3357 lines
124 KiB
C++
3357 lines
124 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 "foundation/PxTime.h"
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#include "foundation/PxAtomic.h"
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#include "foundation/PxSIMDHelpers.h"
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#include "PxvDynamics.h"
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#include "common/PxProfileZone.h"
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#include "PxsRigidBody.h"
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#include "PxsContactManager.h"
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#include "DyTGSDynamics.h"
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#include "DyBodyCoreIntegrator.h"
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#include "DySolverCore.h"
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#include "DySolverControl.h"
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#include "DySolverContact.h"
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#include "DyArticulationContactPrep.h"
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#include "DySolverBody.h"
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#include "DyConstraintPrep.h"
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#include "DyConstraintPartition.h"
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#include "CmFlushPool.h"
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#include "DyArticulationPImpl.h"
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#include "PxsMaterialManager.h"
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#include "DyContactReduction.h"
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#include "PxcNpContactPrepShared.h"
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#include "DyContactPrep.h"
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#include "PxSceneDesc.h"
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#include "PxsSimpleIslandManager.h"
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#include "PxvNphaseImplementationContext.h"
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#include "PxsContactManagerState.h"
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#include "DyContactPrepShared.h"
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#include "DySolverContext.h"
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#include "DyDynamics.h"
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#include "DySolverConstraint1D.h"
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#include "PxvSimStats.h"
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#include "DyTGSContactPrep.h"
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#include "DyFeatherstoneArticulation.h"
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#include "DySleep.h"
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#include "DyTGS.h"
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#include "DyResidualAccumulator.h"
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#include "DyThreadContext.h"
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#include "DyIslandManager.h"
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#define PX_USE_BLOCK_SOLVER 1
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#define PX_USE_BLOCK_1D 1
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namespace physx
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{
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namespace Dy
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{
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static inline void waitForBodyProgress(PxTGSSolverBodyVel& body, PxU32 desiredProgress, PxU32 iteration)
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{
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const PxI32 target = PxI32(desiredProgress + body.nbStaticInteractions * iteration);
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volatile PxI32* progress = reinterpret_cast<PxI32*>(&body.partitionMask);
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WAIT_FOR_PROGRESS(progress, target);
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}
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static inline void incrementBodyProgress(PxTGSSolverBodyVel& body)
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{
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if (body.nbStaticInteractions != 0)
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(*reinterpret_cast<volatile PxU32*>(&body.partitionMask))++;
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}
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static inline void waitForArticulationProgress(Dy::FeatherstoneArticulation& artic, PxU32 desiredProgress, PxU32 iteration)
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{
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const PxI32 target = PxI32(desiredProgress + artic.maxSolverFrictionProgress * iteration);
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volatile PxI32* progress = reinterpret_cast<PxI32*>(&artic.solverProgress);
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WAIT_FOR_PROGRESS(progress, target);
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}
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static inline void incrementArticulationProgress(Dy::FeatherstoneArticulation& artic)
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{
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(*reinterpret_cast<volatile PxU32*>(&artic.solverProgress))++;
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}
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static inline void waitForProgresses(const PxSolverConstraintDesc& desc, PxU32 iteration)
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{
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if (desc.linkIndexA == PxSolverConstraintDesc::RIGID_BODY)
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waitForBodyProgress(*desc.tgsBodyA, desc.progressA, iteration);
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else
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waitForArticulationProgress(*getArticulationA(desc), desc.progressA, iteration);
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if (desc.linkIndexB == PxSolverConstraintDesc::RIGID_BODY)
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waitForBodyProgress(*desc.tgsBodyB, desc.progressB, iteration);
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else
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waitForArticulationProgress(*getArticulationB(desc), desc.progressB, iteration);
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}
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static inline void incrementProgress(const PxSolverConstraintDesc& desc)
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{
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if (desc.linkIndexA == PxSolverConstraintDesc::RIGID_BODY)
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{
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incrementBodyProgress(*desc.tgsBodyA);
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}
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else
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incrementArticulationProgress(*getArticulationA(desc));
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if (desc.linkIndexB == PxSolverConstraintDesc::RIGID_BODY)
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incrementBodyProgress(*desc.tgsBodyB);
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else if(desc.articulationA != desc.articulationB)
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incrementArticulationProgress(*getArticulationB(desc));
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}
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Context* createTGSDynamicsContext( PxcNpMemBlockPool* memBlockPool, PxcScratchAllocator& scratchAllocator, Cm::FlushPool& taskPool,
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PxvSimStats& simStats, PxTaskManager* taskManager, PxVirtualAllocatorCallback* allocatorCallback,
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PxsMaterialManager* materialManager, IG::SimpleIslandManager& islandManager, PxU64 contextID,
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bool enableStabilization, bool useEnhancedDeterminism,
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PxReal lengthScale, bool externalForcesEveryTgsIterationEnabled, bool isResidualReportingEnabled)
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{
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return PX_NEW(DynamicsTGSContext)( memBlockPool, scratchAllocator, taskPool, simStats, taskManager, allocatorCallback, materialManager, islandManager, contextID,
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enableStabilization, useEnhancedDeterminism, lengthScale, externalForcesEveryTgsIterationEnabled, isResidualReportingEnabled);
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}
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void DynamicsTGSContext::destroy()
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{
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this->~DynamicsTGSContext();
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PX_FREE_THIS;
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}
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PX_FORCE_INLINE PxVec3 safeRecip(const PxVec3& v)
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{
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return PxVec3(v.x == 0.f ? 0.f : 1.f/v.x, v.y == 0.f ? 0.f : 1.f/v.y, v.z == 0.f ? 0.f : 1.f/v.z);
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}
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void copyToSolverBodyDataStep(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
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PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold,
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PxReal maxAngVelSq, PxU32 lockFlags, bool isKinematic,
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PxTGSSolverBodyVel& solverVel, PxTGSSolverBodyTxInertia& solverBodyTxInertia, PxTGSSolverBodyData& solverBodyData, PxReal dt,
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bool gyroscopicForces)
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{
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const PxMat33Padded rotation(globalPose.q);
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const PxVec3 sqrtInvInertia = computeSafeSqrtInertia(invInertia);
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const PxVec3 sqrtBodySpaceInertia = safeRecip(sqrtInvInertia);
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Cm::transformInertiaTensor(sqrtInvInertia, rotation, solverBodyTxInertia.sqrtInvInertia);
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solverBodyTxInertia.body2WorldP = globalPose.p;
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solverBodyTxInertia.deltaBody2WorldQ = PxQuat(PxIdentity);
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PxMat33 sqrtInertia;
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Cm::transformInertiaTensor(sqrtBodySpaceInertia, rotation, sqrtInertia);
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PxVec3 lv = linearVelocity;
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PxVec3 av = angularVelocity;
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if (gyroscopicForces)
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{
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const PxVec3 localInertia(
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invInertia.x == 0.f ? 0.f : 1.f / invInertia.x,
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invInertia.y == 0.f ? 0.f : 1.f / invInertia.y,
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invInertia.z == 0.f ? 0.f : 1.f / invInertia.z);
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PxVec3 localAngVel = globalPose.q.rotateInv(av);
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PxVec3 origMom = localInertia.multiply(localAngVel);
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PxVec3 torque = -localAngVel.cross(origMom);
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PxVec3 newMom = origMom + torque * dt;
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const PxReal denom = newMom.magnitude();
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PxReal ratio = denom > 0.f ? origMom.magnitude() / denom : 0.f;
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newMom *= ratio;
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PxVec3 newDeltaAngVel = globalPose.q.rotate(invInertia.multiply(newMom) - localAngVel);
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av += newDeltaAngVel;
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}
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if (lockFlags)
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{
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
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lv.x = 0.f;
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
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lv.y = 0.f;
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
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lv.z = 0.f;
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//KS - technically, we can zero the inertia columns and produce stiffer constraints. However, this can cause numerical issues with the
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//joint solver, which is fixed by disabling joint preprocessing and setting minResponseThreshold to some reasonable value > 0. However, until
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//this is handled automatically, it's probably better not to zero these inertia rows
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
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{
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av.x = 0.f;
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//data.sqrtInvInertia.column0 = PxVec3(0.f);
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}
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
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{
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av.y = 0.f;
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//data.sqrtInvInertia.column1 = PxVec3(0.f);
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}
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if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
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{
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av.z = 0.f;
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//data.sqrtInvInertia.column2 = PxVec3(0.f);
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}
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}
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solverVel.linearVelocity = lv;
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solverVel.angularVelocity = sqrtInertia * av;
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solverVel.deltaLinDt = PxVec3(0.f);
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solverVel.deltaAngDt = PxVec3(0.f);
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solverVel.lockFlags = PxU16(lockFlags);
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solverVel.isKinematic = isKinematic;
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solverVel.maxAngVel = PxSqrt(maxAngVelSq);
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solverVel.partitionMask = 0;
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solverBodyData.nodeIndex = nodeIndex;
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solverBodyData.invMass = invMass;
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solverBodyData.penBiasClamp = maxDepenetrationVelocity;
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solverBodyData.maxContactImpulse = maxContactImpulse;
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solverBodyData.reportThreshold = reportThreshold;
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solverBodyData.originalLinearVelocity = lv;
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solverBodyData.originalAngularVelocity = av;
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PX_ASSERT(lv.isFinite());
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PX_ASSERT(av.isFinite());
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}
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void copyToSolverBodyDataStepKinematic(const PxVec3& linearVelocity, const PxVec3& angularVelocity, const PxTransform& globalPose,
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PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold, PxReal maxAngVelSq,
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PxTGSSolverBodyVel& solverVel, PxTGSSolverBodyTxInertia& solverBodyTxInertia, PxTGSSolverBodyData& solverBodyData)
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{
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const PxMat33Padded rotation(globalPose.q);
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solverBodyTxInertia.body2WorldP = globalPose.p;
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solverBodyTxInertia.deltaBody2WorldQ = PxQuat(PxIdentity);
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solverBodyTxInertia.sqrtInvInertia = PxMat33(PxVec3(0.f), PxVec3(0.f), PxVec3(0.f));
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solverVel.linearVelocity = PxVec3(0.f);
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solverVel.angularVelocity = PxVec3(0.f);
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solverVel.deltaLinDt = PxVec3(0.f);
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solverVel.deltaAngDt = PxVec3(0.f);
