306 lines
11 KiB
C++
306 lines
11 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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#ifndef PXG_NPHASE_IMPLEMENTATION_CONTEXT_H
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#define PXG_NPHASE_IMPLEMENTATION_CONTEXT_H
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#include "CmTask.h"
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#include "foundation/PxMutex.h"
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#include "PxvNphaseImplementationContext.h"
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#include "PxgNarrowphaseCore.h"
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#include "PxgSimulationCore.h"
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#include "foundation/PxHashMap.h"
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#include "PxsContactManagerState.h"
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#include "PxgContactManager.h"
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#include "PxgPersistentContactManifold.h"
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#include "PxgHeapMemAllocator.h"
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namespace physx
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{
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struct PxcNpWorkUnit;
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class PxgNphaseImplementationContext;
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class PxgGpuContext;
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class PxgParticleSystemCore;
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class PxsKernelWranglerManager;
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namespace Bp
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{
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class BpNonVirtualMemAllocator;
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}
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namespace Dy
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{
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class Context;
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}
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class PxgCMGpuDiscreteUpdateBase: public Cm::Task
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{
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private:
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PX_NOCOPY(PxgCMGpuDiscreteUpdateBase)
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public:
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PxgCMGpuDiscreteUpdateBase(PxgNphaseImplementationContext* context):
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Cm::Task(0), mDt(FLT_MAX), mContext(context)
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{
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}
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virtual ~PxgCMGpuDiscreteUpdateBase()
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{}
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void setDt(PxReal dt)
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{
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mDt = dt;
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}
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void processContactManagers(PxgContactManagers& managers, PxgGpuContactManagers& managersGPU, GPU_BUCKET_ID::Enum type);
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protected:
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PxReal mDt; //we could probably retrieve from context to save space?
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PxgNphaseImplementationContext* mContext;
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};
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class PxgCMGpuDiscreteUpdateFallbackTask : public Cm::Task
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{
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public:
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PxgCMGpuDiscreteUpdateFallbackTask(PxgNphaseImplementationContext* context) :
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Cm::Task(0), mDt(FLT_MAX), mContext(context)
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{
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}
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virtual ~PxgCMGpuDiscreteUpdateFallbackTask()
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{}
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void setDt(PxReal dt)
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{
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mDt = dt;
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}
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virtual const char* getName() const
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{
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return "PxgCMGpuDiscreteUpdateFallbackTask";
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}
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void runInternal();
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protected:
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PxReal mDt;
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PxgNphaseImplementationContext* mContext;
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};
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class PxgCMGpuDiscreteUpdateTask : public PxgCMGpuDiscreteUpdateBase
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{
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PxBaseTask* mFirstPassNpContinuation;
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PxBaseTask* mPostBroadPhaseTask;
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public:
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PxgCMGpuDiscreteUpdateTask(PxgNphaseImplementationContext* context) : PxgCMGpuDiscreteUpdateBase(context), mFirstPassNpContinuation(NULL)
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{
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mPostBroadPhaseTask = NULL;
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}
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virtual ~PxgCMGpuDiscreteUpdateTask()
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{
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}
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virtual void setPostBroadPhaseTask(PxBaseTask* postBroadPhaseTask)
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{
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mPostBroadPhaseTask = postBroadPhaseTask;
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}
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virtual void release()
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{
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if(mFirstPassNpContinuation)
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mFirstPassNpContinuation->removeReference();
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PxgCMGpuDiscreteUpdateBase::release();
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}
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void setFirstPassContinuation(PxBaseTask* firstPassContinuation) { mFirstPassNpContinuation = firstPassContinuation; }
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void runInternal();
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virtual const char* getName() const
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{
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return "PxgNphaseImplementationContext.firstContactManagerDiscreteUpdate";
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}
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};
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class PxgCMGpuDiscreteSecondPassUpdateTask : public PxgCMGpuDiscreteUpdateBase
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{
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public:
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PxgCMGpuDiscreteSecondPassUpdateTask(PxgNphaseImplementationContext* context): PxgCMGpuDiscreteUpdateBase(context)
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{
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}
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virtual ~PxgCMGpuDiscreteSecondPassUpdateTask()
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{}
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void runInternal();
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virtual const char* getName() const
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{
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return "PxgNphaseImplementationContext.secondContactManagerDiscreteUpdate";
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}
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protected:
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};
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class PxgNphaseImplementationContext : public PxvNphaseImplementationContext
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{
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private:
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PX_NOCOPY(PxgNphaseImplementationContext)
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public:
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PxgNphaseImplementationContext(PxsContext& context, PxsKernelWranglerManager* gpuKernelWrangler, PxvNphaseImplementationFallback* fallbackForUnsupportedCMs,
