feat(physics): wire physx sdk into build
This commit is contained in:
603
engine/third_party/physx/source/gpusolver/include/PxgContext.h
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603
engine/third_party/physx/source/gpusolver/include/PxgContext.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 PXG_CONTEXT_H
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#define PXG_CONTEXT_H
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#include "DyContext.h"
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#include "PxSimulationStatistics.h"
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#include "PxgConstraintPartition.h"
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#include "PxgCudaMemoryAllocator.h"
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#include "PxgConstraintPrep.h"
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#include "PxvNphaseImplementationContext.h"
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namespace physx
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{
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class PxgCudaBroadPhaseSap;
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class PxgSolverCore;
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class PxgGpuNarrowphaseCore;
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class PxgArticulationCore;
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class PxgSimulationCore;
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class PxgSoftBodyCore;
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class PxgFEMClothCore;
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class PxgPBDParticleSystemCore;
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class PxgSimulationController;
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struct PxgIslandContext;
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class PxgHeapMemoryAllocatorManager;
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struct PxsTorsionalFrictionData;
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// PT: TODO: all these tasks are missing a proper context ID for the profiler...
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class PxgCpuJointPrePrepTask : public Cm::Task
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{
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PxgSimulationController& mSimController;
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const Dy::Constraint*const* mConstraints;
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PxgConstraintData* mConstraintData;
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Px1DConstraint* mConstraintRows;
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const PxU32 mStartIndex;
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const PxU32 mNbToProcess;
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const PxU32 mGpuJointOffset;
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PxI32* mRowCounts;
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PX_NOCOPY(PxgCpuJointPrePrepTask)
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public:
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PxgCpuJointPrePrepTask(PxgSimulationController& simConstroller, PxU32 startIndex, PxU32 nbToProcess, PxU32 gpuJointOffset,
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const Dy::Constraint*const* constraints, PxgConstraintData* constraintData, Px1DConstraint* constraintRows, PxI32* rowCounts) :
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Cm::Task(0), mSimController(simConstroller), mConstraints(constraints), mConstraintData(constraintData), mConstraintRows(constraintRows),
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mStartIndex(startIndex), mNbToProcess(nbToProcess), mGpuJointOffset(gpuJointOffset), mRowCounts(rowCounts)
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{
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}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgTGSCpuJointPrePrepTask";
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}
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};
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class PxgGpuContext;
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class PxgCpuPreIntegrationTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PX_NOCOPY(PxgCpuPreIntegrationTask)
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public:
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PxgCpuPreIntegrationTask(PxgGpuContext& context) : Cm::Task(0), mContext(context)
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{
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}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgCpuPreIntegrationTask";
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}
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};
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class PxgCpuContactPrePrepTask : public Cm::Task
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{
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//From the below, we should be able to iterate over the partitions, process contact pairs
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const PxgIncrementalPartition& mPartition;
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const PxU32 mPartitionIndex;
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const PxU32 mStartIndexWithinPartition;
