feat(physics): wire physx sdk into build
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engine/third_party/physx/source/lowleveldynamics/src/DyDynamics.h
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engine/third_party/physx/source/lowleveldynamics/src/DyDynamics.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 DY_DYNAMICS_H
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#define DY_DYNAMICS_H
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#include "DyDynamicsBase.h"
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#include "PxvConfig.h"
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#include "CmTask.h"
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#include "CmPool.h"
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#include "PxcThreadCoherentCache.h"
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#include "PxcConstraintBlockStream.h"
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#include "DySolverBody.h"
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namespace physx
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{
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class PxsRigidBody;
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struct PxsBodyCore;
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class PxsIslandIndices;
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struct PxsIndexedInteraction;
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struct PxsIndexedContactManager;
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struct PxSolverConstraintDesc;
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namespace Cm
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{
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class SpatialVector;
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}
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namespace Dy
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{
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struct SolverIslandParams;
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class DynamicsContext;
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#define SOLVER_PARALLEL_METHOD_ARGS \
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DynamicsContext& context, \
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SolverIslandParams& params, \
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IG::IslandSim& islandSim
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/**
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\brief Solver body pool (array) that enforces 128-byte alignment for base address of array.
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\note This reduces cache misses on platforms with 128-byte-size cache lines by aligning the start of the array to the beginning of a cache line.
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*/
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class SolverBodyPool : public PxArray<PxSolverBody, PxAlignedAllocator<128, PxReflectionAllocator<PxSolverBody> > >
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{
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PX_NOCOPY(SolverBodyPool)
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public:
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SolverBodyPool() {}
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};
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/**
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\brief Solver body data pool (array) that enforces 128-byte alignment for base address of array.
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\note This reduces cache misses on platforms with 128-byte-size cache lines by aligning the start of the array to the beginning of a cache line.
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*/
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class SolverBodyDataPool : public PxArray<PxSolverBodyData, PxAlignedAllocator<128, PxReflectionAllocator<PxSolverBodyData> > >
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{
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PX_NOCOPY(SolverBodyDataPool)
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public:
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SolverBodyDataPool() {}
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};
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class SolverConstraintDescPool : public PxArray<PxSolverConstraintDesc, PxAlignedAllocator<128, PxReflectionAllocator<PxSolverConstraintDesc> > >
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{
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PX_NOCOPY(SolverConstraintDescPool)
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public:
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SolverConstraintDescPool() { }
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};
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/**
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\brief Encapsulates an island's context
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*/
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struct IslandContext
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{
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//The thread context for this island (set in in the island start task, released in the island end task)
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ThreadContext* mThreadContext;
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PxsIslandIndices mCounts;
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};
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/**
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\brief Encapsules the data used by the constraint solver.
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*/
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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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class DynamicsContext : public DynamicsContextBase
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{
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PX_NOCOPY(DynamicsContext)
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public:
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DynamicsContext(PxcNpMemBlockPool* memBlockPool,
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PxcScratchAllocator& scratchAllocator,
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Cm::FlushPool& taskPool,
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PxvSimStats& simStats,
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PxTaskManager* taskManager,
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PxVirtualAllocatorCallback* allocatorCallback,
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PxsMaterialManager* materialManager,
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IG::SimpleIslandManager& islandManager,
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PxU64 contextID,
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bool enableStabilization,
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bool useEnhancedDeterminism,
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PxReal maxBiasCoefficient,
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bool frictionEveryIteration,
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PxReal lengthScale,
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bool isResidualReportingEnabled
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);
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virtual ~DynamicsContext();
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// Context
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virtual void destroy() 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, const PxVec3& gravity, PxBitMapPinned& changedHandleMap) PX_OVERRIDE;
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virtual void mergeResults() PX_OVERRIDE;
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virtual void setSimulationController(PxsSimulationController* simulationController ) PX_OVERRIDE { mSimulationController = simulationController; }
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virtual PxSolverType::Enum getSolverType() const PX_OVERRIDE { return PxSolverType::ePGS; }
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//~Context
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void updatePostKinematic(IG::SimpleIslandManager& simpleIslandManager, PxBaseTask* continuation, PxBaseTask* lostTouchTask, PxU32 maxLinks);
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PX_FORCE_INLINE bool solveFrictionEveryIteration() const { return mSolveFrictionEveryIteration; }
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protected:
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#if PX_ENABLE_SIM_STATS
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void addThreadStats(const ThreadContext::ThreadSimStats& stats);
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#else
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PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
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#endif
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// Solver helper-methods
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/**
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\brief Computes the unconstrained velocity for a given PxsRigidBody
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\param[in] atom The PxsRigidBody
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*/
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void computeUnconstrainedVelocity(PxsRigidBody* atom) const;
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void setDescFromIndices_Contacts(PxSolverConstraintDesc& desc, const IG::IslandSim& islandSim,
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const PxsIndexedInteraction& constraint, PxU32 solverBodyOffset);
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void setDescFromIndices_Constraints( PxSolverConstraintDesc& desc, const IG::IslandSim& islandSim, IG::EdgeIndex edgeIndex,
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const PxU32* bodyRemapTable, PxU32 solverBodyOffset);
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/**
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\brief Compute the unconstrained velocity for set of bodies in parallel. This function may spawn additional tasks.