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solverVel.lockFlags = 0;
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solverVel.isKinematic = true;
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solverVel.maxAngVel = PxSqrt(maxAngVelSq);
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solverVel.partitionMask = 0;
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solverVel.maxDynamicPartition = 0;
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solverVel.nbStaticInteractions = 0;
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solverBodyData.nodeIndex = nodeIndex;
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solverBodyData.invMass = 0.f;
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solverBodyData.penBiasClamp = maxDepenetrationVelocity;
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solverBodyData.maxContactImpulse = maxContactImpulse;
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solverBodyData.reportThreshold = reportThreshold;
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solverBodyData.originalLinearVelocity = linearVelocity;
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solverBodyData.originalAngularVelocity = angularVelocity;
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}
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DynamicsTGSContext::DynamicsTGSContext( PxcNpMemBlockPool* memBlockPool,
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PxcScratchAllocator& /*scratchAllocator*/,
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Cm::FlushPool& taskPool,
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PxvSimStats& simStats,
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PxTaskManager* /*taskManager*/,
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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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bool enableStabilization,
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bool useEnhancedDeterminism,
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PxReal lengthScale,
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bool isExternalForcesEveryTgsIterationEnabled,
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bool isResidualReportingEnabled) :
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DynamicsContextBase (memBlockPool, taskPool, simStats, allocatorCallback, materialManager, islandManager, contextID, PX_MAX_F32, lengthScale, enableStabilization, useEnhancedDeterminism, isResidualReportingEnabled),
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mIsExternalForcesEveryTgsIterationEnabled(isExternalForcesEveryTgsIterationEnabled)
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{
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createThresholdStream(*allocatorCallback);
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createForceChangeThresholdStream(*allocatorCallback);
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mExceededForceThresholdStream[0] = PX_NEW(ThresholdStream)(*allocatorCallback);
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mExceededForceThresholdStream[1] = PX_NEW(ThresholdStream)(*allocatorCallback);
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PxMemZero(&mWorldSolverBodyVel, sizeof(mWorldSolverBodyVel));
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mWorldSolverBodyVel.lockFlags = 0;
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mWorldSolverBodyVel.isKinematic = false;
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mWorldSolverBodyTxInertia.sqrtInvInertia = PxMat33(PxZero);
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mWorldSolverBodyTxInertia.body2WorldP = PxVec3(PxZero);
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mWorldSolverBodyTxInertia.deltaBody2WorldQ = PxQuat(PxIdentity);
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mWorldSolverBodyData2.penBiasClamp = -PX_MAX_REAL;
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mWorldSolverBodyData2.maxContactImpulse = PX_MAX_REAL;
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mWorldSolverBodyData2.nodeIndex = PX_INVALID_NODE;
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mWorldSolverBodyData2.invMass = 0;
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mWorldSolverBodyData2.reportThreshold = PX_MAX_REAL;
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mWorldSolverBodyData2.originalLinearVelocity = PxVec3(0.f);
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mWorldSolverBodyData2.originalAngularVelocity = PxVec3(0.f);
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}
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DynamicsTGSContext::~DynamicsTGSContext()
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{
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PX_DELETE(mExceededForceThresholdStream[1]);
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PX_DELETE(mExceededForceThresholdStream[0]);
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}
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PX_COMPILE_TIME_ASSERT(PxsIndexedInteraction::eBODY == 0);
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PX_COMPILE_TIME_ASSERT(PxsIndexedInteraction::eKINEMATIC == 1);
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void DynamicsTGSContext::setDescFromIndices_Contacts(PxSolverConstraintDesc& desc, const IG::IslandSim& islandSim,
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const PxsIndexedInteraction& constraint, PxU32 solverBodyOffset, PxTGSSolverBodyVel* solverBodies)
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{
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const PxU32 offsetMap[] = { solverBodyOffset, 0 };
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//const PxU32 offsetMap[] = {mKinematicCount, 0};
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if (constraint.indexType0 == PxsIndexedInteraction::eARTICULATION)
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{
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const PxNodeIndex nodeIndex0(constraint.articulation0);
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const IG::Node& node0 = islandSim.getNode(nodeIndex0);
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desc.articulationA = node0.mObject;
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desc.linkIndexA = nodeIndex0.articulationLinkId();
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desc.bodyADataIndex = 0;
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}
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else
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{
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desc.tgsBodyA = constraint.indexType0 == PxsIndexedInteraction::eWORLD ? &mWorldSolverBodyVel
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: &solverBodies[PxU32(constraint.solverBody0) + offsetMap[constraint.indexType0] + 1];
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desc.bodyADataIndex = constraint.indexType0 == PxsIndexedInteraction::eWORLD ? 0
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: PxU32(constraint.solverBody0) + offsetMap[constraint.indexType0] + 1;
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desc.linkIndexA = PxSolverConstraintDesc::RIGID_BODY;
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}
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if (constraint.indexType1 == PxsIndexedInteraction::eARTICULATION)
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{
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const PxNodeIndex nodeIndex1(constraint.articulation1);
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const IG::Node& node1 = islandSim.getNode(nodeIndex1);
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desc.articulationB = node1.mObject;
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desc.linkIndexB = nodeIndex1.articulationLinkId();// PxTo8(getLinkIndex(constraint.articulation1));
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desc.bodyBDataIndex = 0;
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}
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else
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{
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desc.tgsBodyB = constraint.indexType1 == PxsIndexedInteraction::eWORLD ? &mWorldSolverBodyVel
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: &solverBodies[PxU32(constraint.solverBody1) + offsetMap[constraint.indexType1] + 1];
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desc.bodyBDataIndex = constraint.indexType1 == PxsIndexedInteraction::eWORLD ? 0
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: PxU32(constraint.solverBody1) + offsetMap[constraint.indexType1] + 1;
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desc.linkIndexB = PxSolverConstraintDesc::RIGID_BODY;
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}
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}
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void DynamicsTGSContext::setDescFromIndices_Constraints(PxSolverConstraintDesc& desc, const IG::IslandSim& islandSim, IG::EdgeIndex edgeIndex,
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const PxU32* bodyRemap, PxU32 solverBodyOffset, PxTGSSolverBodyVel* solverBodies)
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{
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const PxNodeIndex node1 = islandSim.mCpuData.getNodeIndex1(edgeIndex);
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if (node1.isStaticBody())
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{
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desc.tgsBodyA = &mWorldSolverBodyVel;
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desc.bodyADataIndex = 0;
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desc.linkIndexA = PxSolverConstraintDesc::RIGID_BODY;
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}
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else
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{
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const IG::Node& node = islandSim.getNode(node1);
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if (node.getNodeType() == IG::Node::eARTICULATION_TYPE)
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{
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PX_ASSERT(node1.isArticulation());
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desc.articulationA = getArticulationFromIG(islandSim, node1);
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desc.linkIndexA = node1.articulationLinkId();
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desc.bodyADataIndex = 0;
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}
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else
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{
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PX_ASSERT(!node1.isArticulation());
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const PxU32 activeIndex = islandSim.getActiveNodeIndex(node1);
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const PxU32 index = node.isKinematic() ? activeIndex : bodyRemap[activeIndex] + solverBodyOffset;
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desc.tgsBodyA = &solverBodies[index + 1];
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desc.bodyADataIndex = index + 1;
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desc.linkIndexA = PxSolverConstraintDesc::RIGID_BODY;
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}
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}
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const PxNodeIndex node2 = islandSim.mCpuData.getNodeIndex2(edgeIndex);
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if (node2.isStaticBody())
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{
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desc.tgsBodyB = &mWorldSolverBodyVel;
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desc.bodyBDataIndex = 0;
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desc.linkIndexB = PxSolverConstraintDesc::RIGID_BODY;
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}
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else
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{
|
|
const IG::Node& node = islandSim.getNode(node2);
|
|
if (node.getNodeType() == IG::Node::eARTICULATION_TYPE)
|
|
{
|
|
PX_ASSERT(node2.isArticulation());
|
|
desc.articulationB = getArticulationFromIG(islandSim, node2);
|
|
desc.linkIndexB = node2.articulationLinkId();
|
|
desc.bodyBDataIndex = 0;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(!node2.isArticulation());
|
|
const PxU32 activeIndex = islandSim.getActiveNodeIndex(node2);
|
|
const PxU32 index = node.isKinematic() ? activeIndex : bodyRemap[activeIndex] + solverBodyOffset;
|
|
desc.tgsBodyB = &solverBodies[index + 1];
|
|
desc.bodyBDataIndex = index + 1;
|
|
desc.linkIndexB = PxSolverConstraintDesc::RIGID_BODY;
|
|
}
|
|
}
|
|
}
|
|
|
|
namespace
|
|
{
|
|
class DynamicsMergeTask : public Cm::Task
|
|
{
|
|
PxBaseTask* mSecondContinuation;
|
|
|
|
public:
|
|
DynamicsMergeTask(PxU64 contextId) : Cm::Task(contextId), mSecondContinuation(NULL)
|
|
{
|
|
}
|
|
|
|
void setSecondContinuation(PxBaseTask* task) { task->addReference(); mSecondContinuation = task; }
|
|
|
|
virtual const char* getName() const { return "MergeTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
}
|
|
|
|
virtual void release()
|
|
{
|
|
mSecondContinuation->removeReference();
|
|
Cm::Task::release();
|
|
}
|
|
};
|
|
|
|
class KinematicCopyTGSTask : public Cm::Task
|
|
{
|
|
const PxNodeIndex* const mKinematicIndices;
|
|
const PxU32 mNbKinematics;
|
|
const IG::IslandSim& mIslandSim;
|
|
PxTGSSolverBodyVel* mVels;
|
|
PxTGSSolverBodyTxInertia* mInertia;
|
|
PxTGSSolverBodyData* mBodyData;
|
|
|
|
PX_NOCOPY(KinematicCopyTGSTask)
|
|
|
|
public:
|
|
|
|
static const PxU32 NbKinematicsPerTask = 1024;
|
|
|
|
KinematicCopyTGSTask(const PxNodeIndex* const kinematicIndices,
|
|
PxU32 nbKinematics, const IG::IslandSim& islandSim, PxTGSSolverBodyVel* vels,
|
|
PxTGSSolverBodyTxInertia* inertias, PxTGSSolverBodyData* datas, PxU64 contextID) : Cm::Task(contextID),
|
|
mKinematicIndices(kinematicIndices), mNbKinematics(nbKinematics),
|
|
mIslandSim(islandSim), mVels(vels), mInertia(inertias), mBodyData(datas)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "KinematicCopyTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
for (PxU32 i = 0; i<mNbKinematics; i++)
|
|
{
|
|
PxsRigidBody* rigidBody = getRigidBodyFromIG(mIslandSim, mKinematicIndices[i]);
|
|
const PxsBodyCore& core = rigidBody->getCore();
|
|
copyToSolverBodyDataStepKinematic(core.linearVelocity, core.angularVelocity, core.body2World, core.maxPenBias,
|
|
core.maxContactImpulse, mKinematicIndices[i].index(), core.contactReportThreshold, core.maxAngularVelocitySq,
|
|
mVels[i], mInertia[i], mBodyData[i]);
|
|
|
|
rigidBody->saveLastCCDTransform();
|
|
}
|
|
}
|
|
};
|
|
|
|
class UpdateContinuationTGSTask : public Cm::Task
|
|
{
|
|
DynamicsTGSContext& mContext;
|
|
IG::SimpleIslandManager& mSimpleIslandManager;
|
|
PxBaseTask* mLostTouchTask;
|
|
PxU32 mMaxArticulationLinks;
|
|
|
|
PX_NOCOPY(UpdateContinuationTGSTask)
|
|
public:
|
|
|
|
UpdateContinuationTGSTask(DynamicsTGSContext& context,
|
|
IG::SimpleIslandManager& simpleIslandManager,
|
|
PxBaseTask* lostTouchTask, PxU64 contextID, PxU32 maxLinks) :
|
|
Cm::Task(contextID), mContext(context), mSimpleIslandManager(simpleIslandManager),
|
|
mLostTouchTask(lostTouchTask), mMaxArticulationLinks(maxLinks)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "UpdateContinuationTask";}
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.updatePostKinematic(mSimpleIslandManager, mCont, mLostTouchTask, mMaxArticulationLinks);
|
|
//Allow lost touch task to run once all tasks have be scheduled
|
|
mLostTouchTask->removeReference();
|
|
}
|
|
};
|
|
}
|
|
|
|
void DynamicsTGSContext::update(Cm::FlushPool& /*flushPool*/, PxBaseTask* continuation, PxBaseTask* /*postPartitioningTask*/, PxBaseTask* lostTouchTask,
|
|
PxvNphaseImplementationContext* nphase, PxU32 /*maxPatchesPerCM*/, PxU32 maxArticulationLinks,
|
|
PxReal dt, const PxVec3& gravity, PxBitMapPinned& /*changedHandleMap*/)
|
|
{
|
|
PX_PROFILE_ZONE("Dynamics.solverQueueTasks", mContextID);
|
|
|
|
mOutputIterator = nphase->getContactManagerOutputs();
|
|
|
|
// PT: TODO: refactor
|
|
mDt = dt;
|
|
mInvDt = 1.0f / dt;
|
|
mGravity = gravity;
|
|
|
|
const IG::IslandSim& islandSim = mIslandManager.getAccurateIslandSim();
|
|
|
|
const PxU32 islandCount = islandSim.getNbActiveIslands();
|
|
|
|
const PxU32 activatedContactCount = islandSim.getNbActivatedEdges(IG::Edge::eCONTACT_MANAGER);
|
|
const IG::EdgeIndex* const activatingEdges = islandSim.getActivatedEdges(IG::Edge::eCONTACT_MANAGER);
|
|
|
|
{
|
|
PX_PROFILE_ZONE("resetFrictionPatchCount", mContextID);
|
|
|
|
for (PxU32 a = 0; a < activatedContactCount; ++a)
|
|
{
|
|
PxsContactManager* cm = mIslandManager.getContactManager(activatingEdges[a]);
|
|
if (cm)
|
|
cm->getWorkUnit().mFrictionPatchCount = 0; //KS - zero the friction patch count on any activating edges
|
|
}
|
|
}
|
|
|
|
#if PX_ENABLE_SIM_STATS
|
|
if (islandCount > 0)
|
|
{
|
|
mSimStats.mNbActiveKinematicBodies = islandSim.getNbActiveKinematics();
|
|
mSimStats.mNbActiveDynamicBodies = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
|
|
mSimStats.mNbActiveConstraints = islandSim.getNbActiveEdges(IG::Edge::eCONSTRAINT);
|
|
}
|
|
else
|
|
{
|
|
mSimStats.mNbActiveKinematicBodies = islandSim.getNbActiveKinematics();
|
|
mSimStats.mNbActiveDynamicBodies = 0;
|
|
mSimStats.mNbActiveConstraints = 0;
|
|
}
|
|
#else
|
|
PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
|
|
#endif
|
|
|
|
mThresholdStreamOut = 0;
|
|
|
|
resetThreadContexts();
|
|
|
|
//If there is no work to do then we can do nothing at all.
|
|
if(!islandCount)
|
|
return;
|
|
|
|
//Block to make sure it doesn't run before stage2 of update!
