of objects in the "free array" (mFreeObjects/mFreeBounds)
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PrunerPayload mFreeObjects[FREE_PRUNER_SIZE]; // mNbFree objects are stored here
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PxBounds3 mFreeBounds[FREE_PRUNER_SIZE]; // mNbFree object bounds are stored here
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PxTransform mFreeTransforms[FREE_PRUNER_SIZE]; // mNbFree transforms are stored here
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PxU32 mFreeStamps[FREE_PRUNER_SIZE];
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#endif
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BucketPrunerMap mMap; // Maps (PrunerPayload) object to corresponding index in core array.
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// Objects in the free array do not appear in this map.
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PxU32 mSortedNb;
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PxU32 mSortedCapacity;
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PxU32 mSortAxis;
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BucketBox mGlobalBox; // Global bounds around all objects in the structure (except the ones in the "free" array)
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BucketPrunerNode mLevel1;
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BucketPrunerNode mLevel2[5];
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BucketPrunerNode mLevel3[5][5];
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bool mDirty;
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bool mOwnMemory;
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private:
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PX_PHYSX_COMMON_API void classifyBoxes();
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void allocateSortedMemory(PxU32 nb);
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void resizeCore();
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PX_FORCE_INLINE void addObjectInternal(const PrunerPayload& object, const PxBounds3& worldAABB, const PxTransform& transform, PxU32 timeStamp);
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};
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#if PX_VC
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#pragma warning(pop)
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#endif
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class BucketPruner : public Pruner
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{
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public:
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PX_PHYSX_COMMON_API BucketPruner(PxU64 contextID);
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virtual ~BucketPruner();
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// BasePruner
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DECLARE_BASE_PRUNER_API
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//~BasePruner
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// Pruner
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DECLARE_PRUNER_API_COMMON
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//~Pruner
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private:
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BucketPrunerCore mCore;
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PruningPool mPool;
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};
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}
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}
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#endif
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