200 lines
6.6 KiB
C++
200 lines
6.6 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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#include "foundation/PxPreprocessor.h"
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#if PX_SUPPORT_GPU_PHYSX
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#include "ScDeformableVolumeSim.h"
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#include "geometry/PxTetrahedronMesh.h"
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using namespace physx;
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using namespace Dy;
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Sc::DeformableVolumeSim::DeformableVolumeSim(DeformableVolumeCore& core, Scene& scene) :
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GPUActorSim(scene, core, NULL)
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{
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mLLDeformableVolume = scene.createLLDeformableVolume(this);
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mNodeIndex = scene.getSimpleIslandManager()->addNode(false, false, IG::Node::eDEFORMABLE_VOLUME_TYPE, mLLDeformableVolume);
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scene.getSimpleIslandManager()->activateNode(mNodeIndex);
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mLLDeformableVolume->setElementId(mShapeSim.getElementID());
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}
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Sc::DeformableVolumeSim::~DeformableVolumeSim()
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{
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if (!mLLDeformableVolume)
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return;
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mScene.destroyLLDeformableVolume(*mLLDeformableVolume);
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mScene.getSimpleIslandManager()->removeNode(mNodeIndex);
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mCore.setSim(NULL);
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}
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bool Sc::DeformableVolumeSim::isSleeping() const
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{
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IG::IslandSim& sim = mScene.getSimpleIslandManager()->getAccurateIslandSim();
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return sim.getActiveNodeIndex(mNodeIndex) == PX_INVALID_NODE;
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}
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void Sc::DeformableVolumeSim::onSetWakeCounter()
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{
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mScene.getSimulationController()->setSoftBodyWakeCounter(mLLDeformableVolume);
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if (mLLDeformableVolume->getCore().wakeCounter > 0.f)
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mScene.getSimpleIslandManager()->activateNode(mNodeIndex);
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else
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mScene.getSimpleIslandManager()->deactivateNode(mNodeIndex);
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}
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void Sc::DeformableVolumeSim::attachShapeCore(ShapeCore* core)
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{
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mShapeSim.setCore(core);
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{
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PX_ASSERT(getWorldBounds().isFinite());
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const PxU32 index = mShapeSim.getElementID();
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mScene.getBoundsArray().setBounds(getWorldBounds(), index);
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addToAABBMgr(Bp::FilterType::DEFORMABLE_VOLUME);
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}
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PxsShapeCore* shapeCore = const_cast<PxsShapeCore*>(&core->getCore());
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mLLDeformableVolume->setShapeCore(shapeCore);
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}
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PxBounds3 Sc::DeformableVolumeSim::getWorldBounds() const
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{
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const PxTetrahedronMeshGeometry& tetGeom = static_cast<const PxTetrahedronMeshGeometry&>(mShapeSim.getCore().getGeometry());
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return tetGeom.tetrahedronMesh->getLocalBounds();
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}
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void Sc::DeformableVolumeSim::attachSimulationMesh(PxTetrahedronMesh* simulationMesh, PxDeformableVolumeAuxData* simulationState)
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{
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mLLDeformableVolume->setSimShapeCore(simulationMesh, simulationState);
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}
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PxTetrahedronMesh* Sc::DeformableVolumeSim::getSimulationMesh()
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{
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return mLLDeformableVolume->getSimulationMesh();
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}
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PxDeformableVolumeAuxData* Sc::DeformableVolumeSim::getAuxData()
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{
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return mLLDeformableVolume->getAuxData();
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}
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PxTetrahedronMesh* Sc::DeformableVolumeSim::getCollisionMesh()
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{
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return mLLDeformableVolume->getCollisionMesh();
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}
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void Sc::DeformableVolumeSim::enableSelfCollision()
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{
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if (isActive())
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{
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mScene.getSimulationController()->activateSoftbodySelfCollision(mLLDeformableVolume);
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}
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}
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void Sc::DeformableVolumeSim::disableSelfCollision()
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{
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if (isActive())
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{
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mScene.getSimulationController()->deactivateSoftbodySelfCollision(mLLDeformableVolume);
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}
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}
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/*void Sc::DeformableVolumeSim::activate()
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{
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// Activate body
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//{
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// PX_ASSERT((!isKinematic()) || notInScene() || readInternalFlag(InternalFlags(BF_KINEMATIC_MOVED | BF_KINEMATIC_SURFACE_VELOCITY))); // kinematics should only get activated when a target is set.
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// // exception: object gets newly added, then the state change will happen later
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// if (!isArticulationLink())
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// {
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// mLLBody.mInternalFlags &= (~PxsRigidBody::eFROZEN);
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// // Put in list of activated bodies. The list gets cleared at the end of a sim step after the sleep callbacks have been fired.
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// getScene().onBodyWakeUp(this);
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// }
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// BodyCore& core = getBodyCore();
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// if (core.getFlags() & PxRigidBodyFlag::eENABLE_POSE_INTEGRATION_PREVIEW)
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// {
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// PX_ASSERT(!getScene().isInPosePreviewList(*this));
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// getScene().addToPosePreviewList(*this);
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// }
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// createSqBounds();
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//}
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activateInteractions(*this);
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}
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void Sc::DeformableVolumeSim::deactivate()
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{
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deactivateInteractions(*this);
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// Deactivate body
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//{
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// PX_ASSERT((!isKinematic()) || notInScene() || !readInternalFlag(BF_KINEMATIC_MOVED)); // kinematics should only get deactivated when no target is set.
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// // exception: object gets newly added, then the state change will happen later
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// BodyCore& core = getBodyCore();
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// if (!readInternalFlag(BF_ON_DEATHROW))
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// {
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// // Set velocity to 0.
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// // Note: this is also fine if the method gets called because the user puts something to sleep (this behavior is documented in the API)
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// PX_ASSERT(core.getWakeCounter() == 0.0f);
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// const PxVec3 zero(0.0f);
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// core.setLinearVelocityInternal(zero);
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// core.setAngularVelocityInternal(zero);
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// setForcesToDefaults(!(mLLBody.mInternalFlags & PxsRigidBody::eDISABLE_GRAVITY));
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// }
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// if (!isArticulationLink()) // Articulations have their own sleep logic.
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// getScene().onBodySleep(this);
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// if (core.getFlags() & PxRigidBodyFlag::eENABLE_POSE_INTEGRATION_PREVIEW)
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// {
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// PX_ASSERT(getScene().isInPosePreviewList(*this));
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// getScene().removeFromPosePreviewList(*this);
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// }
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// destroySqBounds();
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//}
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}*/
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PxU32 Sc::DeformableVolumeSim::getGpuIndex() const
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{
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return mLLDeformableVolume->getGpuIndex();
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}
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#endif //PX_SUPPORT_GPU_PHYSX
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