121 lines
6.2 KiB
C++
121 lines
6.2 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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#include "PxgDynamicsContext.h"
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#include "PxgKernelWrangler.h"
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#include "PxgArticulationCore.h"
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#include "PxgCudaSolverCore.h"
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namespace physx
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{
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PxgDynamicsContext::PxgDynamicsContext(Cm::FlushPool& flushPool, PxsKernelWranglerManager* gpuKernelWrangler, PxCudaContextManager* cudaContextManager,
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const PxGpuDynamicsMemoryConfig& config, IG::SimpleIslandManager& islandManager, PxU32 maxNumPartitions, PxU32 maxNumStaticPartitions,
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bool enableStabilization, bool useEnhancedDeterminism,
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PxReal maxBiasCoefficient,
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PxvSimStats& simStats, PxgHeapMemoryAllocatorManager* heapMemoryManager,
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bool frictionEveryIteration, PxReal lengthScale, bool enableDirectGPUAPI, PxU64 contextID, bool isResidualReportingEnabled)
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:
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PxgGpuContext(flushPool, islandManager, maxNumPartitions, maxNumStaticPartitions, enableStabilization, useEnhancedDeterminism, maxBiasCoefficient, simStats, heapMemoryManager, lengthScale, enableDirectGPUAPI, contextID, isResidualReportingEnabled, false)
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{
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mWorldSolverBody.linearVelocity = PxVec3(0);
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mWorldSolverBody.angularVelocity = PxVec3(0);
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mWorldSolverBodyData.invMass = 0;
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mWorldSolverBodyData.reportThreshold = PX_MAX_REAL;
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mWorldSolverBodyData.maxImpulse = PX_MAX_REAL;
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mWorldSolverBodyData.penBiasClamp = -PX_MAX_REAL;
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mWorldSolverBodyData.initialAngVel = mWorldSolverBodyData.initialLinVel = PxVec3(0.f);
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mWorldSolverBodyData.body2World = PxAlignedTransform(PxIdentity);
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mWorldSolverBodyData.islandNodeIndex = PxNodeIndex(PX_INVALID_NODE);
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mWorldSolverBodyData.offsetSlop = 0.f;
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mWorldTxIData.sqrtInvInertia = PxMat33(PxZero);
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mWorldTxIData.deltaBody2World = PxTransform(PxIdentity);
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{
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mGpuArticulationCore = PX_NEW(PxgArticulationCore)(static_cast<PxgCudaKernelWranglerManager*>(gpuKernelWrangler), cudaContextManager, heapMemoryManager);
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mGpuSolverCore = PX_NEW(PxgCudaSolverCore)(static_cast<PxgCudaKernelWranglerManager*>(gpuKernelWrangler), cudaContextManager, this, heapMemoryManager, config, frictionEveryIteration);
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mGpuArticulationCore->setGpuContext(this);
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}
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mGpuSolverCore->acquireContext();
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mGpuSolverCore->createStreams();
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createThresholdStream(*heapMemoryManager->mMappedMemoryAllocators);
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createForceChangeThresholdStream(*heapMemoryManager->mMappedMemoryAllocators);
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mPinnedMemoryAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.tempBufferCapacity);
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mCurrentContactStream = 0;
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mContactStreamAllocators[0] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxContact));
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mContactStreamAllocators[1] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxContact));
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mPatchStreamAllocators[0] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxContactPatch));
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mPatchStreamAllocators[1] = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxContactPatch));
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mForceStreamAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidContactCount * sizeof(PxReal) * 2);
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mFrictionPatchStreamAllocator = PX_NEW(PxgPinnedHostLinearMemoryAllocator)(cudaContextManager, config.maxRigidPatchCount * sizeof(PxFrictionPatch));
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mContactStreamPool.mDataStream = mContactStreamAllocators[mCurrentContactStream]->mStart;
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mContactStreamPool.mDataStreamSize = (PxU32)mContactStreamAllocators[mCurrentContactStream]->mTotalSize;
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mContactStreamPool.mSharedDataIndex = 0;
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mContactStreamPool.mSharedDataIndexGPU = 0;
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mPatchStreamPool.mDataStream = mPatchStreamAllocators[mCurrentContactStream]->mStart;
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mPatchStreamPool.mDataStreamSize = (PxU32)mPatchStreamAllocators[mCurrentContactStream]->mTotalSize;
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mPatchStreamPool.mSharedDataIndex = 0;
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mPatchStreamPool.mSharedDataIndexGPU = 0;
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mForceStreamPool.mDataStream = mForceStreamAllocator->mStart;
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mForceStreamPool.mDataStreamSize = (PxU32)mForceStreamAllocator->mTotalSize;
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mForceStreamPool.mSharedDataIndex = 0;
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mForceStreamPool.mSharedDataIndexGPU = 0;
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mFrictionPatchStreamPool.mDataStream = mFrictionPatchStreamAllocator->mStart;
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mFrictionPatchStreamPool.mDataStreamSize = PxTo32(mFrictionPatchStreamAllocator->mTotalSize);
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mFrictionPatchStreamPool.mSharedDataIndex = 0;
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mFrictionPatchStreamPool.mSharedDataIndexGPU = 0;
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//Arbitrarily-large number to reserve to minimize allocation churn.
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mConstraintsPerPartition.reserve(1024);
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mArtiConstraintsPerPartition.reserve(1024);
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mGpuSolverCore->releaseContext();
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}
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void PxgDynamicsContext::destroy()
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{
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this->~PxgDynamicsContext();
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PX_FREE_THIS;
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}
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}
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