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const PxU32 mNbToProcess;
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const PxU32* mStartSlabIter;
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const PxU32 mStartSlabOffset;
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const PxU32* mContactStartIndices;
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PxgConstraintBatchHeader* mBatchHeaders;
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const PxU32 mNumBatches;
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const PxU32 mWorkUnitStartIndex;
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PxU32* mPinnedEdgeIds;
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const PxsContactManagerOutputIterator& mOutputIterator;
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const PxU8* mBaseContactPatch;
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const PxU8* mBaseContactPointer;
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PX_NOCOPY(PxgCpuContactPrePrepTask)
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public:
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PxgCpuContactPrePrepTask(const PxgIncrementalPartition& partition, PxU32 partitionIndex, PxU32 startIndexWithinPartition, PxU32 nbToProcess,
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const PxU32* startSlabIter, PxU32 startSlabOffset, const PxU32* contactStartIndices,
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PxgConstraintBatchHeader* batchHeaders, PxU32 nbBatches, PxU32 workUnitStartIndex,
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PxU32* pinnedEdgeIds, PxsContactManagerOutputIterator& outputIter,
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const PxU8* baseContactPatch, const PxU8* baseContactPointer) : Cm::Task(0),
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mPartition(partition), mPartitionIndex(partitionIndex), mStartIndexWithinPartition(startIndexWithinPartition), mNbToProcess(nbToProcess),
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mStartSlabIter(startSlabIter), mStartSlabOffset(startSlabOffset), mContactStartIndices(contactStartIndices),
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mBatchHeaders(batchHeaders), mNumBatches(nbBatches), mWorkUnitStartIndex(workUnitStartIndex),
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mPinnedEdgeIds(pinnedEdgeIds), mOutputIterator(outputIter),
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mBaseContactPatch(baseContactPatch), mBaseContactPointer(baseContactPointer)
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{
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}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgCpuContactPrePrepTask";
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}
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};
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class PxgCpuConstraintPrePrepTask : public Cm::Task
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{
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const PartitionIndices& mEdgeIds;
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const PxU32 mStartEdgeIdx;
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const PxU32 mNumEdges;
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PxgConstraintBatchHeader* mBatchHeaders;
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const PxU32 mNumBatches;
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const PxU32 mConstraintBlockStartIndex;
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const PxU32 mUniqueIdStartIndex;
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PxU32* mPinnedEdgeIds;
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const PxgConstraintPrePrep* mConstraintPrePrep;
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PX_NOCOPY(PxgCpuConstraintPrePrepTask)
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public:
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static const PxU32 NbConstraintsPerTaskTGS = 2048u;
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static const PxU32 NbConstraintsPerTaskPGS = 8192u;
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PxgCpuConstraintPrePrepTask(const PartitionIndices& edgeIds, PxU32 startEdgeIdx, PxU32 nbEdges, PxgConstraintBatchHeader* batchHeaders, PxU32 nbBatches,
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PxU32 constraintBlockStartIndex, PxU32 uniqueIdStartIndex, PxU32* pinnedEdgeIds,
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const PxgConstraintPrePrep* constraintPrePrep) : Cm::Task(0),
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mEdgeIds(edgeIds), mStartEdgeIdx(startEdgeIdx), mNumEdges(nbEdges), mBatchHeaders(batchHeaders), mNumBatches(nbBatches),
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mConstraintBlockStartIndex(constraintBlockStartIndex), mUniqueIdStartIndex(uniqueIdStartIndex), mPinnedEdgeIds(pinnedEdgeIds)
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, mConstraintPrePrep(constraintPrePrep)
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{
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}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgCpuConstraintPrePrepTask";
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}
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};
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//this include contact and constraint