|
|
lostTouchTask->addReference();
|
|
|
|
UpdateContinuationTGSTask* task = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(UpdateContinuationTGSTask)), UpdateContinuationTGSTask)
|
|
(*this, mIslandManager, lostTouchTask, mContextID, maxArticulationLinks);
|
|
|
|
task->setContinuation(continuation);
|
|
|
|
//KS - test that world solver body's velocities are finite and 0, then set it to 0.
|
|
//Technically, the velocity should always be 0 but can be stomped if a NAN creeps into the simulation.
|
|
PX_ASSERT(mWorldSolverBodyVel.linearVelocity == PxVec3(0.f));
|
|
PX_ASSERT(mWorldSolverBodyVel.angularVelocity == PxVec3(0.f));
|
|
PX_ASSERT(mWorldSolverBodyVel.linearVelocity.isFinite());
|
|
PX_ASSERT(mWorldSolverBodyVel.angularVelocity.isFinite());
|
|
|
|
mWorldSolverBodyVel.linearVelocity = mWorldSolverBodyVel.angularVelocity = PxVec3(0.f);
|
|
|
|
const PxU32 kinematicCount = islandSim.getNbActiveKinematics();
|
|
const PxNodeIndex* const kinematicIndices = islandSim.getActiveKinematics();
|
|
mKinematicCount = kinematicCount;
|
|
|
|
{
|
|
const PxU32 bodyCount = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
|
|
|
|
if (kinematicCount + bodyCount > mSolverBodyVelPool.capacity())
|
|
{
|
|
PX_PROFILE_ZONE("reserve", mContextID);
|
|
|
|
mSolverBodyRemapTable.reserve((kinematicCount + bodyCount + 31 + 1) & ~31);
|
|
mSolverBodyVelPool.reserve((kinematicCount + bodyCount +31 + 1) & ~31);
|
|
mSolverBodyTxInertiaPool.reserve((kinematicCount + bodyCount +31 + 1) & ~31);
|
|
mSolverBodyDataPool2.reserve((kinematicCount + bodyCount +31 + 1) & ~31);
|
|
}
|
|
|
|
{
|
|
PX_PROFILE_ZONE("resize", mContextID);
|
|
|
|
mSolverBodyVelPool.resize(kinematicCount + bodyCount +1);
|
|
mSolverBodyTxInertiaPool.resize(kinematicCount + bodyCount +1);
|
|
mSolverBodyDataPool2.resize(kinematicCount + bodyCount +1);
|
|
mSolverBodyRemapTable.resize(kinematicCount + bodyCount + 1);
|
|
}
|
|
|
|
// integrate and copy all the kinematics - overkill, since not all kinematics
|
|
// need solver bodies
|
|
|
|
mSolverBodyVelPool[0] = mWorldSolverBodyVel;
|
|
mSolverBodyTxInertiaPool[0] = mWorldSolverBodyTxInertia;
|
|
mSolverBodyDataPool2[0] = mWorldSolverBodyData2;
|
|
|
|
if(kinematicCount)
|
|
{
|
|
PX_PROFILE_ZONE("Dynamics.updateKinematics", mContextID);
|
|
|
|
// PT: TODO: why no PxMemZero here compared to PGS?
|
|
for (PxU32 i = 0; i < kinematicCount; i+= KinematicCopyTGSTask::NbKinematicsPerTask)
|
|
{
|
|
const PxU32 nbToProcess = PxMin(kinematicCount - i, KinematicCopyTGSTask::NbKinematicsPerTask);
|
|
|
|
KinematicCopyTGSTask* kinematicTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(KinematicCopyTGSTask)), KinematicCopyTGSTask)
|
|
(kinematicIndices + i, nbToProcess, islandSim, &mSolverBodyVelPool[i+1],
|
|
&mSolverBodyTxInertiaPool[i + 1], &mSolverBodyDataPool2[i + 1], mContextID);
|
|
|
|
kinematicTask->setContinuation(task);
|
|
kinematicTask->removeReference();
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
PX_PROFILE_ZONE("reserve2", mContextID);
|
|
|
|
const PxU32 totalConstraintCount = reserveSharedSolverConstraintsArrays(islandSim, maxArticulationLinks);
|
|
|
|
mSolverConstraintDescPool.forceSize_Unsafe(0);
|
|
mSolverConstraintDescPool.reserve((totalConstraintCount + 63) & (~63));
|
|
mSolverConstraintDescPool.forceSize_Unsafe(totalConstraintCount);
|
|
|
|
mOrderedSolverConstraintDescPool.forceSize_Unsafe(0);
|
|
mOrderedSolverConstraintDescPool.reserve((totalConstraintCount + 63) & (~63));
|
|
mOrderedSolverConstraintDescPool.forceSize_Unsafe(totalConstraintCount);
|
|
|
|
mTempSolverConstraintDescPool.forceSize_Unsafe(0);
|
|
mTempSolverConstraintDescPool.reserve((totalConstraintCount + 63) & (~63));
|
|
mTempSolverConstraintDescPool.forceSize_Unsafe(totalConstraintCount);
|
|
}
|
|
|
|
task->removeReference();
|
|
}
|
|
|
|
void DynamicsTGSContext::updatePostKinematic(IG::SimpleIslandManager& simpleIslandManager, PxBaseTask* continuation, PxBaseTask* lostTouchTask, PxU32 maxLinks)
|
|
{
|
|
const IG::IslandSim& islandSim = simpleIslandManager.getAccurateIslandSim();
|
|
|
|
const IG::IslandId*const islandIds = islandSim.getActiveIslands();
|
|
|
|
DynamicsMergeTask* mergeTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(DynamicsMergeTask)), DynamicsMergeTask)(mContextID);
|
|
|
|
mergeTask->setContinuation(continuation);
|
|
mergeTask->setSecondContinuation(lostTouchTask);
|
|
|
|
PxU32 currentIsland = 0;
|
|
PxU32 currentBodyIndex = 0;
|
|
PxU32 currentArticulation = 0;
|
|
PxU32 currentContact = 0;
|
|
|
|
PxU32 constraintIndex = 0;
|
|
|
|
const PxU32 minIslandSize = mSolverBatchSize;
|
|
|
|
const PxU32 islandCount = islandSim.getNbActiveIslands();
|
|
|
|
const PxU32 articulationBatchSize = mSolverArticBatchSize;
|
|
|
|
while (currentIsland < islandCount)
|
|
{
|
|
SolverIslandObjectsStep objectStarts;
|
|
objectStarts.articulations = mArticulationArray.begin() + currentArticulation;
|
|
objectStarts.bodies = mRigidBodyArray.begin() + currentBodyIndex;
|
|
objectStarts.externalAccelerations = &mRigidExternalAccelerations;
|
|
objectStarts.contactManagers = mContactList.begin() + currentContact;
|
|
objectStarts.constraintDescs = mSolverConstraintDescPool.begin() + constraintIndex;
|
|
objectStarts.orderedConstraintDescs = mOrderedSolverConstraintDescPool.begin() + constraintIndex;
|
|
objectStarts.constraintBatchHeaders = mContactConstraintBatchHeaders.begin() + constraintIndex;
|
|
objectStarts.tempConstraintDescs = mTempSolverConstraintDescPool.begin() + constraintIndex;
|
|
objectStarts.motionVelocities = mMotionVelocityArray.begin() + currentBodyIndex;
|
|
objectStarts.bodyCoreArray = mBodyCoreArray.begin() + currentBodyIndex;
|
|
objectStarts.islandIds = islandIds + currentIsland;
|
|
objectStarts.bodyRemapTable = mSolverBodyRemapTable.begin();
|
|
objectStarts.nodeIndexArray = mNodeIndexArray.begin() + currentBodyIndex;
|
|
|
|
PxU32 startIsland = currentIsland;
|
|
PxU32 constraintCount = 0;
|
|
|
|
PxU32 nbArticulations = 0;
|
|
PxU32 nbBodies = 0;
|
|
PxU32 nbConstraints = 0;
|
|
PxU32 nbContactManagers = 0;
|
|
|
|
while (nbBodies < minIslandSize && currentIsland < islandCount && nbArticulations < articulationBatchSize)
|
|
{
|
|
const IG::Island& island = islandSim.getIsland(islandIds[currentIsland]);
|
|
|
|
nbBodies += island.mNodeCount[IG::Node::eRIGID_BODY_TYPE];
|
|
nbArticulations += island.mNodeCount[IG::Node::eARTICULATION_TYPE];
|
|
nbConstraints += island.mEdgeCount[IG::Edge::eCONSTRAINT];
|
|
nbContactManagers += island.mEdgeCount[IG::Edge::eCONTACT_MANAGER];
|
|
constraintCount = nbConstraints + nbContactManagers;
|
|
currentIsland++;
|
|
}
|
|
|
|
objectStarts.numIslands = currentIsland - startIsland;
|
|
|
|
constraintIndex += nbArticulations* maxLinks;
|
|
|
|
PxsIslandIndices counts;
|
|
|
|
counts.articulations = nbArticulations;
|
|
counts.bodies = nbBodies;
|
|
|
|
counts.constraints = nbConstraints;
|
|
counts.contactManagers = nbContactManagers;
|
|
|
|
solveIsland(objectStarts, counts,
|
|
mKinematicCount + currentBodyIndex, simpleIslandManager, mSolverBodyRemapTable.begin(), mMaterialManager, mOutputIterator,
|
|
mergeTask);
|
|
|
|
currentBodyIndex += nbBodies;
|
|
currentArticulation += nbArticulations;
|
|
currentContact += nbContactManagers;
|
|
|
|
constraintIndex += constraintCount;
|
|
}
|
|
|
|
mergeTask->removeReference();
|
|
}
|
|
|
|
void DynamicsTGSContext::prepareBodiesAndConstraints(const SolverIslandObjectsStep& objects,
|
|
IG::SimpleIslandManager& islandManager, IslandContextStep& islandContext)
|
|
{
|
|
Dy::ThreadContext& mThreadContext = *islandContext.mThreadContext;
|
|
|
|
mThreadContext.mMaxSolverPositionIterations = 0;
|
|
mThreadContext.mMaxSolverVelocityIterations = 0;
|
|
mThreadContext.mAxisConstraintCount = 0;
|
|
mThreadContext.mContactDescPtr = mThreadContext.contactConstraintDescArray;
|
|
mThreadContext.mNumDifferentBodyConstraints = 0;
|
|
mThreadContext.mNumStaticConstraints = 0;
|
|
mThreadContext.numContactConstraintBatches = 0;
|
|
mThreadContext.contactDescArraySize = 0;
|
|
|
|
mThreadContext.motionVelocityArray = objects.motionVelocities;
|
|
mThreadContext.mBodyCoreArray = objects.bodyCoreArray;
|
|
mThreadContext.mRigidBodyArray = objects.bodies;
|
|
mThreadContext.mArticulationArray = objects.articulations;
|
|
mThreadContext.bodyRemapTable = objects.bodyRemapTable;
|
|
mThreadContext.mNodeIndexArray = objects.nodeIndexArray;
|
|
|
|
mThreadContext.resizeArrays(islandContext.mCounts.articulations);
|
|
|
|
PxsBodyCore** PX_RESTRICT bodyArrayPtr = mThreadContext.mBodyCoreArray;
|
|
PxsRigidBody** PX_RESTRICT rigidBodyPtr = mThreadContext.mRigidBodyArray;
|
|
FeatherstoneArticulation** PX_RESTRICT articulationPtr = mThreadContext.mArticulationArray;
|
|
PxU32* PX_RESTRICT bodyRemapTable = mThreadContext.bodyRemapTable;
|
|
PxU32* PX_RESTRICT nodeIndexArray = mThreadContext.mNodeIndexArray;
|
|
|
|
PxU32 nbIslands = objects.numIslands;
|
|
const IG::IslandId* const islandIds = objects.islandIds;
|
|
|
|
const IG::IslandSim& islandSim = islandManager.getAccurateIslandSim();
|
|
|
|
{
|
|
PX_PROFILE_ZONE("IterateIslandsNodes", mContextID);
|
|
|
|
PxU32 bodyIndex = 0, articIndex = 0;
|
|
for (PxU32 i = 0; i < nbIslands; ++i)
|
|
{
|
|
const IG::Island& island = islandSim.getIsland(islandIds[i]);
|
|
|
|
PxNodeIndex currentIndex = island.mRootNode;
|
|
|
|
while (currentIndex.isValid())
|
|
{
|
|
const IG::Node& node = islandSim.getNode(currentIndex);
|
|
|
|
if (node.getNodeType() == IG::Node::eARTICULATION_TYPE)
|
|
{
|
|
articulationPtr[articIndex++] = getObjectFromIG<FeatherstoneArticulation>(node);
|
|
}
|
|
else
|
|
{
|
|
PxsRigidBody* rigid = getObjectFromIG<PxsRigidBody>(node);
|
|
PX_ASSERT(bodyIndex < (islandContext.mCounts.bodies + mKinematicCount + 1));
|
|
rigidBodyPtr[bodyIndex] = rigid;
|
|
bodyArrayPtr[bodyIndex] = &rigid->getCore();
|
|
nodeIndexArray[bodyIndex] = currentIndex.index();
|
|
bodyRemapTable[islandSim.getActiveNodeIndex(currentIndex)] = bodyIndex++;
|
|
}
|
|
|
|
currentIndex = node.mNextNode;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
PX_PROFILE_ZONE("IterateIslandsContactEdges", mContextID);
|
|
|
|
PxsIndexedContactManager* indexedManagers = objects.contactManagers;
|
|
|
|
PxU32 currentContactIndex = 0;
|
|
for (PxU32 i = 0; i < nbIslands; ++i)
|
|
{
|
|
const IG::Island& island = islandSim.getIsland(islandIds[i]);
|
|
|
|
IG::EdgeIndex contactEdgeIndex = island.mFirstEdge[IG::Edge::eCONTACT_MANAGER];
|
|
|
|
while (contactEdgeIndex != IG_INVALID_EDGE)
|
|
{
|
|
const IG::Edge& edge = islandSim.getEdge(contactEdgeIndex);
|
|
|
|
PxsContactManager* contactManager = islandManager.getContactManager(contactEdgeIndex);
|
|
|
|
if (contactManager)
|
|
{
|
|
const PxNodeIndex nodeIndex1 = islandSim.mCpuData.getNodeIndex1(contactEdgeIndex);
|
|
const PxNodeIndex nodeIndex2 = islandSim.mCpuData.getNodeIndex2(contactEdgeIndex);
|
|
|
|
PxsIndexedContactManager& indexedManager = indexedManagers[currentContactIndex++];
|
|
indexedManager.contactManager = contactManager;
|
|
|
|
PX_ASSERT(!nodeIndex1.isStaticBody());
|
|
{
|
|
const IG::Node& node1 = islandSim.getNode(nodeIndex1);
|
|
|
|
//Is it an articulation or not???