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const PxGpuDynamicsMemoryConfig& gpuDynamicsConfig, void* contactStreamBase, void* patchStreamBase, void* forceAndIndiceStreamBase,
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PxBoundsArrayPinned& bounds, IG::IslandSim* islandSim,
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physx::Dy::Context* dynamicsContext, PxgHeapMemoryAllocatorManager* heapMemoryManager,
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bool useGPUNP);
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virtual ~PxgNphaseImplementationContext();
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virtual void destroy() PX_OVERRIDE PX_FINAL;
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virtual void updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassNpContinuation, Cm::FanoutTask* updateBoundAndShapeTask) PX_OVERRIDE PX_FINAL;
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void updateContactManagersFallback(PxReal dt, PxBaseTask* continuation);
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virtual void postBroadPhaseUpdateContactManager(PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
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virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
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virtual void fetchUpdateContactManager() PX_OVERRIDE PX_FINAL;
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virtual void preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) PX_OVERRIDE PX_FINAL;
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virtual void registerContactManager(PxsContactManager* cm, const Sc::ShapeInteraction* shapeInteraction, PxI32 touching, PxU32 numPatches) PX_OVERRIDE PX_FINAL;
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virtual void unregisterContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
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virtual void refreshContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
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virtual void registerShape(const PxNodeIndex& nodeIndex, const PxsShapeCore& shapeCore, const PxU32 transformCacheID, PxActor* actor, const bool isFemCloth) PX_OVERRIDE PX_FINAL;
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virtual void updateShapeMaterial(const PxsShapeCore& shapeCore) PX_OVERRIDE PX_FINAL;
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virtual void unregisterShape(const PxsShapeCore& shapeCore, const PxU32 transformCacheID, const bool isFemCloth) PX_OVERRIDE PX_FINAL;
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virtual void registerAggregate(const PxU32 transformCacheID) PX_OVERRIDE PX_FINAL;
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virtual void registerMaterial(const PxsMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void updateMaterial(const PxsMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void unregisterMaterial(const PxsMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void registerMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void updateMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void unregisterMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void registerMaterial(const PxsDeformableVolumeMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void updateMaterial(const PxsDeformableVolumeMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void unregisterMaterial(const PxsDeformableVolumeMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void registerMaterial(const PxsPBDMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void updateMaterial(const PxsPBDMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual void unregisterMaterial(const PxsPBDMaterialCore& materialCore) PX_OVERRIDE PX_FINAL;
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virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npId) PX_OVERRIDE PX_FINAL;
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virtual void appendContactManagers() PX_OVERRIDE PX_FINAL;
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virtual PxsContactManagerOutputIterator getContactManagerOutputs() PX_OVERRIDE PX_FINAL;
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virtual void setContactModifyCallback(PxContactModifyCallback* callback) PX_OVERRIDE PX_FINAL { mFallbackForUnsupportedCMs->setContactModifyCallback(callback); }
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void updateNarrowPhaseShape();
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void mergeContactManagers(PxBaseTask* continuation);
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void processResults();
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virtual void startNarrowPhaseTasks() PX_OVERRIDE PX_FINAL;
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PxReal getToleranceLength();
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PxgGpuNarrowphaseCore* getGpuNarrowphaseCore() { return mGpuNarrowphaseCore; }
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PxgSimulationCore* getSimulationCore() { return mGpuSimulationCore; }
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void setSimulationCore(PxgSimulationCore* sc) { mGpuSimulationCore = sc; }
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virtual void acquireContext() PX_OVERRIDE PX_FINAL;
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virtual void releaseContext() PX_OVERRIDE PX_FINAL;
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virtual void lock() PX_OVERRIDE PX_FINAL { mFallbackForUnsupportedCMs->lock();}
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virtual void unlock() PX_OVERRIDE PX_FINAL { mFallbackForUnsupportedCMs->unlock(); }
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PxsContext& getContext() { return mContext; }
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virtual PxsContactManagerOutputCounts* getLostFoundPatchOutputCounts() PX_OVERRIDE PX_FINAL;
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virtual PxsContactManager** getLostFoundPatchManagers() PX_OVERRIDE PX_FINAL;
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virtual PxU32 getNbLostFoundPatchManagers() PX_OVERRIDE PX_FINAL;
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virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() PX_OVERRIDE PX_FINAL;
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virtual PxReal* getGPURestDistances() PX_OVERRIDE PX_FINAL;
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virtual Sc::ShapeInteraction** getGPUShapeInteractions() PX_OVERRIDE PX_FINAL;
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virtual PxsTorsionalFrictionData* getGPUTorsionalData() PX_OVERRIDE PX_FINAL;
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protected:
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void prepareTempContactManagers(PxBaseTask* continuation);
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void removeLostPairs();
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void registerContactManagerInternal(PxsContactManager* cm, const PxcNpWorkUnit& workUnit, PxU32 patchCount, PxI32 touching,
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const Sc::ShapeInteraction* shapeInteraction, GPU_BUCKET_ID::Enum bucketId);
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PxvNphaseImplementationFallback* mFallbackForUnsupportedCMs;
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//those arrays logically belongs to the task, but we keep it here to avoid reallocations each frame
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friend class PxgCMGpuDiscreteUpdateBase;
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friend class PxgCMGpuDiscreteUpdateTask;
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friend class PxgCMGpuDiscreteSecondPassUpdateTask;
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friend class PxgCMGpuDiscreteUpdateConvexTriMeshTask;
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friend class PxgCMGpuDiscreteSecondPassUpdateConvexTriMeshTask;
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PxgCMGpuDiscreteUpdateTask mUpdateCMsFirstPassTask;
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PxgCMGpuDiscreteSecondPassUpdateTask mUpdateCMsSecondPassTask;
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PxgCMGpuDiscreteUpdateFallbackTask mUpdateFallbackPairs;
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PxPinnedArray<PxsContactManagerOutput> mContactManagerOutputs;
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PxBitMap mGpuContactManagerBitMap[GPU_BUCKET_ID::eCount];
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PxU32 mRecordedGpuPairCount[GPU_BUCKET_ID::eCount];
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PxU32 mNbPairCount[GPU_BUCKET_ID::eCount];
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PxgGpuNarrowphaseCore* mGpuNarrowphaseCore;
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PxgSimulationCore* mGpuSimulationCore;
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PxgGpuContext* mGpuDynamicContext;
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PxU32 mTotalNbPairs;
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PxBoundsArrayPinned& mBounds;
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bool mHasContactDistanceChanged;
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bool mUseGPUBP;
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PxU32 mMaxPatches;
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};
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}
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#endif
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