XCEngine/engine/third_party/physx/source/simulationcontroller/src/ScSleep.cpp

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#include "ScScene.h"
#include "ScArticulationSim.h"
#include "ScBodySim.h"
#include "ScActorSim.h"
#include "DyIslandManager.h"

#if PX_SUPPORT_GPU_PHYSX
	#include "ScDeformableSurfaceSim.h"
	#include "ScDeformableVolumeSim.h"
	#include "ScParticleSystemSim.h"
#endif

#include "common/PxProfileZone.h"

using namespace physx;
using namespace Cm;
using namespace Dy;
using namespace Sc;

// PT: "setActive()" moved from ActorSim to BodySim because GPU classes silently re-implement this in a very different way (see below),
// i.e. it defeats the purpose of the virtual activate()/deactivate() functions.
void Sc::BodySim::setActive(bool active, bool asPartOfCreation)
{
	PX_ASSERT(!active || isDynamicRigid());  // Currently there should be no need to activate an actor that does not take part in island generation

	if(asPartOfCreation || isActive() != active)
	{
		PX_ASSERT(!asPartOfCreation || (getActorInteractionCount() == 0)); // On creation or destruction there should be no interactions

		if(active)
		{
			if(!asPartOfCreation)
				getScene().addToActiveList(*this);	// Inactive => Active

			activate();

			PX_ASSERT(asPartOfCreation || isActive());
		}
		else
		{
			if(!asPartOfCreation)
				getScene().removeFromActiveList(*this);	// Active => Inactive

			deactivate();

			PX_ASSERT(asPartOfCreation || (!isActive()));
		}
	}
}

void Sc::ArticulationSim::setActive(bool b, bool asPartOfCreation)
{
	const PxReal wakeCounter = mCore.getWakeCounter();
	const PxU32 nbBodies = mBodies.size();
	for(PxU32 i=0;i<nbBodies;i++)
	{
		if(i+1 < nbBodies)
		{
			PxPrefetchLine(mBodies[i+1],0);
			PxPrefetchLine(mBodies[i+1],128);
		}
		//KS - force in the wake counter from the articulation to its links. This is required because
		//GPU articulation simulation does not DMA back wake counters for each link - it just brings back a global wake counter
		mBodies[i]->getBodyCore().setWakeCounterFromSim(wakeCounter);
		mBodies[i]->setActive(b, asPartOfCreation);
	}
}

// PT: moving all the sleeping-related implementations to the same file clearly exposes the inconsistencies between them
#if PX_SUPPORT_GPU_PHYSX
void Sc::ParticleSystemSim::setActive(bool /*active*/, bool /*asPartOfCreation*/)
{
}

void Sc::DeformableSurfaceSim::activate()
{
	mScene.getSimulationController()->activateCloth(mLLDeformableSurface);

	activateInteractions(*this);
}

void Sc::DeformableSurfaceSim::deactivate()
{
	mScene.getSimulationController()->deactivateCloth(mLLDeformableSurface);

	deactivateInteractions(*this);
}

void Sc::DeformableSurfaceSim::setActive(bool active, bool /*asPartOfCreation*/)
{
	if(active)
		activate();
	else
		deactivate();
}

void Sc::DeformableVolumeSim::setActive(bool active, bool /*asPartOfCreation*/)
{
	if(active)
		getScene().getSimulationController()->activateSoftbody(mLLDeformableVolume);
	else
		getScene().getSimulationController()->deactivateSoftbody(mLLDeformableVolume);
}

#endif

namespace
{
struct GetRigidSim	{ static PX_FORCE_INLINE BodySim* getSim(const IG::Node& node)			{ return reinterpret_cast<BodySim*>(reinterpret_cast<PxU8*>(node.mObject) - BodySim::getRigidBodyOffset());		}	};
struct GetArticSim	{ static PX_FORCE_INLINE ArticulationSim* getSim(const IG::Node& node)	{ return reinterpret_cast<ArticulationSim*>(getObjectFromIG<FeatherstoneArticulation>(node)->getUserData());	}	};
#if PX_SUPPORT_GPU_PHYSX
struct GetDeformableSurfaceSim	{ static PX_FORCE_INLINE DeformableSurfaceSim* getSim(const IG::Node& node)	{ return getObjectFromIG<DeformableSurface>(node)->getSim();	}	};
struct GetDeformableVolumeSim	{ static PX_FORCE_INLINE DeformableVolumeSim* getSim(const IG::Node& node)	{ return getObjectFromIG<DeformableVolume>(node)->getSim();		}	};
#endif
}

template<class SimT, class SimAccessT, const bool active>
static void setActive(PxU32& nbModified, const IG::IslandSim& islandSim, IG::Node::NodeType type)
{
	PxU32 nbToProcess = active ? islandSim.getNbNodesToActivate(type) : islandSim.getNbNodesToDeactivate(type);
	const PxNodeIndex* indices = active ? islandSim.getNodesToActivate(type) : islandSim.getNodesToDeactivate(type);

	while(nbToProcess--)
	{
		const IG::Node& node = islandSim.getNode(*indices++);
		PX_ASSERT(node.mType == type);
		if((!!node.isActive())==active)
		{
			SimT* sim = SimAccessT::getSim(node);
			if(sim)
			{
				sim->setActive(active);
				nbModified++;
			}
		}
	}
}

