135 lines
5.0 KiB
C++
135 lines
5.0 KiB
C++
// 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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#include "ScScene.h"
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#include "ScConstraintSim.h"
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#include "ScConstraintCore.h"
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#include "ScConstraintInteraction.h"
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#include "common/PxProfileZone.h"
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using namespace physx;
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// PT: the breakable constraints are added to / removed from mActiveBreakableConstraints:
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void Sc::Scene::addActiveBreakableConstraint(Sc::ConstraintSim* c, Sc::ConstraintInteraction* ci)
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{
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PX_ASSERT(ci && ci->readInteractionFlag(InteractionFlag::eIS_ACTIVE));
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PX_UNUSED(ci);
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PX_ASSERT(!mActiveBreakableConstraints.contains(c));
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PX_ASSERT(!c->isBroken());
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mActiveBreakableConstraints.insert(c);
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c->setFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED);
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}
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void Sc::Scene::removeActiveBreakableConstraint(Sc::ConstraintSim* c)
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{
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const bool exists = mActiveBreakableConstraints.erase(c);
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PX_ASSERT(exists);
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PX_UNUSED(exists);
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c->clearFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED);
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}
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// PT: then at runtime we parse mActiveBreakableConstraints, check for max force exceeded,
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// and add broken constraints to mBrokenConstraints:
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void Sc::Scene::checkConstraintBreakage()
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{
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PX_PROFILE_ZONE("Sim.checkConstraintBreakage", mContextId);
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PxU32 count = mActiveBreakableConstraints.size();
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if(!count)
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return;
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PxPinnedArray<Dy::ConstraintWriteback>& pool = mDynamicsContext->getConstraintWriteBackPool();
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ConstraintSim* const* constraints = mActiveBreakableConstraints.getEntries();
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while(count--)
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{
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ConstraintSim* sim = constraints[count]; // start from the back because broken constraints get removed from the list
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PX_ASSERT(sim->readFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED));
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const Dy::ConstraintWriteback& solverOutput = pool[sim->getLowLevelConstraint().index];
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if(solverOutput.isBroken())
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{
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sim->setFlag(ConstraintSim::eBROKEN);
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ConstraintCore& core = sim->getCore();
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if(mSimulationEventCallback)
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{
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PX_ASSERT(mBrokenConstraints.find(&core) == mBrokenConstraints.end());
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mBrokenConstraints.pushBack(&core);
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}
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core.breakApart();
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ConstraintInteraction* interaction = const_cast<ConstraintInteraction*>(sim->getInteraction());
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interaction->destroy(); // PT: this will call removeFromActiveBreakableList above
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// update related SIPs
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{
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ActorSim& a0 = interaction->getActorSim0();
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ActorSim& a1 = interaction->getActorSim1();
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ActorSim& actor = (a0.getActorInteractionCount() < a1.getActorInteractionCount()) ? a0 : a1;
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actor.setActorsInteractionsDirty(InteractionDirtyFlag::eFILTER_STATE, NULL, InteractionFlag::eRB_ELEMENT);
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// because broken constraints can re-enable contact response between the two bodies
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}
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PX_ASSERT(!sim->readFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED));
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}
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}
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}
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// PT: finally mBrokenConstraints is parsed and callbacks issued:
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void Sc::Scene::fireBrokenConstraintCallbacks()
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{
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if(!mSimulationEventCallback)
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return;
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const PxU32 count = mBrokenConstraints.size();
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for(PxU32 i=0;i<count;i++)
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{
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Sc::ConstraintCore* c = mBrokenConstraints[i];
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PX_ASSERT(c->getSim());
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PxU32 typeID = 0xffffffff;
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void* externalRef = c->getPxConnector()->getExternalReference(typeID);
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PX_CHECK_MSG(typeID != 0xffffffff, "onConstraintBreak: Invalid constraint type ID.");
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PxConstraintInfo constraintInfo(c->getPxConstraint(), externalRef, typeID);
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{
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// PT: TODO: batch data and call this only once
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PX_PROFILE_ZONE("USERCODE - PxSimulationEventCallback::onConstraintBreak", mContextId);
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mSimulationEventCallback->onConstraintBreak(&constraintInfo, 1);
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}
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}
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}
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