|
|
if (node1.getNodeType() == IG::Node::eARTICULATION_TYPE)
|
|
{
|
|
indexedManager.articulation0 = nodeIndex1.getInd();
|
|
indexedManager.indexType0 = PxsIndexedInteraction::eARTICULATION;
|
|
}
|
|
else
|
|
{
|
|
if (node1.isKinematic())
|
|
{
|
|
indexedManager.indexType0 = PxsIndexedInteraction::eKINEMATIC;
|
|
indexedManager.solverBody0 = islandSim.getActiveNodeIndex(nodeIndex1);
|
|
}
|
|
else
|
|
{
|
|
indexedManager.indexType0 = PxsIndexedInteraction::eBODY;
|
|
indexedManager.solverBody0 = bodyRemapTable[islandSim.getActiveNodeIndex(nodeIndex1)];
|
|
}
|
|
PX_ASSERT(indexedManager.solverBody0 < (islandContext.mCounts.bodies + mKinematicCount + 1));
|
|
}
|
|
}
|
|
|
|
if (nodeIndex2.isStaticBody())
|
|
{
|
|
indexedManager.indexType1 = PxsIndexedInteraction::eWORLD;
|
|
}
|
|
else
|
|
{
|
|
const IG::Node& node2 = islandSim.getNode(nodeIndex2);
|
|
|
|
//Is it an articulation or not???
|
|
if (node2.getNodeType() == IG::Node::eARTICULATION_TYPE)
|
|
{
|
|
indexedManager.articulation1 = nodeIndex2.getInd();
|
|
indexedManager.indexType1 = PxsIndexedInteraction::eARTICULATION;
|
|
}
|
|
else
|
|
{
|
|
if (node2.isKinematic())
|
|
{
|
|
indexedManager.indexType1 = PxsIndexedInteraction::eKINEMATIC;
|
|
indexedManager.solverBody1 = islandSim.getActiveNodeIndex(nodeIndex2);
|
|
}
|
|
else
|
|
{
|
|
indexedManager.indexType1 = PxsIndexedInteraction::eBODY;
|
|
indexedManager.solverBody1 = bodyRemapTable[islandSim.getActiveNodeIndex(nodeIndex2)];
|
|
}
|
|
PX_ASSERT(indexedManager.solverBody1 < (islandContext.mCounts.bodies + mKinematicCount + 1));
|
|
}
|
|
}
|
|
|
|
}
|
|
contactEdgeIndex = edge.mNextIslandEdge;
|
|
}
|
|
}
|
|
|
|
islandContext.mCounts.contactManagers = currentContactIndex;
|
|
}
|
|
}
|
|
|
|
struct ConstraintLess
|
|
{
|
|
bool operator()(const PxSolverConstraintDesc& left, const PxSolverConstraintDesc& right) const
|
|
{
|
|
return reinterpret_cast<Constraint*>(left.constraint)->index > reinterpret_cast<Constraint*>(right.constraint)->index;
|
|
}
|
|
};
|
|
|
|
void DynamicsTGSContext::setupDescs(IslandContextStep& mIslandContext, const SolverIslandObjectsStep& mObjects,
|
|
PxU32* mBodyRemapTable, PxU32 mSolverBodyOffset, PxsContactManagerOutputIterator& /*outputs*/)
|
|
{
|
|
PX_PROFILE_ZONE("setupDescs", mContextID);
|
|
|
|
ThreadContext& mThreadContext = *mIslandContext.mThreadContext;
|
|
PxSolverConstraintDesc* contactDescPtr = mObjects.constraintDescs;
|
|
|
|
//PxU32 constraintCount = mCounts.constraints + mCounts.contactManagers;
|
|
|
|
PxU32 nbIslands = mObjects.numIslands;
|
|
const IG::IslandId* const islandIds = mObjects.islandIds;
|
|
|
|
const IG::IslandSim& islandSim = mIslandManager.getAccurateIslandSim();
|
|
|
|
{
|
|
PX_PROFILE_ZONE("IterateIslandsConstraintEdges", mContextID);
|
|
|
|
for (PxU32 i = 0; i < nbIslands; ++i)
|
|
{
|
|
const IG::Island& island = islandSim.getIsland(islandIds[i]);
|
|
|
|
IG::EdgeIndex edgeId = island.mFirstEdge[IG::Edge::eCONSTRAINT];
|
|
|
|
while (edgeId != IG_INVALID_EDGE)
|
|
{
|
|
PxSolverConstraintDesc& desc = *contactDescPtr;
|
|
|
|
const IG::Edge& edge = islandSim.getEdge(edgeId);
|
|
Dy::Constraint* constraint = mIslandManager.getConstraint(edgeId);
|
|
setDescFromIndices_Constraints(desc, islandSim, edgeId, mBodyRemapTable, mSolverBodyOffset, mSolverBodyVelPool.begin());
|
|
desc.constraint = reinterpret_cast<PxU8*>(constraint);
|
|
desc.constraintType = DY_SC_TYPE_RB_1D;
|
|
contactDescPtr++;
|
|
edgeId = edge.mNextIslandEdge;
|
|
}
|
|
}
|
|
}
|
|
|
|
{
|
|
PX_PROFILE_ZONE("PxSort", mContextID);
|
|
PxSort(mObjects.constraintDescs, PxU32(contactDescPtr - mObjects.constraintDescs), ConstraintLess());
|
|
}
|
|
|
|
if (mIslandContext.mCounts.contactManagers)
|
|
{
|
|
for (PxU32 a = 0; a < mIslandContext.mCounts.contactManagers; ++a)
|
|
{
|
|
//PxsContactManagerOutput& output = outputs.getContactManager(mObjects.contactManagers[a].contactManager->getWorkUnit().mNpIndex);
|
|
//if (output.nbContacts > 0)
|
|
{
|
|
PxSolverConstraintDesc& desc = *contactDescPtr;
|
|
setDescFromIndices_Contacts(desc, islandSim, mObjects.contactManagers[a], mSolverBodyOffset, mSolverBodyVelPool.begin());
|
|
desc.constraint = reinterpret_cast<PxU8*>(mObjects.contactManagers[a].contactManager);
|
|
desc.constraintType = DY_SC_TYPE_RB_CONTACT;
|
|
contactDescPtr++;
|
|
}
|
|
//else
|
|
//{
|
|
// //Clear friction state!
|
|
// mObjects.contactManagers[a].contactManager->getWorkUnit().frictionDataPtr = NULL;
|
|
// mObjects.contactManagers[a].contactManager->getWorkUnit().frictionPatchCount = 0;
|
|
//}
|
|
}
|
|
}
|
|
mThreadContext.contactDescArraySize = PxU32(contactDescPtr - mObjects.constraintDescs);
|
|
}
|
|
|
|
void DynamicsTGSContext::preIntegrateBodies(PxsBodyCore** bodyArray, PxsRigidBody** originalBodyArray,
|
|
PxTGSSolverBodyVel* solverBodyVelPool, PxTGSSolverBodyTxInertia* solverBodyTxInertia, PxTGSSolverBodyData* solverBodyDataPool2, PxU32* nodeIndexArray, PxU32 bodyCount, const PxVec3& gravity, PxReal dt, PxU32& posIters, PxU32& velIters, PxU32 /*iteration*/)
|
|
{
|
|
PX_PROFILE_ZONE("PreIntegrate", mContextID);
|
|
|
|
const bool skipGravity = mIsExternalForcesEveryTgsIterationEnabled;
|
|
|
|
PxU32 localMaxPosIter = 0;
|
|
PxU32 localMaxVelIter = 0;
|
|
for (PxU32 i = 0; i < bodyCount; ++i)
|
|
{
|
|
PxsBodyCore& core = *bodyArray[i];
|
|
const PxsRigidBody& rBody = *originalBodyArray[i];
|
|
|
|
const PxU16 iterWord = core.solverIterationCounts;
|
|
localMaxPosIter = PxMax<PxU32>(PxU32(iterWord & 0xff), localMaxPosIter);
|
|
localMaxVelIter = PxMax<PxU32>(PxU32(iterWord >> 8), localMaxVelIter);
|
|
|
|
//const Cm::SpatialVector& accel = originalBodyArray[i]->getAccelerationV();
|
|
bodyCoreComputeUnconstrainedVelocity(gravity, dt, core.linearDamping, core.angularDamping, rBody.mAccelScale, core.maxLinearVelocitySq, core.maxAngularVelocitySq,
|
|
core.linearVelocity, core.angularVelocity, core.disableGravity!=0 || skipGravity);
|
|
|
|
copyToSolverBodyDataStep(core.linearVelocity, core.angularVelocity, core.inverseMass, core.inverseInertia, core.body2World, core.maxPenBias, core.maxContactImpulse, nodeIndexArray[i],
|
|
core.contactReportThreshold, core.maxAngularVelocitySq, core.lockFlags, false,
|
|
solverBodyVelPool[i+1], solverBodyTxInertia[i+1], solverBodyDataPool2[i+1], dt, core.mFlags & PxRigidBodyFlag::eENABLE_GYROSCOPIC_FORCES);
|
|
}
|
|
|
|
posIters = localMaxPosIter;
|
|
velIters = localMaxVelIter;
|
|
}
|
|
|
|
void DynamicsTGSContext::createSolverConstraints(PxSolverConstraintDesc* contactDescPtr, PxConstraintBatchHeader* headers, PxU32 nbHeaders,
|
|
PxsContactManagerOutputIterator& outputs, Dy::ThreadContext& islandThreadContext, Dy::ThreadContext& threadContext, PxReal stepDt, PxReal totalDt, PxReal invStepDt,
|
|
const PxReal biasCoefficient)
|
|
{
|
|
PX_UNUSED(totalDt);
|
|
//PX_PROFILE_ZONE("CreateConstraints", 0);
|
|
PxTransform idt(PxIdentity);
|
|
|
|
BlockAllocator blockAllocator(islandThreadContext.mConstraintBlockManager, threadContext.mConstraintBlockStream, threadContext.mFrictionPatchStreamPair, threadContext.mConstraintSize);
|
|
|
|
PxTGSSolverBodyTxInertia* txInertias = mSolverBodyTxInertiaPool.begin();
|
|
PxTGSSolverBodyData* solverBodyDatas = mSolverBodyDataPool2.begin();
|
|
|
|
const PxReal invTotalDt = 1.0f / totalDt;
|
|
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
PxConstraintBatchHeader& hdr = headers[h];
|
|
PxU32 startIdx = hdr.startIndex;
|
|
PxU32 endIdx = startIdx + hdr.stride;
|
|
|
|
if (contactDescPtr[startIdx].constraintType == DY_SC_TYPE_RB_CONTACT)
|
|
{
|
|
PxTGSSolverContactDesc blockDescs[4];
|
|
PxsContactManagerOutput* cmOutputs[4];
|
|
PxsContactManager* cms[4];
|
|
|
|
for (PxU32 a = startIdx, i = 0; a < endIdx; ++a, i++)
|
|
{
|
|
PxSolverConstraintDesc& desc = contactDescPtr[a];
|
|
PxsContactManager* cm = reinterpret_cast<PxsContactManager*>(desc.constraint);
|
|
|
|
PxTGSSolverContactDesc& blockDesc = blockDescs[i];
|
|
|
|
cms[i] = cm;
|
|
|
|
PxcNpWorkUnit& unit = cm->getWorkUnit();
|
|
|
|
PxsContactManagerOutput* cmOutput = &outputs.getContactManagerOutput(unit.mNpIndex);
|
|
|
|
cmOutputs[i] = cmOutput;
|
|
|
|
PxTGSSolverBodyVel& b0 = *desc.tgsBodyA;
|
|
PxTGSSolverBodyVel& b1 = *desc.tgsBodyB;
|
|
|
|
PxTGSSolverBodyTxInertia& txI0 = txInertias[desc.bodyADataIndex];
|
|
PxTGSSolverBodyTxInertia& txI1 = txInertias[desc.bodyBDataIndex];
|
|
|
|
PxTGSSolverBodyData& data0 = solverBodyDatas[desc.bodyADataIndex];
|
|
PxTGSSolverBodyData& data1 = solverBodyDatas[desc.bodyBDataIndex];
|
|
|
|
blockDesc.body0 = &b0;
|
|
blockDesc.body1 = &b1;
|
|
blockDesc.bodyFrame0 = unit.mRigidCore0->body2World;
|
|
blockDesc.bodyFrame1 = unit.mRigidCore1->body2World;
|
|
blockDesc.shapeInteraction = cm->getShapeInteraction();
|
|
blockDesc.contactForces = cmOutput->contactForces;
|
|
blockDesc.desc = &desc;
|
|
blockDesc.body0 = &b0;
|
|
blockDesc.body1 = &b1;
|
|
blockDesc.body0TxI = &txI0;
|
|
blockDesc.body1TxI = &txI1;
|
|
blockDesc.bodyData0 = &data0;
|
|
blockDesc.bodyData1 = &data1;
|
|
blockDesc.hasForceThresholds = !!(unit.mFlags & PxcNpWorkUnitFlag::eFORCE_THRESHOLD);
|
|
blockDesc.disableStrongFriction = !!(unit.mFlags & PxcNpWorkUnitFlag::eDISABLE_STRONG_FRICTION);
|
|
blockDesc.bodyState0 = (unit.mFlags & PxcNpWorkUnitFlag::eARTICULATION_BODY0) ? PxSolverContactDesc::eARTICULATION : PxSolverContactDesc::eDYNAMIC_BODY;