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class PxgCpuArtiConstraintPrePrepTask : public Cm::Task
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{
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const PartitionIndices& mEdgeIds;
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const PxU32 mStartEdgeIdx;
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const PxU32 mNumEdges;
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PxgConstraintBatchHeader* mBatchHeaders;
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const PxU32 mNumBatches;
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const PxU32 mConstraintBlockStartIndex;
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const PxU32 mUniqueIdStartIndex;
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PxU32* mPinnedEdgeIds;
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const PxgConstraintPrePrep* mConstraintPrePrep;
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const bool mIsContact;
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PX_NOCOPY(PxgCpuArtiConstraintPrePrepTask)
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public:
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static const PxU32 NbConstraintsPerTaskPGS = 8192u;
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static const PxU32 NbConstraintsPerTaskTGS = 512u;
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PxgCpuArtiConstraintPrePrepTask(const PartitionIndices& edgeIds, PxU32 startEdgeIdx, PxU32 nbEdges, PxgConstraintBatchHeader* batchHeaders,
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PxU32 nbBatches, PxU32 constraintBlockStartIndex, PxU32 uniqueIdStartIndex, PxU32* pinnedEdgeIds,
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const PxgConstraintPrePrep* constraintPrePrep, bool isContact) : Cm::Task(0),
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mEdgeIds(edgeIds), mStartEdgeIdx(startEdgeIdx), mNumEdges(nbEdges), mBatchHeaders(batchHeaders), mNumBatches(nbBatches),
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mConstraintBlockStartIndex(constraintBlockStartIndex), mUniqueIdStartIndex(uniqueIdStartIndex), mPinnedEdgeIds(pinnedEdgeIds)
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, mConstraintPrePrep(constraintPrePrep), mIsContact(isContact)
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{
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}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgCpuArtiConstraintPrePrepTask";
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}
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};
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class PxgCpuPrepTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PX_NOCOPY(PxgCpuPrepTask)
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public:
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PxgCpuPrepTask(PxgGpuContext& context) : Cm::Task(0), mContext(context) {}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgCpuPrepTask";
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}
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};
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class PxgGpuPrePrepTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PX_NOCOPY(PxgGpuPrePrepTask)
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public:
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PxgGpuPrePrepTask(PxgGpuContext& context) : Cm::Task(0), mContext(context) {}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgGpuPrePrepTask";
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}
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};
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class PxgPostSolveTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PX_NOCOPY(PxgPostSolveTask)
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public:
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PxgPostSolveTask(PxgGpuContext& context) : Cm::Task(0), mContext(context) {}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgPostSolveTask";
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}
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};
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class PxgGpuTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PxU32 mMaxNodes;
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PxBitMapPinned* mChangedHandleMap;//this is for the simulation controller
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PX_NOCOPY(PxgGpuTask)
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public:
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PxgGpuTask(PxgGpuContext& context) : Cm::Task(0), mContext(context), mMaxNodes(0), mChangedHandleMap(NULL) {}
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void setMaxNodesAndWordCounts(const PxU32 maxNodes, PxBitMapPinned& changedHandleMap) { mMaxNodes = maxNodes; mChangedHandleMap = &changedHandleMap; }
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgGpuTask";
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}
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};
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class PxgGpuIntegrationTask : public Cm::Task
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{
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PxgGpuContext& mContext;
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PX_NOCOPY(PxgGpuIntegrationTask)
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public:
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PxgGpuIntegrationTask(PxgGpuContext& context) : Cm::Task(0), mContext(context) {}
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virtual void runInternal() PX_OVERRIDE PX_FINAL;
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virtual const char* getName() const PX_OVERRIDE PX_FINAL
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{
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return "PxgGpuIntegrationTask";
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}
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};
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class PxgGpuContext : public Dy::Context
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{
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PX_NOCOPY(PxgGpuContext)
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public:
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PxgGpuContext(Cm::FlushPool& flushPool, IG::SimpleIslandManager& islandManager,
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PxU32 maxNumPartitions, PxU32 maxNumStaticPartitions, bool enableStabilization, bool useEnhancedDeterminism,
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PxReal maxBiasCoefficient, PxvSimStats& simStats, PxgHeapMemoryAllocatorManager* heapMemoryManager,
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PxReal lengthScale, bool enableDirectGPUAPI, PxU64 contextID, bool isResidualReportingEnabled, bool isTGS);
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virtual ~PxgGpuContext();
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PX_FORCE_INLINE PxgSolverCore* getGpuSolverCore() { return mGpuSolverCore;}
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PX_FORCE_INLINE PxgArticulationCore* getArticulationCore() { return mGpuArticulationCore; }
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PX_FORCE_INLINE PxgGpuNarrowphaseCore* getNarrowphaseCore() { return mGpuNpCore; }
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PX_FORCE_INLINE PxgSimulationCore* getSimulationCore() { return mGpuSimulationCore; }
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PX_FORCE_INLINE PxgCudaBroadPhaseSap* getGpuBroadPhase() { return mGpuBp; }
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PX_FORCE_INLINE PxgSoftBodyCore* getGpuSoftBodyCore() { return mGpuSoftBodyCore; }
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PX_FORCE_INLINE PxgFEMClothCore* getGpuFEMClothCore() { return mGpuFEMClothCore; }
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PX_FORCE_INLINE PxgParticleSystemCore** getGpuParticleSystemCores() { return mGpuParticleSystemCores.begin(); }
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PX_FORCE_INLINE PxU32 getNbGpuParticleSystemCores() { return mGpuParticleSystemCores.size(); }
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PxgParticleSystemCore* getGpuParticleSystemCore();
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PX_FORCE_INLINE PxU32 getCurrentContactStreamIndex() { return mCurrentContactStream; }
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PX_FORCE_INLINE Cm::FlushPool& getFlushPool() { return mFlushPool; }
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PX_FORCE_INLINE PxU8* getPatchStream(const PxU32 index) { return mPatchStreamAllocators[index]->mStart; }
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PX_FORCE_INLINE PxU8* getContactStream(const PxU32 index) { return mContactStreamAllocators[index]->mStart; }
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PX_FORCE_INLINE bool enforceConstraintWriteBackToHostCopy() const { return mEnforceConstraintWriteBackToHostCopy; }
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//this method make sure we get PxgSimultionController instead of PxsSimulationController
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PxgSimulationController* getSimulationController();
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virtual void setSimulationController(PxsSimulationController* mSimulationController) PX_OVERRIDE;
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virtual void mergeResults() PX_OVERRIDE;
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virtual void getDataStreamBase(void*& contactStreamBase, void*& patchStreamBase, void*& forceAndIndexStreamBase) PX_OVERRIDE;
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virtual void updateBodyCore(PxBaseTask* continuation) PX_OVERRIDE;
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virtual void update( Cm::FlushPool& flushPool, PxBaseTask* continuation, PxBaseTask* postPartitioningTask, PxBaseTask* lostTouchTask,
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PxvNphaseImplementationContext* nphase, PxU32 maxPatchesPerCM, PxU32 maxArticulationLinks, PxReal dt,
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const PxVec3& gravity, PxBitMapPinned& changedHandleMap) PX_OVERRIDE;
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virtual void updatePostPartitioning( PxBaseTask* lostTouchTask,
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PxvNphaseImplementationContext* nphase, PxU32 maxPatchesPerCM, PxU32 maxArticulationLinks, PxReal dt,
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const PxVec3& gravity, PxBitMapPinned& changedHandleMap) PX_OVERRIDE;
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virtual void setActiveBreakableConstraintCount(PxU32 activeBreakableConstraintCount) PX_OVERRIDE
