feat(physics): wire physx sdk into build
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engine/third_party/physx/source/lowleveldynamics/include/DyResidualAccumulator.h
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engine/third_party/physx/source/lowleveldynamics/include/DyResidualAccumulator.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 CM_ERROR_ACCUMULATOR_H
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#define CM_ERROR_ACCUMULATOR_H
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#include "foundation/PxVecMath.h"
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#include "foundation/PxArray.h"
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namespace physx
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{
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namespace Dy
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{
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PX_FORCE_INLINE PX_CUDA_CALLABLE PxReal calculateResidual(PxReal deltaF, PxReal velocityMultiplier)
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{
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return velocityMultiplier == 0.0f ? 0.0f : deltaF / velocityMultiplier;
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}
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//Vectorized variant
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PX_FORCE_INLINE aos::FloatV calculateResidual(const aos::FloatV& deltaF, const aos::FloatV& velocityMultiplier)
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{
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aos::BoolV isZero = aos::FIsEq(velocityMultiplier, aos::FZero());
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return aos::FSel(isZero, aos::FZero(), aos::FDivFast(deltaF, velocityMultiplier));
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}
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PX_FORCE_INLINE aos::Vec4V calculateResidualV4(const aos::Vec4V& deltaF, const aos::Vec4V& velocityMultiplier)
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{
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aos::BoolV isZero = aos::V4IsEq(velocityMultiplier, aos::V4Zero());
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return aos::V4Sel(isZero, aos::V4Zero(), aos::V4DivFast(deltaF, velocityMultiplier));
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}
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struct ErrorAccumulator
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{
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PxReal mErrorSumOfSquares;
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PxI32 mCounter;
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PxReal mMaxError;
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#if !PX_CUDA_COMPILER
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PX_FORCE_INLINE ErrorAccumulator() : mErrorSumOfSquares(0.0f), mCounter(0), mMaxError(0.0f)
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{ }
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#endif
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PX_FORCE_INLINE void combine(ErrorAccumulator& other)
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{
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mErrorSumOfSquares += other.mErrorSumOfSquares;
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mCounter += other.mCounter;
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mMaxError = PxMax(mMaxError, other.mMaxError);
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}
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PX_FORCE_INLINE PX_CUDA_CALLABLE void accumulateErrorLocal(PxReal residual)
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{
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mErrorSumOfSquares += residual * residual;
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++mCounter;
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mMaxError = PxMax(mMaxError, PxAbs(residual));
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}
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PX_FORCE_INLINE PX_CUDA_CALLABLE void accumulateErrorLocal(PxReal deltaF, PxReal velocityMultiplier)
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{
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PxReal e = calculateResidual(deltaF, velocityMultiplier);
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accumulateErrorLocal(e);
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}
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//For friction constraints
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PX_FORCE_INLINE void accumulateErrorLocal(PxReal deltaF0, PxReal deltaF1,
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PxReal velocityMultiplier0, PxReal velocityMultiplier1)
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{
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accumulateErrorLocal(deltaF0, velocityMultiplier0);
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accumulateErrorLocal(deltaF1, velocityMultiplier1);
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}
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PX_FORCE_INLINE void accumulateErrorLocal(const aos::FloatV& deltaF, const aos::FloatV& velocityMultiplier)
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{
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PxReal e;
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aos::FStore(calculateResidual(deltaF, velocityMultiplier), &e);
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mErrorSumOfSquares += e * e;
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++mCounter;
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mMaxError = PxMax(mMaxError, PxAbs(e));
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}
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PX_FORCE_INLINE void accumulateErrorLocal(const aos::FloatV& deltaF0, const aos::FloatV& deltaF1,
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const aos::FloatV& velocityMultiplier0, const aos::FloatV& velocityMultiplier1)
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{
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accumulateErrorLocal(deltaF0, velocityMultiplier0);
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accumulateErrorLocal(deltaF1, velocityMultiplier1);
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}
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//Vectorized variants
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PX_FORCE_INLINE void accumulateErrorLocalV4(const aos::Vec4V& deltaF, const aos::Vec4V& velocityMultiplier)
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{
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aos::BoolV isZero = aos::V4IsEq(velocityMultiplier, aos::V4Zero());
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aos::Vec4V div = aos::V4Sel(isZero, aos::V4Zero(), aos::V4DivFast(deltaF, velocityMultiplier));
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aos::FloatV dot = aos::V4Dot(div, div);
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PxReal tmp;
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aos::FStore(dot, &tmp);
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mErrorSumOfSquares += tmp;
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PxU32 maskNonZero = ~aos::BGetBitMask(isZero);
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mCounter += (maskNonZero & 1) + ((maskNonZero & 2) >> 1) + ((maskNonZero & 4) >> 2) + ((maskNonZero & 8) >> 3);
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aos::FloatV maxVal = aos::V4ExtractMax(aos::V4Abs(div));
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aos::FStore(maxVal, &tmp);
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mMaxError = PxMax(mMaxError, tmp);
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}
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//For friction constraints
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PX_FORCE_INLINE void accumulateErrorLocalV4(const aos::Vec4V& deltaF0, const aos::Vec4V& deltaF1,
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const aos::Vec4V& velocityMultiplier0, const aos::Vec4V& velocityMultiplier1)
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{
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accumulateErrorLocalV4(deltaF0, velocityMultiplier0);
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accumulateErrorLocalV4(deltaF1, velocityMultiplier1);
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}
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PX_FORCE_INLINE PX_CUDA_CALLABLE void reset()
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{
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mErrorSumOfSquares = 0.0f;
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mCounter = 0;
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mMaxError = 0.0f;
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}
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PX_FORCE_INLINE void accumulateErrorGlobal(Dy::ErrorAccumulator& globalAccumulator)
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{
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globalAccumulator.mErrorSumOfSquares += mErrorSumOfSquares;
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globalAccumulator.mCounter += mCounter;
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if (mMaxError > globalAccumulator.mMaxError)
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{
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globalAccumulator.mMaxError = mMaxError;
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}
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}
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};
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struct ErrorAccumulatorEx
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{
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ErrorAccumulator mPositionIterationErrorAccumulator;
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ErrorAccumulator mVelocityIterationErrorAccumulator;
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PX_FORCE_INLINE void reset()
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{
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mPositionIterationErrorAccumulator.reset();
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mVelocityIterationErrorAccumulator.reset();
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}
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PX_FORCE_INLINE void combine(ErrorAccumulatorEx& other)
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{
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mPositionIterationErrorAccumulator.combine(other.mPositionIterationErrorAccumulator);
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mVelocityIterationErrorAccumulator.combine(other.mVelocityIterationErrorAccumulator);
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}
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};
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} // namespace Cm
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}
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#endif
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