132 lines
6.1 KiB
Plaintext
132 lines
6.1 KiB
Plaintext
// 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 "vector_types.h"
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#include "foundation/PxSimpleTypes.h"
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#include "PxgDenseGridData.h"
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//Should have the same value as the same define in sparseGrid.cuh
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#define EMPTY_SUBGRID 0xffffffff
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using namespace physx;
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PX_FORCE_INLINE __device__ __host__ int getCellNr(int numCellsX, int numCellsY, int xi, int yi, int zi)
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{
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return (zi * numCellsY + yi) * numCellsX + xi;
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}
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PX_FORCE_INLINE __device__ __host__ int getCellNr(const int3& gridSize, int xi, int yi, int zi)
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{
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return getCellNr(gridSize.x, gridSize.y, xi, yi, zi);
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}
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PX_FORCE_INLINE __device__ __host__ int4 getCellCoords(int numCellsX, int numCellsY, int cellNr)
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{
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int4 result;
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result.x = cellNr % numCellsX;
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cellNr /= numCellsX;
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result.y = cellNr % numCellsY;
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result.z = cellNr / numCellsY;
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result.w = -1;
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return result;
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}
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PX_FORCE_INLINE __device__ __host__ int4 getCellCoords(const int3& gridSize, int cellNr)
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{
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return getCellCoords(gridSize.x, gridSize.y, cellNr);
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}
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//Functions for the PxDenseGridData class - make sure they have the same name and aruments as their counterparts of the sparse grid to simplify templating
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PX_FORCE_INLINE __device__ int4 getGridCoordinates(const PxDenseGridData& data, int threadIndex)
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{
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return getCellCoords(data.mGridParams.numCellsX, data.mGridParams.numCellsY, threadIndex);
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}
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PX_FORCE_INLINE __device__ PxU32 getCellIndex(PxDenseGridData& data, const int4& index, bool applySubgridOrder = true)
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{
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return getCellNr(data.mGridParams.numCellsX, data.mGridParams.numCellsY, index.x, index.y, index.z);
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}
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PX_FORCE_INLINE __device__ PxU32 getCellIndex(PxDenseGridData& data, const int4& index, PxI32 offsetX, PxI32 offsetY, PxI32 offsetZ, bool applySubgridOrder = true)
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{
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return getCellNr(data.mGridParams.numCellsX, data.mGridParams.numCellsY, index.x + offsetX, index.y + offsetY, index.z + offsetZ);
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}
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PX_FORCE_INLINE __device__ PxU32 getCellIndexSafe(PxDenseGridData& data, const int4& index, PxI32 offsetX, PxI32 offsetY, PxI32 offsetZ, bool applySubgridOrder = true)
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{
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if (index.x + offsetX < 0 || index.y + offsetY < 0 || index.z + offsetZ < 0 || index.x + offsetX >= data.mGridParams.numCellsX || index.y + offsetY >= data.mGridParams.numCellsY || index.z + offsetZ >= data.mGridParams.numCellsZ)
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return EMPTY_SUBGRID;
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return getCellNr(data.mGridParams.numCellsX, data.mGridParams.numCellsY, index.x + offsetX, index.y + offsetY, index.z + offsetZ);
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}
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PX_FORCE_INLINE __device__ PxReal getGridValue(PxDenseGridData& data, const PxReal* dataSource, const int4& index, PxI32 offsetX, PxI32 offsetY, PxI32 offsetZ)
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{
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return dataSource[getCellIndex(data, index, offsetX, offsetY, offsetZ)];
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}
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//Assumes that 0.0 is a valid value for access outside of the grid
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PX_FORCE_INLINE __device__ PxReal getGridValueSafe(PxDenseGridData& data, const PxReal* dataSource, int4 index, PxI32 offsetX, PxI32 offsetY, PxI32 offsetZ)
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{
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if (index.x + offsetX < 0 || index.y + offsetY < 0 || index.z + offsetZ < 0 || index.x + offsetX >= data.mGridParams.numCellsX || index.y + offsetY >= data.mGridParams.numCellsY || index.z + offsetZ >= data.mGridParams.numCellsZ)
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return 0.0f;
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return dataSource[getCellIndex(data, index, offsetX, offsetY, offsetZ)];
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}
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PX_FORCE_INLINE __device__ bool outOfRange(PxDenseGridData& data, const int threadIndex)
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{
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return threadIndex >= data.maxNumCells();
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}
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PX_FORCE_INLINE __device__ bool outOfActiveCells(PxDenseGridData& data, const int threadIndex)
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{
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return threadIndex >= data.maxNumCells(); //All cells are always active on a dense grid
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}
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PX_FORCE_INLINE __device__ bool outOfBounds(PxDenseGridData& data, const int4& index)
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{
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return index.x >= data.mGridParams.numCellsX - 1 || index.y >= data.mGridParams.numCellsY - 1 || index.z >= data.mGridParams.numCellsZ - 1 || index.x < 0 || index.y < 0 || index.z < 0;
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}
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PX_FORCE_INLINE __device__ bool isLastCell(PxDenseGridData& data, const int threadIndex)
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{
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return threadIndex == (data.mGridParams.numCellsX - 1)*(data.mGridParams.numCellsY - 1)*(data.mGridParams.numCellsZ - 1) - 1;
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}
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PX_FORCE_INLINE __device__ PxVec3 getLocation(PxDenseGridData& data, const int4& index)
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{
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return data.mGridParams.origin + PxVec3(index.x, index.y, index.z) * data.mGridParams.gridSpacing;
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}
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PX_FORCE_INLINE __device__ int4 getCellIndexFromParticleAndTransformToLocalCoordinates(PxDenseGridData& data, PxVec3& p)
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{
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p = p - data.mGridParams.origin;
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PxReal invDx = 1.0f / data.mGridParams.gridSpacing;
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PxI32 cxi = (int)PxFloor(p.x * invDx);
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PxI32 cyi = (int)PxFloor(p.y * invDx);
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PxI32 czi = (int)PxFloor(p.z * invDx);
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return make_int4(cxi, cyi, czi, -1);
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}
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