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{
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mEnforceConstraintWriteBackToHostCopy = (activeBreakableConstraintCount > 0);
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}
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//this is the pre-prepare code for block format joints loaded from the non-block format joints
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void doConstraintJointBlockPrePrepGPU();
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void doStaticArticulationConstraintPrePrep(physx::PxBaseTask* continuation, const PxU32 articulationConstraintBatchIndex, const PxU32 articulationContactBatchIndex);
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void doStaticRigidConstraintPrePrep(physx::PxBaseTask* continuation);
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void doConstraintSolveGPU(PxU32 maxNodes, PxBitMapPinned& changedHandleMap);
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void doPostSolveTask(physx::PxBaseTask* continuation);
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virtual void processPatches( Cm::FlushPool& flushPool, PxBaseTask* continuation,
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PxsContactManager** lostFoundPatchManagers, PxU32 nbLostFoundPatchManagers, PxsContactManagerOutputCounts* outCounts) PX_OVERRIDE;
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||||
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||||
bool isTGS() const { return mIsTGS; }
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bool isExternalForcesEveryTgsIterationEnabled() const { return mIsExternalForcesEveryTgsIterationEnabled; }
|
||||
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||||
void doPreIntegrationTaskCommon(physx::PxBaseTask* continuation);
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||||
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void doConstraintPrePrepCommon(physx::PxBaseTask* continuation);
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||||
void doConstraintPrePrepGPUCommon(bool hasForceThresholds);
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void cpuJointPrePrepTask(physx::PxBaseTask* continuation);
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||||
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||||
void allocateTempPinnedSolverMemoryCommon();
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||||
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PX_FORCE_INLINE bool getEnableDirectGPUAPI() const { return mEnableDirectGPUAPI; }
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||||
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||||
PxvSimStats& getSimStats() { return mSimStats; }
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||||
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||||
PxBaseTask* mLostTouchTask;
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||||
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||||
PxU32 mTotalEdges;
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||||
PxU32 mTotalPreviousEdges;
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||||
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||||
PxsContactManagerOutputIterator mOutputIterator;
|
||||
|
||||
PxReal* mGPURestDistances;
|
||||
Sc::ShapeInteraction** mGPUShapeInteractions;
|
||||
PxsTorsionalFrictionData* mGPUTorsionalData;
|
||||
|
||||
Cm::FlushPool& mFlushPool;
|
||||
bool mSolvedThisFrame;
|
||||
PxgIncrementalPartition mIncrementalPartition;
|
||||
|
||||
PxPinnedArray<PxNodeIndex> mActiveNodeIndex; //this will change everyframe, include rigid bodies and articulation
|
||||
|
||||
PxgSolverBody mWorldSolverBody;
|
||||
PxgSolverBodyData mWorldSolverBodyData;
|
||||
PxgSolverBodySleepData mWorldSolverBodySleepData;
|
||||
PxgSolverTxIData mWorldTxIData;
|
||||
|
||||
PxPinnedArray<PxgSolverBody> mSolverBodyPool;
|
||||
PxPinnedArray<PxAlignedTransform> mBody2WorldPool;
|
||||
|
||||
//write back from the active articulation
|
||||
//each articulation has max 64 links and max 3 * 63 dofsnd 1 wake counter
|
||||
//see PxgArticulationLinkJointRootStateData
|
||||
PxInt8ArrayPinned mLinkAndJointAndRootStateDataPool;
|
||||
|
||||
PxPinnedArray<PxgSolverBodySleepData> mArticulationSleepDataPool;
|
||||
PxPinnedArray<Dy::ErrorAccumulator> mInternalResidualPerArticulationVelIter; //Internal residuals in first half (do not include residuals from external constraints, e. g. contacts or PxConstraints), second half contains residual from contacts
|
||||
PxPinnedArray<Dy::ErrorAccumulator> mInternalResidualPerArticulationPosIter; //Internal residuals in first half (do not include residuals from external constraints, e. g. contacts or PxConstraints), second half contains residual from contacts
|
||||
|
||||
PxInt32ArrayPinned m1dConstraintBatchIndices;
|
||||
PxInt32ArrayPinned mContactConstraintBatchIndices;
|
||||
PxInt32ArrayPinned mArti1dConstraintBatchIndices;
|
||||
PxInt32ArrayPinned mArtiContactConstraintBatchIndices;
|
||||
|
||||
PxInt32ArrayPinned mConstraintsPerPartition;
|
||||
PxInt32ArrayPinned mArtiConstraintsPerPartition;
|
||||
|
||||
PxPinnedArray<PxgSolverBodyData> mSolverBodyDataPool;
|
||||
PxPinnedArray<PxgSolverBodySleepData> mSolverBodySleepDataPool;
|
||||
PxPinnedArray<PxgSolverTxIData> mSolverTxIDataPool;
|
||||
|
||||