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\param[in] dt The timestep
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\param[in] bodyArray The array of body cores
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\param[in] originalBodyArray The array of PxsRigidBody
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\param[in] nodeIndexArray The array of island node index
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\param[in] bodyCount The number of bodies
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\param[out] solverBodyPool The pool of solver bodies. These are synced with the corresponding body in bodyArray.
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\param[out] solverBodyDataPool The pool of solver body data. These are synced with the corresponding body in bodyArray
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\param[out] motionVelocityArray The motion velocities for the bodies
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\param[out] maxSolverPositionIterations The maximum number of position iterations requested by any body in the island
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\param[out] maxSolverVelocityIterations The maximum number of velocity iterations requested by any body in the island
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\param[out] integrateTask The continuation task for any tasks spawned by this function.
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*/
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void preIntegrationParallel(
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PxF32 dt,
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PxsBodyCore*const* bodyArray, // INOUT: core body attributes
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PxsRigidBody*const* originalBodyArray, // IN: original body atom names
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PxU32 const* nodeIndexArray, // IN: island node index
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PxU32 bodyCount, // IN: body count
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PxSolverBody* solverBodyPool, // IN: solver atom pool (space preallocated)
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PxSolverBodyData* solverBodyDataPool,
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Cm::SpatialVector* motionVelocityArray, // OUT: motion velocities
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PxU32& maxSolverPositionIterations,
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PxU32& maxSolverVelocityIterations,
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PxBaseTask& integrateTask
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);
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/**
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\brief Solves an island in parallel.
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\param[in] params Solver parameter structure
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*/
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void solveParallel(SolverIslandParams& params, IG::IslandSim& islandSim, Cm::SpatialVectorF* deltaV, Dy::ErrorAccumulatorEx* errorAccumulator);
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void integrateCoreParallel(SolverIslandParams& params, Cm::SpatialVectorF* deltaV, IG::IslandSim& islandSim);
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/**
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\brief Body to represent the world static body.
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*/
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PX_ALIGN(16, PxSolverBody mWorldSolverBody);
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/**
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\brief Body data to represent the world static body.
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*/
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PX_ALIGN(16, PxSolverBodyData mWorldSolverBodyData);
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/**
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\brief Solver constraint desc array
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*/
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SolverConstraintDescPool mSolverConstraintDescPool;
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/**
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\brief Ordered solver constraint desc array (after partitioning)
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*/
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SolverConstraintDescPool mOrderedSolverConstraintDescPool;
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/**
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\brief A temporary array of constraint descs used for partitioning
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*/
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SolverConstraintDescPool mTempSolverConstraintDescPool;
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/**
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\brief Global pool for solver bodies. Kinematic bodies are at the start, and then dynamic bodies
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*/
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SolverBodyPool mSolverBodyPool;
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/**
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\brief Global pool for solver body data. Kinematic bodies are at the start, and then dynamic bodies
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*/
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SolverBodyDataPool mSolverBodyDataPool;
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private:
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const bool mSolveFrictionEveryIteration;
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protected:
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friend class PxsSolverStartTask;
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friend class PxsSolverAticulationsTask;
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friend class PxsSolverSetupConstraintsTask;
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friend class PxsSolverCreateFinalizeConstraintsTask;
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friend class PxsSolverConstraintPartitionTask;
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friend class PxsSolverSetupSolveTask;
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friend class PxsSolverIntegrateTask;
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friend class PxsSolverEndTask;
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friend class PxsSolverConstraintPostProcessTask;
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friend class PxsForceThresholdTask;
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friend class SolverArticulationUpdateTask;
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friend void solveParallel(SOLVER_PARALLEL_METHOD_ARGS);
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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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}
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}
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#endif
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