|
|
if (unit.mFlags & PxcNpWorkUnitFlag::eARTICULATION_BODY1)
|
|
{
|
|
//kinematic link
|
|
if (desc.linkIndexB == 0xff)
|
|
{
|
|
blockDesc.bodyState1 = PxSolverContactDesc::eSTATIC_BODY;
|
|
}
|
|
else
|
|
{
|
|
blockDesc.bodyState1 = PxSolverContactDesc::eARTICULATION;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
blockDesc.bodyState1 = (unit.mFlags & PxcNpWorkUnitFlag::eHAS_KINEMATIC_ACTOR) ? PxSolverContactDesc::eKINEMATIC_BODY :
|
|
((unit.mFlags & PxcNpWorkUnitFlag::eDYNAMIC_BODY1) ? PxSolverContactDesc::eDYNAMIC_BODY : PxSolverContactDesc::eSTATIC_BODY);
|
|
}
|
|
|
|
//blockDesc.flags = unit.flags;
|
|
|
|
const PxReal maxImpulse0 = (unit.mFlags & PxcNpWorkUnitFlag::eARTICULATION_BODY0) ? static_cast<const PxsBodyCore*>(unit.mRigidCore0)->maxContactImpulse : data0.maxContactImpulse;
|
|
const PxReal maxImpulse1 = (unit.mFlags & PxcNpWorkUnitFlag::eARTICULATION_BODY1) ? static_cast<const PxsBodyCore*>(unit.mRigidCore1)->maxContactImpulse : data1.maxContactImpulse;
|
|
|
|
unit.setInvMassScaleFromDominance(blockDesc.invMassScales);
|
|
|
|
blockDesc.restDistance = unit.mRestDistance;
|
|
blockDesc.frictionPtr = unit.mFrictionDataPtr;
|
|
blockDesc.frictionCount = unit.mFrictionPatchCount;
|
|
blockDesc.maxCCDSeparation = PX_MAX_F32;
|
|
blockDesc.maxImpulse = PxMin(maxImpulse0, maxImpulse1);
|
|
blockDesc.torsionalPatchRadius = unit.mTorsionalPatchRadius;
|
|
blockDesc.minTorsionalPatchRadius = unit.mMinTorsionalPatchRadius;
|
|
blockDesc.offsetSlop = unit.mOffsetSlop;
|
|
}
|
|
|
|
SolverConstraintPrepState::Enum buildState = SolverConstraintPrepState::eUNBATCHABLE;
|
|
|
|
#if PX_USE_BLOCK_SOLVER
|
|
if (hdr.stride == 4)
|
|
{
|
|
buildState = createFinalizeSolverContacts4Step(
|
|
cmOutputs,
|
|
threadContext,
|
|
blockDescs,
|
|
invStepDt,
|
|
totalDt,
|
|
invTotalDt,
|
|
stepDt,
|
|
mBounceThreshold,
|
|
mFrictionOffsetThreshold,
|
|
mCorrelationDistance,
|
|
biasCoefficient,
|
|
blockAllocator);
|
|
}
|
|
#endif
|
|
|
|
if (buildState != SolverConstraintPrepState::eSUCCESS)
|
|
{
|
|
for (PxU32 a = startIdx, i = 0; a < endIdx; ++a, i++)
|
|
{
|
|
PxSolverConstraintDesc& desc = contactDescPtr[a];
|
|
PxsContactManager* cm = reinterpret_cast<PxsContactManager*>(desc.constraint);
|
|
//PxcNpWorkUnit& n = cm->getWorkUnit();
|
|
|
|
PxsContactManagerOutput& output = *cmOutputs[i];
|
|
//PX_ASSERT(output.nbContacts != 0);
|
|
|
|
createFinalizeSolverContactsStep(blockDescs[i], output, threadContext,
|
|
invStepDt, invTotalDt, totalDt, stepDt, mBounceThreshold, mFrictionOffsetThreshold, mCorrelationDistance, biasCoefficient,
|
|
blockAllocator);
|
|
|
|
getContactManagerConstraintDesc(output, *cm, desc);
|
|
|
|
//PX_ASSERT(desc.constraint != NULL);
|
|
}
|
|
}
|
|
|
|
for (PxU32 a = startIdx, i = 0; a < endIdx; ++a, i++)
|
|
{
|
|
updateFrictionAnchorCountAndPosition(contactDescPtr[a], *cmOutputs[i], blockDescs[i]);
|
|
}
|
|
|
|
for (PxU32 i = 0; i < hdr.stride; ++i)
|
|
{
|
|
PxsContactManager* cm = cms[i];
|
|
|
|
PxcNpWorkUnit& unit = cm->getWorkUnit();
|
|
unit.mFrictionDataPtr = blockDescs[i].frictionPtr;
|
|
unit.mFrictionPatchCount = blockDescs[i].frictionCount;
|
|
}
|
|
}
|
|
else if (contactDescPtr[startIdx].constraintType == DY_SC_TYPE_RB_1D)
|
|
{
|
|
SolverConstraintShaderPrepDesc shaderPrepDescs[4];
|
|
PxTGSSolverConstraintPrepDesc prepDescs[4];
|
|
|
|
for (PxU32 a = startIdx, i = 0; a < endIdx; ++a, i++)
|
|
{
|
|
SolverConstraintShaderPrepDesc& shaderPrepDesc = shaderPrepDescs[i];
|
|
PxTGSSolverConstraintPrepDesc& prepDesc = prepDescs[i];
|
|
|
|
const PxTransform id(PxIdentity);
|
|
|
|
{
|
|
PxSolverConstraintDesc& desc = contactDescPtr[a];
|
|
const Constraint* constraint = reinterpret_cast<const Constraint*>(desc.constraint);
|
|
|
|
const PxConstraintSolverPrep solverPrep = constraint->solverPrep;
|
|
const void* constantBlock = constraint->constantBlock;
|
|
const PxU32 constantBlockByteSize = constraint->constantBlockSize;
|
|
const PxTransform& pose0 = (constraint->body0 ? constraint->body0->getPose() : id);
|
|
const PxTransform& pose1 = (constraint->body1 ? constraint->body1->getPose() : id);
|
|
const PxTGSSolverBodyVel* sbody0 = desc.tgsBodyA;
|
|
const PxTGSSolverBodyVel* sbody1 = desc.tgsBodyB;
|
|
|
|
PxTGSSolverBodyTxInertia& txI0 = txInertias[desc.bodyADataIndex];
|
|
PxTGSSolverBodyTxInertia& txI1 = txInertias[desc.bodyBDataIndex];
|
|
|
|
PxTGSSolverBodyData& data0 = solverBodyDatas[desc.bodyADataIndex];
|
|
PxTGSSolverBodyData& data1 = solverBodyDatas[desc.bodyBDataIndex];
|
|
|
|
shaderPrepDesc.constantBlock = constantBlock;
|
|
shaderPrepDesc.constantBlockByteSize = constantBlockByteSize;
|
|
shaderPrepDesc.constraint = constraint;
|
|
shaderPrepDesc.solverPrep = solverPrep;
|
|
|
|
prepDesc.desc = &desc;
|
|
prepDesc.bodyFrame0 = pose0;
|
|
prepDesc.bodyFrame1 = pose1;
|
|
prepDesc.body0 = sbody0;
|
|
prepDesc.body1 = sbody1;
|
|
prepDesc.body0TxI = &txI0;
|
|
prepDesc.body1TxI = &txI1;
|
|
prepDesc.bodyData0 = &data0;
|
|
prepDesc.bodyData1 = &data1;
|
|
prepDesc.linBreakForce = constraint->linBreakForce;
|
|
prepDesc.angBreakForce = constraint->angBreakForce;
|
|
prepDesc.writeback = &getConstraintWriteBackPool()[constraint->index];
|
|
setupConstraintFlags(prepDesc, constraint->flags);
|
|
prepDesc.minResponseThreshold = constraint->minResponseThreshold;
|
|
|
|
prepDesc.bodyState0 = desc.linkIndexA == PxSolverConstraintDesc::RIGID_BODY ? PxSolverContactDesc::eDYNAMIC_BODY : PxSolverContactDesc::eARTICULATION;
|
|
prepDesc.bodyState1 = desc.linkIndexB == PxSolverConstraintDesc::RIGID_BODY ? PxSolverContactDesc::eDYNAMIC_BODY : PxSolverContactDesc::eARTICULATION;
|
|
}
|
|
}
|
|
|
|
SolverConstraintPrepState::Enum buildState = SolverConstraintPrepState::eUNBATCHABLE;
|
|
|
|
#if PX_USE_BLOCK_SOLVER
|
|
#if PX_USE_BLOCK_1D
|
|
if (hdr.stride == 4)
|
|
{
|
|
PxU32 totalRows;
|
|
buildState = setupSolverConstraintStep4
|
|
(shaderPrepDescs, prepDescs, stepDt, totalDt, invStepDt, invTotalDt, totalRows, blockAllocator, mLengthScale, biasCoefficient, mIsResidualReportingEnabled);
|
|
}
|
|
#endif
|
|
#endif
|
|
if (buildState != SolverConstraintPrepState::eSUCCESS)
|
|
{
|
|
for (PxU32 a = startIdx, i = 0; a < endIdx; ++a, i++)
|
|
{
|
|
PxReal clampedInvDt = invStepDt;
|
|
SetupSolverConstraintStep(shaderPrepDescs[i], prepDescs[i], blockAllocator, stepDt, totalDt, clampedInvDt, invTotalDt, mLengthScale,
|
|
biasCoefficient);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void solveContactBlock (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
void solve1DBlock (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
void solveExtContactBlock (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
void solveExt1DBlock (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
void solveContact4 (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
void solve1D4 (DY_TGS_SOLVE_METHOD_PARAMS);
|
|
|
|
TGSSolveBlockMethod g_SolveTGSMethods[] =
|
|
{
|
|
0,
|
|
solveContactBlock, // DY_SC_TYPE_RB_CONTACT
|
|
solve1DBlock, // DY_SC_TYPE_RB_1D
|
|
solveExtContactBlock, // DY_SC_TYPE_EXT_CONTACT
|
|
solveExt1DBlock, // DY_SC_TYPE_EXT_1D
|
|
solveContactBlock, // DY_SC_TYPE_STATIC_CONTACT
|
|
solveContact4, // DY_SC_TYPE_BLOCK_RB_CONTACT
|
|
solveContact4, // DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT
|
|
solve1D4, // DY_SC_TYPE_BLOCK_1D,
|
|
};
|
|
|
|
void writeBackContact (DY_TGS_WRITEBACK_METHOD_PARAMS);
|
|
void writeBack1D (DY_TGS_WRITEBACK_METHOD_PARAMS);
|
|
void writeBackContact4 (DY_TGS_WRITEBACK_METHOD_PARAMS);
|
|
void writeBack1D4 (DY_TGS_WRITEBACK_METHOD_PARAMS);
|
|
|
|
TGSWriteBackMethod g_WritebackTGSMethods[] =
|
|
{
|
|
0,
|
|
writeBackContact, // DY_SC_TYPE_RB_CONTACT
|
|
writeBack1D, // DY_SC_TYPE_RB_1D
|
|
writeBackContact, // DY_SC_TYPE_EXT_CONTACT
|
|
writeBack1D, // DY_SC_TYPE_EXT_1D
|
|
writeBackContact, // DY_SC_TYPE_STATIC_CONTACT
|
|
writeBackContact4, // DY_SC_TYPE_BLOCK_RB_CONTACT
|
|
writeBackContact4, // DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT
|
|
writeBack1D4, // DY_SC_TYPE_BLOCK_1D,
|
|
};
|
|
|
|
void solveConclude1DBlock (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
void solveConcludeContactBlock (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
void solveConcludeContact4 (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
void solveConclude1D4 (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
void solveConcludeContactExtBlock (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
void solveConclude1DBlockExt (DY_TGS_CONCLUDE_METHOD_PARAMS);
|
|
|
|
TGSSolveConcludeMethod g_SolveConcludeTGSMethods[] =
|
|
{
|
|
0,
|
|
solveConcludeContactBlock, // DY_SC_TYPE_RB_CONTACT
|
|
solveConclude1DBlock, // DY_SC_TYPE_RB_1D
|
|
solveConcludeContactExtBlock, // DY_SC_TYPE_EXT_CONTACT
|
|
solveConclude1DBlockExt, // DY_SC_TYPE_EXT_1D
|
|
solveConcludeContactBlock, // DY_SC_TYPE_STATIC_CONTACT
|
|
solveConcludeContact4, // DY_SC_TYPE_BLOCK_RB_CONTACT
|
|
solveConcludeContact4, // DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT
|
|
solveConclude1D4, // DY_SC_TYPE_BLOCK_1D,
|
|
};
|
|
|
|
void DynamicsTGSContext::solveConstraintsIteration(const PxSolverConstraintDesc* const contactDescPtr, const PxConstraintBatchHeader* const batchHeaders, PxU32 nbHeaders,