PxgPinnedHostLinearMemoryAllocator* mPinnedMemoryAllocator;
|
||||
|
||||
PxgPinnedHostLinearMemoryAllocator* mContactStreamAllocators[2];
|
||||
PxgPinnedHostLinearMemoryAllocator* mPatchStreamAllocators[2];
|
||||
PxgPinnedHostLinearMemoryAllocator* mForceStreamAllocator;
|
||||
PxgPinnedHostLinearMemoryAllocator* mFrictionPatchStreamAllocator;
|
||||
|
||||
PxU32 mCurrentContactStream;
|
||||
|
||||
PxgIslandContext* mIslandContextPool;
|
||||
PxU32 mNumIslandContextPool;
|
||||
|
||||
PxU32 mNum1DConstraintBlockPrepPool; //this and mNum1dConstraintBatches is the same, we can get rid of it later
|
||||
|
||||
PxU32 mNumContactManagers;
|
||||
PxU32 mNum1DConstraints;
|
||||
|
||||
PxU32 mKinematicCount;
|
||||
PxU32 mArticulationCount;
|
||||
PxU32 mArticulationStartIndex; //record the start node index in the mActiveNodeIndex for articulation
|
||||
|
||||
PxU32 mBodyCount;
|
||||
|
||||
PxI32 mNumContactBatches;
|
||||
PxI32 mNum1dConstraintBatches;
|
||||
PxI32 mNumArtiContactBatches;
|
||||
PxI32 mNumArti1dConstraintBatches;
|
||||
PxI32 mNumStaticArtiContactBatches;
|
||||
PxI32 mNumStaticArti1dConstraintBatches;
|
||||
PxI32 mNumSelfArtiContactBatches;
|
||||
PxI32 mNumSelfArti1dConstraintBatches;
|
||||
|
||||
PxI32 mNumStaticRigidContactBatches;
|
||||
PxI32 mNumStaticRigid1dConstraintBatches;
|
||||
|
||||
PxI32 mArtiStaticConstraintBatchOffset;
|
||||
PxI32 mArtiStaticContactBatchOffset;
|
||||
|
||||
//KS - we can't know this on CPU because the offset comes after the articulation constraints, which
|
||||
//are computed on GPU
|
||||
//PxI32 mRigidStaticConstraintBatchOffset;
|
||||
//PxI32 mRigidStaticContactBatchOffset;
|
||||
|
||||
PxU32* mConstraintUniqueIndices;
|
||||
PxU32* mContactUniqueIndices;
|
||||
PxU32* mArtiConstraintUniqueIndices;
|
||||
PxU32* mArtiContactUniqueIndices;
|
||||
PxU32* mArtiStaticConstraintUniqueIndices;
|
||||
PxU32* mArtiStaticContactUniqueIndices;
|
||||
PxU32* mArtiSelfConstraintUniqueIndices;
|
||||
PxU32* mArtiSelfContactUniqueIndices;
|
||||
PxU32* mArtiStaticConstraintStartIndex;
|
||||
|
||||
PxU32* mRigidStaticConstraintUniqueIndices;
|
||||
PxU32* mRigidStaticContactUniqueIndices;
|
||||
|
||||
PxU32* mArtiStaticConstraintCount;
|
||||
PxU32* mArtiStaticContactStartIndex;
|
||||
PxU32* mArtiStaticContactCount;
|
||||
|
||||
PxU32* mRigidStaticConstraintStartIndex;
|
||||
PxU32* mRigidStaticConstraintCount;
|
||||
|
||||
PxI32 mCachedPositionIterations;
|
||||
PxI32 mCachedVelocityIterations;
|
||||
|
||||
PxInt32ArrayPinned mArtiStaticContactCounts;
|
||||
PxInt32ArrayPinned mArtiStaticJointCounts;
|
||||
|
||||
PxInt32ArrayPinned mArtiStaticContactIndices;
|
||||
PxInt32ArrayPinned mArtiStaticJointIndices;
|
||||
|
||||
PxInt32ArrayPinned mArtiSelfContactCounts;
|
||||
PxInt32ArrayPinned mArtiSelfJointCounts;
|
||||
|
||||
PxInt32ArrayPinned mArtiSelfContactIndices;
|
||||
PxInt32ArrayPinned mArtiSelfJointIndices;
|
||||
|
||||
PxInt32ArrayPinned mRigidStaticContactCounts;
|
||||
PxInt32ArrayPinned mRigidStaticJointCounts;
|
||||
|
||||
PxInt32ArrayPinned mRigidStaticContactIndices;
|
||||
PxInt32ArrayPinned mRigidStaticJointIndices;
|
||||
|
||||
PxInt32ArrayPinned mNodeIndicesStagingBuffer;
|
||||
PxInt32ArrayPinned mIslandIds;
|
||||
PxInt32ArrayPinned mIslandStaticTouchCounts;
|
||||
|
||||
//other joint type(not d6) cpu constraints
|
||||
PxgConstraintBatchHeader* mConstraintBatchHeaders;
|
||||
PxgConstraintBatchHeader* mArticConstraintBatchHeaders;
|
||||
|
||||
PxU32 mNumConstraintBatches;
|
||||
|
||||
PxU32 mNumArticConstraintBatches;
|
||||
PxU32 mNumArtiStaticConstraintBatches;
|
||||
PxU32 mNumArtiSelfConstraintBatches;
|
||||
|
||||
PxU32 mNumRigidStaticConstraintBatches;
|
||||
|
||||
bool mHasForceThresholds;
|
||||
const bool mIsTGS;
|
||||
bool mIsExternalForcesEveryTgsIterationEnabled;
|
||||
|
||||
PxgCudaBroadPhaseSap* mGpuBp;
|
||||
PxgGpuNarrowphaseCore* mGpuNpCore;
|
||||
PxgArticulationCore* mGpuArticulationCore;
|
||||
PxgSimulationCore* mGpuSimulationCore;
|
||||
PxgSoftBodyCore* mGpuSoftBodyCore;
|
||||
PxgFEMClothCore* mGpuFEMClothCore;
|
||||
PxArray<PxgParticleSystemCore*> mGpuParticleSystemCores;
|
||||
PxgParticleSystemCore* mGpuPBDParticleSystemCore;
|
||||
|
||||
PxgSolverCore* mGpuSolverCore;
|
||||
|
||||
PxU32 mMaxNumStaticPartitions;
|
||||
|
||||
const bool mEnableDirectGPUAPI;
|
||||
bool mRecomputeArticulationBlockFormat;
|
||||
|
||||
// when Direct GPU API is enabled, the constraint writeback data might have to be copied to host to
|
||||
// support breakable D6 joints
|
||||
bool mEnforceConstraintWriteBackToHostCopy;
|
||||
|
||||
PxgCpuPreIntegrationTask mPreIntegrationTask;
|
||||
PxgCpuPrepTask mPrepTask;
|
||||
PxgGpuPrePrepTask mGpuPrePrepTask;
|
||||
PxgGpuIntegrationTask mGpuIntegrationTask;
|
||||
PxgGpuTask mGpuTask; //this task include preprepare constraint, prepare constraint, solve and integration tasks
|
||||
PxgPostSolveTask mPostSolveTask;
|
||||
|
||||
void doConstraintPrepGPU();
|
||||
void doPreIntegrationGPU(); //this is the pre integration code(copying data from pxgbodysim to solver body data)
|
||||
void doArticulationGPU(); //this is the articulation forward dynamic code
|
||||
void doSoftbodyGPU();//this is the soft body update tetrahedron rotations code
|
||||
void doFEMClothGPU();
|
||||
void doConstraintPrePrepGPU(); //this is the pre-prepare code for block format contacts and non-block format joints
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user