123 lines
5.2 KiB
C++
123 lines
5.2 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 DY_DYNAMICS_BASE_H
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#define DY_DYNAMICS_BASE_H
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#include "DyContext.h"
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#include "DyThreadContext.h"
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#include "PxvNphaseImplementationContext.h"
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#include "PxsIslandManagerTypes.h"
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#include "solver/PxSolverDefs.h"
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namespace physx
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{
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namespace Cm
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{
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class FlushPool;
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}
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namespace IG
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{
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class SimpleIslandManager;
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}
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namespace Dy
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{
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// PT: base class containing code and data shared between PGS and TGS. Ideally this would just be named "DynamicsContext" and the PGS
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// context would have been renamed "DynamicsPGSContext" (to match DynamicsTGSContext) but let's limit the gratuitous changes for now.
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class DynamicsContextBase : public Context
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{
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PX_NOCOPY(DynamicsContextBase)
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public:
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DynamicsContextBase(PxcNpMemBlockPool* memBlockPool,
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Cm::FlushPool& taskPool,
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PxvSimStats& simStats,
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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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PxReal maxBiasCoefficient,
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PxReal lengthScale,
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bool enableStabilization,
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bool useEnhancedDeterminism,
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bool isResidualReportingEnabled
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);
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virtual ~DynamicsContextBase();
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/**
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\brief Allocates and returns a thread context object.
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\return A thread context.
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*/
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PX_FORCE_INLINE ThreadContext* getThreadContext() { return mThreadContextPool.get(); }
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/**
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\brief Returns a thread context to the thread context pool.
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\param[in] context The thread context to return to the thread context pool.
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*/
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void putThreadContext(ThreadContext* context) { mThreadContextPool.put(context); }
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PX_FORCE_INLINE ThresholdStream& getThresholdStream() { return *mThresholdStream; }
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PX_FORCE_INLINE PxvSimStats& getSimStats() { return mSimStats; }
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PX_FORCE_INLINE Cm::FlushPool& getTaskPool() { return mTaskPool; }
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PX_FORCE_INLINE PxU32 getKinematicCount() const { return mKinematicCount; }
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PxcThreadCoherentCache<ThreadContext, PxcNpMemBlockPool> mThreadContextPool; // A thread context pool
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PxsMaterialManager* mMaterialManager;
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Cm::FlushPool& mTaskPool;
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PxsContactManagerOutputIterator mOutputIterator;
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PxArray<PxConstraintBatchHeader> mContactConstraintBatchHeaders; // An array of contact constraint batch headers
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PxArray<Cm::SpatialVector> mMotionVelocityArray; // Array of motion velocities for all bodies in the scene.
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PxArray<PxsBodyCore*> mBodyCoreArray; // Array of body core pointers for all bodies in the scene.
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PxArray<PxsRigidBody*> mRigidBodyArray; // Array of rigid body pointers for all bodies in the scene.
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PxArray<FeatherstoneArticulation*> mArticulationArray; // Array of articulation pointers for all articulations in the scene.
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ThresholdStream* mExceededForceThresholdStream[2]; // this store previous and current exceeded force thresholdStream
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PxArray<PxU32> mExceededForceThresholdStreamMask;
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PxArray<PxU32> mSolverBodyRemapTable; // Remaps from the "active island" index to the index within a solver island
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PxArray<PxU32> mNodeIndexArray; // island node index
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PxArray<PxsIndexedContactManager> mContactList;
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PxU32 mKinematicCount; // The total number of kinematic bodies in the scene
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PxI32 mThresholdStreamOut; // Atomic counter for the number of threshold stream elements.
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PxU32 mCurrentIndex; // this is the index point to the current exceeded force threshold stream
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protected:
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void resetThreadContexts();
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PxU32 reserveSharedSolverConstraintsArrays(const IG::IslandSim& islandSim, PxU32 maxArticulationLinks);
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};
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}
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}
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#endif
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