|
|
PxReal invStepDt, const PxTGSSolverBodyTxInertia* const solverTxInertia, PxReal elapsedTime, PxReal minPenetration, SolverContext& cache)
|
|
{
|
|
PX_UNUSED(invStepDt);
|
|
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
const PxConstraintBatchHeader& hdr = batchHeaders[h];
|
|
g_SolveTGSMethods[hdr.constraintType](hdr, contactDescPtr, solverTxInertia, minPenetration, elapsedTime, cache);
|
|
}
|
|
}
|
|
|
|
template <bool TSync>
|
|
void DynamicsTGSContext::parallelSolveConstraints(const PxSolverConstraintDesc* const contactDescPtr, const PxConstraintBatchHeader* const batchHeaders, PxU32 nbHeaders,
|
|
PxTGSSolverBodyTxInertia* solverTxInertia, PxReal elapsedTime, PxReal minPenetration,
|
|
SolverContext& cache, PxU32 iterCount)
|
|
{
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
const PxConstraintBatchHeader& hdr = batchHeaders[h];
|
|
|
|
const PxSolverConstraintDesc& desc = contactDescPtr[hdr.startIndex];
|
|
|
|
if (TSync)
|
|
{
|
|
PX_ASSERT(hdr.stride == 1);
|
|
waitForProgresses(desc, iterCount);
|
|
}
|
|
|
|
g_SolveTGSMethods[hdr.constraintType](hdr, contactDescPtr, solverTxInertia, minPenetration, elapsedTime, cache);
|
|
|
|
if (TSync)
|
|
{
|
|
PxMemoryBarrier();
|
|
incrementProgress(desc);
|
|
}
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::writebackConstraintsIteration(const PxConstraintBatchHeader* const hdrs, const PxSolverConstraintDesc* const contactDescPtr, PxU32 nbHeaders, SolverContext& cache)
|
|
{
|
|
PX_PROFILE_ZONE("Writeback", mContextID);
|
|
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
const PxConstraintBatchHeader& hdr = hdrs[h];
|
|
|
|
g_WritebackTGSMethods[hdr.constraintType](hdr, contactDescPtr, &cache);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::parallelWritebackConstraintsIteration(const PxSolverConstraintDesc* const contactDescPtr, const PxConstraintBatchHeader* const batchHeaders, PxU32 nbHeaders, SolverContext& cache)
|
|
{
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
const PxConstraintBatchHeader& hdr = batchHeaders[h];
|
|
|
|
g_WritebackTGSMethods[hdr.constraintType](hdr, contactDescPtr, &cache);
|
|
}
|
|
}
|
|
|
|
template <bool TSync>
|
|
void DynamicsTGSContext::solveConcludeConstraintsIteration(const PxSolverConstraintDesc* const contactDescPtr,
|
|
const PxConstraintBatchHeader* const batchHeaders, PxU32 nbHeaders, PxTGSSolverBodyTxInertia* solverTxInertia,
|
|
PxReal elapsedTime, SolverContext& cache, PxU32 iterCount)
|
|
{
|
|
for (PxU32 h = 0; h < nbHeaders; ++h)
|
|
{
|
|
const PxConstraintBatchHeader& hdr = batchHeaders[h];
|
|
|
|
const PxSolverConstraintDesc& desc = contactDescPtr[hdr.startIndex];
|
|
if (TSync)
|
|
waitForProgresses(desc, iterCount);
|
|
|
|
g_SolveConcludeTGSMethods[hdr.constraintType](hdr, contactDescPtr, solverTxInertia, elapsedTime, cache);
|
|
|
|
if (TSync)
|
|
{
|
|
PxMemoryBarrier();
|
|
incrementProgress(desc);
|
|
}
|
|
}
|
|
}
|
|
|
|
void integrateCoreStep(PxTGSSolverBodyVel& vel, PxTGSSolverBodyTxInertia& txInertia, PxF32 dt)
|
|
{
|
|
PxU32 lockFlags = vel.lockFlags;
|
|
if (lockFlags)
|
|
{
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
|
|
vel.linearVelocity.x = 0.f;
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
|
|
vel.linearVelocity.y = 0.f;
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
|
|
vel.linearVelocity.z = 0.f;
|
|
|
|
//The angular velocity should be 0 because it is now impossible to make it rotate around that axis!
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
|
|
vel.angularVelocity.x = 0.f;
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
|
|
vel.angularVelocity.y = 0.f;
|
|
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
|
|
vel.angularVelocity.z = 0.f;
|
|
}
|
|
|
|
PxVec3 linearMotionVel = vel.linearVelocity;
|
|
const PxVec3 delta = linearMotionVel * dt;
|
|
|
|
//The solver accumulates deltaAngularMomocity.
|
|
//We need to translate from deltaAngularMomocity to deltaAngularVelocity.
|
|
//deltaAngularVelocity = I^(-1/2)*deltaAngularMomocity
|
|
PxVec3 unmolestedAngVel = vel.angularVelocity;
|
|
PxVec3 angularMotionVel = txInertia.sqrtInvInertia * vel.angularVelocity;
|
|
PxReal w2 = angularMotionVel.magnitudeSquared();
|
|
txInertia.body2WorldP += delta;
|
|
PX_ASSERT(txInertia.body2WorldP.isFinite());
|
|
|
|
// Integrate the rotation using closed form quaternion integrator
|
|
if (w2 != 0.0f)
|
|
{
|
|
PxReal w = PxSqrt(w2);
|
|
|
|
//KS - we allow a little bit more angular velocity than the default
|
|
//maxAngVel member otherwise the simulation feels a little flimsy
|
|
/*const PxReal maxW = PxMax(50.f, vel.maxAngVel);
|
|
|
|
if (w > maxW)
|
|
{
|
|
PxReal ratio = maxW / w;
|
|
|
|
vel.angularVelocity *= ratio;
|
|
}*/
|
|
|
|
const PxReal v = dt * w * 0.5f;
|
|
PxReal s, q;
|
|
PxSinCos(v, s, q);
|
|
s /= w;
|
|
|
|
const PxVec3 pqr = angularMotionVel * s;
|
|
const PxQuat quatVel(pqr.x, pqr.y, pqr.z, 0);
|
|
PxQuat result = quatVel * txInertia.deltaBody2WorldQ;
|
|
|
|
result += txInertia.deltaBody2WorldQ * q;
|
|
|
|
txInertia.deltaBody2WorldQ = result.getNormalized();
|
|
PX_ASSERT(txInertia.deltaBody2WorldQ.isSane());
|
|
PX_ASSERT(txInertia.deltaBody2WorldQ.isFinite());
|
|
|
|
//Accumulate the angular rotations in a space we can project the angular constraints to
|
|
}
|
|
|
|
vel.deltaAngDt += unmolestedAngVel * dt;
|
|
vel.deltaLinDt += delta;
|
|
|
|
/*solverBodyData.body2World = txInertia.body2World;
|
|
solverBodyData.deltaLinDt = vel.deltaLinDt;
|
|
solverBodyData.deltaAngDt = vel.deltaAngDt;*/
|
|
}
|
|
|
|
void DynamicsTGSContext::applySubstepGravity(PxsRigidBody** bodies, PxsExternalAccelerationProvider& externalAccelerations,
|
|
PxU32 count, PxTGSSolverBodyVel* vels, PxReal dt, PxTGSSolverBodyTxInertia* PX_RESTRICT txInertias, PxU32* nodeIndexArray)
|
|
{
|
|
const PxVec3 gravityTimesDt = dt * mGravity;
|
|
const bool hasExternalAcceleration = externalAccelerations.hasAccelerations();
|
|
for (PxU32 k = 0; k < count; k++)
|
|
{
|
|
const PxsRigidBody& rBody = *bodies[k];
|
|
const PxsBodyCore& core = rBody.getCore();
|
|
|
|
const PxsRigidBodyExternalAcceleration* acc = hasExternalAcceleration ? &externalAccelerations.get(nodeIndexArray[k]) : NULL;
|
|
|
|
const PxU16 lockFlags = core.lockFlags;
|
|
if (acc || !core.disableGravity)
|
|
{
|
|
const PxVec3 gravityContribution = core.disableGravity ? PxVec3(0.0f) : (gravityTimesDt * rBody.mAccelScale);
|
|
const PxVec3 linearAcceleration = acc ? (acc->linearAcceleration * dt) : PxVec3(0.0f);
|
|
|
|
PxVec3 v = vels[k + 1].linearVelocity + gravityContribution + linearAcceleration;
|
|
|
|
v.x = lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X ? 0.f : v.x;
|
|
v.y = lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y ? 0.f : v.y;
|
|
v.z = lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z ? 0.f : v.z;
|
|
|
|
vels[k + 1].linearVelocity = v;
|
|
}
|
|
|
|
if (acc && acc->angularAcceleration != PxVec3(0.0f))
|
|
{
|
|
PxVec3 a = vels[k + 1].angularVelocity + txInertias[k + 1].sqrtInvInertia.getInverse() * acc->angularAcceleration * dt;
|
|
|
|
a.x = lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X ? 0.f : a.x;
|
|
a.y = lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y ? 0.f : a.y;
|
|
a.z = lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z ? 0.f : a.z;
|
|
|
|
vels[k + 1].angularVelocity = a;
|
|
}
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::integrateBodies(PxU32 count, PxTGSSolverBodyVel* PX_RESTRICT vels,
|
|
PxTGSSolverBodyTxInertia* PX_RESTRICT txInertias, PxReal dt)
|
|
{
|
|
for (PxU32 k = 0; k < count; k++)
|
|
{
|
|
integrateCoreStep(vels[k + 1], txInertias[k + 1], dt);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::integrateBodiesAndApplyGravity(const SolverIslandObjectsStep& objects,
|
|
PxU32 count, PxTGSSolverBodyVel* PX_RESTRICT vels, PxTGSSolverBodyTxInertia* PX_RESTRICT txInertias,
|
|
PxReal dt, PxU32 posIters)
|
|
{
|
|
for (PxU32 i = 0; i < posIters; i++)
|
|
{
|
|
applySubstepGravity(objects.bodies, *objects.externalAccelerations, count, vels, dt, txInertias, objects.nodeIndexArray);
|
|
integrateBodies(count, vels, txInertias, dt);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::parallelIntegrateBodies(PxTGSSolverBodyVel* vels, PxTGSSolverBodyTxInertia* txInertias,
|
|
PxU32 count, PxReal dt, PxU32 iteration)
|
|
{
|
|
for (PxU32 k = 0; k < count; k++)
|
|
{
|
|
PX_ASSERT(vels[k + 1].partitionMask == (iteration * vels[k + 1].nbStaticInteractions));
|
|
PX_UNUSED(iteration);
|
|
integrateCoreStep(vels[k + 1], txInertias[k + 1], dt);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::copyBackBodies(const SolverIslandObjectsStep& objects,
|
|
PxTGSSolverBodyVel* vels, PxTGSSolverBodyTxInertia* txInertias,
|
|
PxTGSSolverBodyData* solverBodyDatas, PxReal invDt, IG::IslandSim& islandSim,
|
|
PxU32 startIdx, PxU32 endIdx)
|
|
{
|
|
for (PxU32 k = startIdx; k < endIdx; k++)
|
|
{
|
|
//PxStepSolverBody& solverBodyData = solverBodyData2[k + 1];
|
|
PxTGSSolverBodyVel& solverBodyVel = vels[k + 1];
|
|
PxTGSSolverBodyTxInertia& solverBodyTxI = txInertias[k + 1];
|
|
PxTGSSolverBodyData& solverBodyData = solverBodyDatas[k + 1];
|
|
|
|
const Cm::SpatialVector motionVel(solverBodyVel.deltaLinDt*invDt, solverBodyTxI.sqrtInvInertia*(solverBodyVel.deltaAngDt*invDt));