#ifdef BATCHED
namespace
{
struct SetActiveRigidSim
{
	template<const bool active>
	static void setActive(Scene& /*scene*/, PxU32 nbObjects, BodySim** objects)
	{
		if(1)
		{
			while(nbObjects--)
			{
				(*objects)->setActive(active);
				objects++;
			}
		}
		else
		{
			if(active)
			{
//				scene.addToActiveList(*this);
//				activate();
//				PX_ASSERT(isActive());
			}
			else
			{
//				scene.removeFromActiveList(*this);
//				deactivate();
//				PX_ASSERT(!isActive());
			}
		}
	}
};
}

template<class SimT, class SimAccessT, class SetActiveBatchedT, const bool active>
static void setActiveBatched(Scene& scene, PxU32& nbModified, const IG::IslandSim& islandSim, IG::Node::NodeType type)
{
	PxU32 nbToProcess = active ? islandSim.getNbNodesToActivate(type) : islandSim.getNbNodesToDeactivate(type);
	const PxNodeIndex* indices = active ? islandSim.getNodesToActivate(type) : islandSim.getNodesToDeactivate(type);

	PX_ALLOCA(batch, SimT*, nbToProcess);

	PxU32 nb = 0;
	while(nbToProcess--)
	{
		const IG::Node& node = islandSim.getNode(*indices++);
		PX_ASSERT(node.mType == type);
		if(node.isActive()==active)
		{
			SimT* sim = SimAccessT::getSim(node);
			if(sim && sim->isActive()!=active)
				batch.mPointer[nb++] = sim;
		}
	}

	SetActiveBatchedT::setActive<active>(scene, nb, batch.mPointer);

	nbModified = nb;
}

/*
Batched version would be just:
a) addToActiveList(batched objects)
b) activate(batched objects)

void Sc::ActorSim::setActive(bool active)
{
	PX_ASSERT(!active || isDynamicRigid());  // Currently there should be no need to activate an actor that does not take part in island generation

	if(isActive() != active)
	{
		if(active)
		{
			// Inactive => Active
			getScene().addToActiveList(*this);

			activate();

			PX_ASSERT(isActive());
		}
		else
		{
			// Active => Inactive
			getScene().removeFromActiveList(*this);

			deactivate();

			PX_ASSERT(!isActive());
		}
	}
}
*/
#endif

void Sc::Scene::putObjectsToSleep()
{
	PX_PROFILE_ZONE("Sc::Scene::putObjectsToSleep", mContextId);

	//Set to sleep all bodies that were in awake islands that have just been put to sleep.

	const IG::IslandSim& islandSim = mSimpleIslandManager->getAccurateIslandSim();

	PxU32 nbBodiesDeactivated = 0;
	//setActiveBatched<BodySim, GetRigidSim, SetActiveRigidSim, false>(*this, nbBodiesDeactivated, islandSim, IG::Node::eRIGID_BODY_TYPE);
	setActive<BodySim, GetRigidSim, false>(nbBodiesDeactivated, islandSim, IG::Node::eRIGID_BODY_TYPE);
	setActive<ArticulationSim, GetArticSim, false>(nbBodiesDeactivated, islandSim, IG::Node::eARTICULATION_TYPE);

#if PX_SUPPORT_GPU_PHYSX
	setActive<DeformableSurfaceSim, GetDeformableSurfaceSim, false>(nbBodiesDeactivated, islandSim, IG::Node::eDEFORMABLE_SURFACE_TYPE);
	setActive<DeformableVolumeSim, GetDeformableVolumeSim, false>(nbBodiesDeactivated, islandSim, IG::Node::eDEFORMABLE_VOLUME_TYPE);
#endif

	if(nbBodiesDeactivated)
		mDynamicsContext->setStateDirty(true);
}

void Sc::Scene::wakeObjectsUp()
{
	PX_PROFILE_ZONE("Sc::Scene::wakeObjectsUp", mContextId);

	//Wake up all bodies that were in sleeping islands that have just been hit by a moving object.

	const IG::IslandSim& islandSim = mSimpleIslandManager->getAccurateIslandSim();

	PxU32 nbBodiesWoken = 0;
	setActive<BodySim, GetRigidSim, true>(nbBodiesWoken, islandSim, IG::Node::eRIGID_BODY_TYPE);
	setActive<ArticulationSim, GetArticSim, true>(nbBodiesWoken, islandSim, IG::Node::eARTICULATION_TYPE);

#if PX_SUPPORT_GPU_PHYSX
	setActive<DeformableSurfaceSim, GetDeformableSurfaceSim, true>(nbBodiesWoken, islandSim, IG::Node::eDEFORMABLE_SURFACE_TYPE);
	setActive<DeformableVolumeSim, GetDeformableVolumeSim, true>(nbBodiesWoken, islandSim, IG::Node::eDEFORMABLE_VOLUME_TYPE);
#endif

	if(nbBodiesWoken)
		mDynamicsContext->setStateDirty(true);
}