|
|
|
|
PxsRigidBody& rBody = *objects.bodies[k];
|
|
PxsBodyCore& core = rBody.getCore();
|
|
rBody.mLastTransform = core.body2World;
|
|
core.body2World.q = (solverBodyTxI.deltaBody2WorldQ * core.body2World.q).getNormalized();
|
|
core.body2World.p = solverBodyTxI.body2WorldP;
|
|
/*core.linearVelocity = (solverBodyVel.linearVelocity);
|
|
core.angularVelocity = solverBodyTxI.sqrtInvInertia*(solverBodyVel.angularVelocity);*/
|
|
|
|
PxVec3 linearVelocity = (solverBodyVel.linearVelocity);
|
|
PxVec3 angularVelocity = solverBodyTxI.sqrtInvInertia*(solverBodyVel.angularVelocity);
|
|
|
|
core.linearVelocity = linearVelocity;
|
|
core.angularVelocity = angularVelocity;
|
|
|
|
const PxU32 hasStaticTouch = islandSim.getIslandStaticTouchCount(PxNodeIndex(solverBodyData.nodeIndex));
|
|
sleepCheck(&rBody, mDt, mEnableStabilization, motionVel, hasStaticTouch);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::stepArticulations(Dy::ThreadContext& threadContext, const PxsIslandIndices& counts, PxReal dt, PxReal totalInvDt)
|
|
{
|
|
for (PxU32 a = 0; a < counts.articulations; ++a)
|
|
{
|
|
ArticulationSolverDesc& d = threadContext.getArticulations()[a];
|
|
//if(d.articulation->numTotalConstraints > 0)
|
|
//d.articulation->solveInternalConstraints(dt, 1.f / dt, threadContext.mZVector.begin(), threadContext.mDeltaV.begin(), false);
|
|
ArticulationPImpl::updateDeltaMotion(d, dt, threadContext.mDeltaV.begin(), totalInvDt);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::updateArticulations(Dy::ThreadContext& threadContext, PxU32 startIdx, PxU32 endIdx, PxReal dt)
|
|
{
|
|
for (PxU32 a = startIdx; a < endIdx; ++a)
|
|
{
|
|
ArticulationSolverDesc& d = threadContext.getArticulations()[a];
|
|
ArticulationPImpl::updateBodiesTGS(d, threadContext.mDeltaV.begin(), dt);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::applyArticulationTgsSubstepForces(Dy::ThreadContext& threadContext, PxU32 numArticulations, PxReal stepDt)
|
|
{
|
|
for(PxU32 i = 0; i < numArticulations; ++i)
|
|
{
|
|
ArticulationSolverDesc& d = threadContext.getArticulations()[i];
|
|
|
|
// zVector just used as temp buffer
|
|
threadContext.mZVector.resizeUninitialized(d.linkCount);
|
|
FeatherstoneArticulation::applyTgsSubstepForces(d, stepDt, threadContext.mZVector.begin());
|
|
}
|
|
|
|
}
|
|
|
|
namespace
|
|
{
|
|
class ArticulationTask : public Cm::Task
|
|
{
|
|
Dy::DynamicsTGSContext& mContext;
|
|
const ArticulationSolverDesc* const mDescs;
|
|
const PxU32 mNbDescs;
|
|
const PxVec3 mGravity;
|
|
const PxReal mDt;
|
|
const bool mExternalForcesEveryTgsIterationEnabled;
|
|
|
|
PX_NOCOPY(ArticulationTask)
|
|
|
|
public:
|
|
static const PxU32 MaxNbPerTask = 32;
|
|
|
|
ArticulationTask(Dy::DynamicsTGSContext& context, const ArticulationSolverDesc* descs, PxU32 nbDescs,
|
|
const PxVec3& gravity, PxReal dt, PxU64 contextId, bool externalForcesEveryTgsIterationEnabled)
|
|
: Cm::Task(contextId)
|
|
, mContext(context)
|
|
, mDescs(descs)
|
|
, mNbDescs(nbDescs)
|
|
, mGravity(gravity)
|
|
, mDt(dt)
|
|
, mExternalForcesEveryTgsIterationEnabled(externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "ArticulationTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
PxU32 maxLinks = 0;
|
|
for (PxU32 i = 0; i < mNbDescs; i++)
|
|
{
|
|
maxLinks = PxMax(maxLinks, PxU32(mDescs[i].linkCount));
|
|
}
|
|
|
|
Dy::ThreadContext& threadContext = *mContext.getThreadContext();
|
|
|
|
threadContext.mDeltaV.forceSize_Unsafe(0);
|
|
threadContext.mDeltaV.reserve(maxLinks);
|
|
threadContext.mDeltaV.forceSize_Unsafe(maxLinks);
|
|
|
|
const PxReal invLengthScale = 1.f / mContext.getLengthScale();
|
|
|
|
for (PxU32 a = 0; a < mNbDescs; ++a)
|
|
{
|
|
ArticulationPImpl::computeUnconstrainedVelocitiesTGS(mDescs[a], mDt,
|
|
mGravity, invLengthScale, mExternalForcesEveryTgsIterationEnabled);
|
|
}
|
|
|
|
mContext.putThreadContext(&threadContext);
|
|
}
|
|
};
|
|
}
|
|
|
|
void DynamicsTGSContext::setupArticulations(IslandContextStep& islandContext, const PxVec3& gravity, PxReal dt, PxU32& posIters,
|
|
PxU32& velIters, PxBaseTask* continuation)
|
|
{
|
|
Dy::FeatherstoneArticulation** articulations = islandContext.mThreadContext->mArticulationArray;
|
|
PxU32 nbArticulations = islandContext.mCounts.articulations;
|
|
|
|
PxU32 maxVelIters = 0;
|
|
PxU32 maxPosIters = 0;
|
|
|
|
for (PxU32 a = 0; a < nbArticulations; a+= ArticulationTask::MaxNbPerTask)
|
|
{
|
|
const PxU32 endIdx = PxMin(nbArticulations, a + ArticulationTask::MaxNbPerTask);
|
|
for (PxU32 b = a; b < endIdx; ++b)
|
|
{
|
|
ArticulationSolverDesc& desc = islandContext.mThreadContext->getArticulations()[b];
|
|
articulations[b]->getSolverDesc(desc);
|
|
articulations[b]->mArticulationIndex = PxU16(b);
|
|
|
|
const PxU16 iterWord = articulations[b]->getIterationCounts();
|
|
maxVelIters = PxMax<PxU32>(PxU32(iterWord >> 8), maxVelIters);
|
|
maxPosIters = PxMax<PxU32>(PxU32(iterWord & 0xff), maxPosIters);
|
|
}
|
|
|
|
Dy::ThreadContext* threadContext = islandContext.mThreadContext;
|
|
ArticulationTask* task = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(ArticulationTask)), ArticulationTask)(*this, threadContext->getArticulations().begin() + a,
|
|
endIdx - a, gravity, dt, getContextId(), mIsExternalForcesEveryTgsIterationEnabled);
|
|
|
|
task->setContinuation(continuation);
|
|
task->removeReference();
|
|
}
|
|
|
|
velIters = PxMax(maxVelIters, velIters);
|
|
posIters = PxMax(maxPosIters, posIters);
|
|
}
|
|
|
|
PxU32 DynamicsTGSContext::setupArticulationInternalConstraints(IslandContextStep& islandContext, PxReal dt, PxReal invStepDt)
|
|
{
|
|
Dy::FeatherstoneArticulation** articulations = islandContext.mThreadContext->mArticulationArray;
|
|
PxU32 nbArticulations = islandContext.mCounts.articulations;
|
|
|
|
ThreadContext* threadContext = getThreadContext();
|
|
threadContext->mConstraintBlockStream.reset();
|
|
|
|
PxU32 totalDescCount = 0;
|
|
|
|
for (PxU32 a = 0; a < nbArticulations; ++a)
|
|
{
|
|
ArticulationSolverDesc& desc = islandContext.mThreadContext->getArticulations()[a];
|
|
articulations[a]->getSolverDesc(desc);
|
|
|
|
PxU32 descCount = ArticulationPImpl::setupSolverInternalConstraintsTGS(desc,
|
|
islandContext.mStepDt, invStepDt, dt);
|
|
|
|
desc.numInternalConstraints = PxTo8(descCount);
|
|
|
|
totalDescCount += descCount;
|
|
}
|
|
|
|
putThreadContext(threadContext);
|
|
|
|
islandContext.mThreadContext->contactDescArraySize += totalDescCount;
|
|
|
|
return totalDescCount;
|
|
}
|
|
|
|
class SetupDescsTask : public Cm::Task
|
|
{
|
|
Dy::IslandContextStep& mIslandContext;
|
|
const SolverIslandObjectsStep& mObjects;
|
|
PxU32* mBodyRemapTable;
|
|
PxU32 mSolverBodyOffset;
|
|
PxsContactManagerOutputIterator& mOutputs;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(SetupDescsTask)
|
|
|
|
public:
|
|
|
|
SetupDescsTask(IslandContextStep& islandContext, const SolverIslandObjectsStep& objects,
|
|
PxU32* bodyRemapTable, PxU32 solverBodyOffset, PxsContactManagerOutputIterator& outputs, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mObjects(objects), mBodyRemapTable(bodyRemapTable), mSolverBodyOffset(solverBodyOffset),
|
|
mOutputs(outputs), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetupDescsTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.setupDescs(mIslandContext, mObjects, mBodyRemapTable, mSolverBodyOffset, mOutputs);
|
|
mIslandContext.mArticulationOffset = mIslandContext.mThreadContext->contactDescArraySize;
|
|
}
|
|
};
|
|
|
|
class PreIntegrateParallelTask : public Cm::Task
|
|
{
|
|
PxsBodyCore** mBodyArray;
|
|
PxsRigidBody** mOriginalBodyArray;
|
|
PxTGSSolverBodyVel* mSolverBodyVelPool;
|
|
PxTGSSolverBodyTxInertia* mSolverBodyTxInertia;
|
|
PxTGSSolverBodyData* mSolverBodyDataPool2;
|
|
PxU32* mNodeIndexArray;
|
|
const PxU32 mBodyCount;
|
|
const PxVec3& mGravity;
|
|
const PxReal mDt;
|
|
PxU32& mPosIters;
|
|
PxU32& mVelIters;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(PreIntegrateParallelTask)
|
|
|
|
public:
|
|
|
|
PreIntegrateParallelTask(PxsBodyCore** bodyArray, PxsRigidBody** originalBodyArray,
|
|
PxTGSSolverBodyVel* solverBodyVelPool, PxTGSSolverBodyTxInertia* solverBodyTxInertia, PxTGSSolverBodyData* solverBodyDataPool2,
|
|
PxU32* nodeIndexArray, PxU32 bodyCount, const PxVec3& gravity, PxReal dt, PxU32& posIters, PxU32& velIters,
|
|
DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mBodyArray(bodyArray), mOriginalBodyArray(originalBodyArray), mSolverBodyVelPool(solverBodyVelPool),
|
|
mSolverBodyTxInertia(solverBodyTxInertia), mSolverBodyDataPool2(solverBodyDataPool2), mNodeIndexArray(nodeIndexArray),
|
|
mBodyCount(bodyCount), mGravity(gravity), mDt(dt), mPosIters(posIters), mVelIters(velIters), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "PreIntegrateParallelTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
PxU32 posIters = 0;
|
|
PxU32 velIters = 0;
|
|
mContext.preIntegrateBodies(mBodyArray, mOriginalBodyArray, mSolverBodyVelPool, mSolverBodyTxInertia, mSolverBodyDataPool2, mNodeIndexArray, mBodyCount, mGravity, mDt, posIters, velIters, 0);
|
|
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mPosIters), PxI32(posIters));
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mVelIters), PxI32(velIters));
|
|
}
|
|
};
|
|
|
|
class PreIntegrateTask : public Cm::Task
|
|
{
|
|
PxsBodyCore** mBodyArray;
|
|
PxsRigidBody** mOriginalBodyArray;
|
|
PxTGSSolverBodyVel* mSolverBodyVelPool;
|
|
PxTGSSolverBodyTxInertia* mSolverBodyTxInertia;
|
|
PxTGSSolverBodyData* mSolverBodyDataPool2;
|
|
PxU32* mNodeIndexArray;
|
|
const PxU32 mBodyCount;
|
|
const PxVec3& mGravity;
|
|
const PxReal mDt;
|
|
PxU32& mPosIters;
|
|
PxU32& mVelIters;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(PreIntegrateTask)
|
|
|
|
public:
|
|
|
|
PreIntegrateTask(PxsBodyCore** bodyArray, PxsRigidBody** originalBodyArray,
|
|
PxTGSSolverBodyVel* solverBodyVelPool, PxTGSSolverBodyTxInertia* solverBodyTxInertia, PxTGSSolverBodyData* solverBodyDataPool2,
|
|
PxU32* nodeIndexArray, PxU32 bodyCount, const PxVec3& gravity, PxReal dt, PxU32& posIters, PxU32& velIters,
|
|
DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mBodyArray(bodyArray), mOriginalBodyArray(originalBodyArray), mSolverBodyVelPool(solverBodyVelPool),
|
|
mSolverBodyTxInertia(solverBodyTxInertia), mSolverBodyDataPool2(solverBodyDataPool2), mNodeIndexArray(nodeIndexArray),
|
|
mBodyCount(bodyCount), mGravity(gravity), mDt(dt), mPosIters(posIters), mVelIters(velIters), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "PreIntegrateTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
const PxU32 BodiesPerTask = 512;
|
|
|
|
if (mBodyCount <= BodiesPerTask)
|
|
{
|
|
PxU32 posIters = 0;
|
|
PxU32 velIters = 0;
|
|
mContext.preIntegrateBodies(mBodyArray, mOriginalBodyArray, mSolverBodyVelPool, mSolverBodyTxInertia, mSolverBodyDataPool2, mNodeIndexArray, mBodyCount, mGravity, mDt, posIters, velIters, 0);
|
|
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mPosIters), PxI32(posIters));
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mVelIters), PxI32(velIters));
|
|
}
|
|
else
|
|
{
|
|
for (PxU32 i = 0; i < mBodyCount; i += BodiesPerTask)
|
|
{
|
|
const PxU32 nbToProcess = PxMin(mBodyCount - i, BodiesPerTask);
|
|
PreIntegrateParallelTask* task = PX_PLACEMENT_NEW(mContext.getTaskPool().allocate(sizeof(PreIntegrateParallelTask)), PreIntegrateParallelTask)
|
|
(mBodyArray+i, mOriginalBodyArray+i, mSolverBodyVelPool+i, mSolverBodyTxInertia+i, mSolverBodyDataPool2+i,mNodeIndexArray+i,
|
|
nbToProcess, mGravity, mDt, mPosIters, mVelIters, mContext);
|
|
|
|
task->setContinuation(mCont);
|
|
task->removeReference();
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
class SetStepperTask : public Cm::Task
|
|
{
|
|
Dy::IslandContextStep& mIslandContext;
|
|
Dy::DynamicsTGSContext& mContext;
|
|
|
|
PxBaseTask* mAdditionalContinuation;
|
|
|
|
PX_NOCOPY(SetStepperTask)
|
|
|
|
public:
|
|
|
|
SetStepperTask(Dy::IslandContextStep& islandContext,
|
|
DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mContext(context),
|
|
mAdditionalContinuation(NULL)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetStepperTask"; }
|
|
|
|
void setAdditionalContinuation(PxBaseTask* cont)
|
|
{
|
|
mAdditionalContinuation = cont;
|
|
cont->addReference();
|
|
}
|
|
|
|
virtual void runInternal()
|
|
{
|
|
PxReal dt = mContext.getDt();
|
|
|
|
mIslandContext.mStepDt = dt / PxReal(mIslandContext.mPosIters);
|
|
mIslandContext.mInvStepDt = 1.f/mIslandContext.mStepDt;//PxMin(1000.f, 1.f / mIslandContext.mStepDt);
|
|
mIslandContext.mBiasCoefficient = 2.f * PxSqrt(1.f/mIslandContext.mPosIters);
|
|
}
|
|
|
|
virtual void release()
|
|
{
|
|
Cm::Task::release();
|
|
mAdditionalContinuation->removeReference();
|
|
}
|
|
};
|
|
|
|
class SetupArticulationTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
const PxVec3& mGravity;
|
|
const PxReal mDt;
|
|
PxU32& mPosIters;
|
|
PxU32& mVelIters;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(SetupArticulationTask)
|
|
|
|
public:
|
|
|
|
SetupArticulationTask(IslandContextStep& islandContext, const PxVec3& gravity, PxReal dt, PxU32& posIters,
|
|
PxU32& velIters, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mGravity(gravity), mDt(dt), mPosIters(posIters), mVelIters(velIters), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetupArticulationTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
PxU32 posIters = 0, velIters = 0;
|
|
mContext.setupArticulations(mIslandContext, mGravity, mDt, posIters, velIters, mCont);
|
|
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mPosIters), PxI32(posIters));
|
|
PxAtomicMax(reinterpret_cast<PxI32*>(&mVelIters), PxI32(velIters));
|
|
}
|
|
};
|
|
|
|
class SetupArticulationInternalConstraintsTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
const PxReal mDt;
|
|
const PxReal mInvDt;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(SetupArticulationInternalConstraintsTask)
|
|
|
|
public:
|
|
|
|
SetupArticulationInternalConstraintsTask(IslandContextStep& islandContext, PxReal dt, PxReal invDt, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mDt(dt), mInvDt(invDt), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetupArticulationInternalConstraintsTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.setupArticulationInternalConstraints(mIslandContext, mDt, mIslandContext.mInvStepDt);
|
|
}
|
|
};
|
|
|
|
class SetupSolverConstraintsSubTask : public Cm::Task
|
|
{
|
|
PxSolverConstraintDesc* mContactDescPtr;
|
|
PxConstraintBatchHeader* mHeaders;
|
|
const PxU32 mNbHeaders;
|
|
PxsContactManagerOutputIterator& mOutputs;
|
|
PxReal mStepDt;
|
|
PxReal mTotalDt;
|
|
PxReal mInvStepDt;
|
|
PxReal mInvDtTotal;
|
|
PxReal mBiasCoefficient;
|
|
DynamicsTGSContext& mContext;
|
|
ThreadContext& mIslandThreadContext;
|
|
|
|
PX_NOCOPY(SetupSolverConstraintsSubTask)
|
|
|
|
public:
|
|
|
|
static const PxU32 MaxPerTask = 64;
|
|
|
|
SetupSolverConstraintsSubTask(PxSolverConstraintDesc* contactDescPtr, PxConstraintBatchHeader* headers, PxU32 nbHeaders,
|
|
PxsContactManagerOutputIterator& outputs, PxReal stepDt, PxReal totalDt, PxReal invStepDt, PxReal invDtTotal,
|
|
PxReal biasCoefficient, ThreadContext& islandThreadContext, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mContactDescPtr(contactDescPtr), mHeaders(headers), mNbHeaders(nbHeaders), mOutputs(outputs), mStepDt(stepDt), mTotalDt(totalDt), mInvStepDt(invStepDt),
|
|
mInvDtTotal(invDtTotal), mBiasCoefficient(biasCoefficient), mContext(context), mIslandThreadContext(islandThreadContext)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetupSolverConstraintsSubTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
ThreadContext* tempContext = mContext.getThreadContext();
|
|
tempContext->mConstraintBlockStream.reset();
|
|
mContext.createSolverConstraints(mContactDescPtr, mHeaders, mNbHeaders, mOutputs, mIslandThreadContext, *tempContext, mStepDt, mTotalDt, mInvStepDt,
|
|
mBiasCoefficient);
|
|
mContext.putThreadContext(tempContext);
|
|
}
|
|
};
|
|
|
|
class PxsCreateArticConstraintsSubTask : public Cm::Task
|
|
{
|
|
PxsCreateArticConstraintsSubTask& operator=(const PxsCreateArticConstraintsSubTask&);
|
|
|
|
public:
|
|
|
|
static const PxU32 NbArticsPerTask = 64;
|
|
|
|
PxsCreateArticConstraintsSubTask(Dy::FeatherstoneArticulation** articulations, const PxU32 nbArticulations,
|
|
PxTGSSolverBodyData* solverBodyData, PxTGSSolverBodyTxInertia* solverBodyTxInertia,
|
|
ThreadContext& threadContext, DynamicsTGSContext& context, PxsContactManagerOutputIterator& outputs,
|
|
Dy::IslandContextStep& islandContext) :
|
|
Cm::Task(context.getContextId()),
|
|
mArticulations(articulations),
|
|
mNbArticulations(nbArticulations),
|
|
mSolverBodyData(solverBodyData),
|
|
mSolverBodyTxInertia(solverBodyTxInertia),
|
|
mThreadContext(threadContext), mDynamicsContext(context),
|
|
mOutputs(outputs),
|
|
mIslandContext(islandContext)
|
|
{}
|
|
|
|
virtual void runInternal()
|
|
{
|
|
const PxReal correlationDist = mDynamicsContext.getCorrelationDistance();
|
|
const PxReal bounceThreshold = mDynamicsContext.getBounceThreshold();
|
|
const PxReal frictionOffsetThreshold = mDynamicsContext.getFrictionOffsetThreshold();
|
|
const PxReal dt = mDynamicsContext.getDt();
|
|
|
|
const PxReal invStepDt = PxMin(mDynamicsContext.getMaxBiasCoefficient(), mIslandContext.mInvStepDt);
|
|
const PxReal invDt = 1.0f / dt;
|
|
|
|
ThreadContext* threadContext = mDynamicsContext.getThreadContext();
|
|
threadContext->mConstraintBlockStream.reset(); //ensure there's no left-over memory that belonged to another island
|
|
|
|
/*threadContext->mZVector.forceSize_Unsafe(0);
|
|
threadContext->mZVector.reserve(mThreadContext.mMaxArticulationLinks);
|
|
threadContext->mZVector.forceSize_Unsafe(mThreadContext.mMaxArticulationLinks);*/
|
|
|
|
for (PxU32 i = 0; i < mNbArticulations; ++i)
|
|
{
|
|
mArticulations[i]->prepareStaticConstraintsTGS(mIslandContext.mStepDt, dt, invStepDt, invDt, mOutputs, *threadContext, correlationDist, bounceThreshold, frictionOffsetThreshold,
|
|
mSolverBodyData, mSolverBodyTxInertia, mThreadContext.mConstraintBlockManager, mDynamicsContext.getConstraintWriteBackPool().begin(),
|
|
mIslandContext.mBiasCoefficient, mDynamicsContext.getLengthScale());
|
|
}
|
|
|
|
mDynamicsContext.putThreadContext(threadContext);
|
|
}
|
|
|
|
virtual const char* getName() const
|
|
{
|
|
return "PxsDynamics.PxsCreateArticConstraintsSubTask";
|
|
}
|
|
|
|
public:
|
|
|
|
Dy::FeatherstoneArticulation** mArticulations;
|
|
PxU32 mNbArticulations;
|
|
PxTGSSolverBodyData* mSolverBodyData;
|
|
PxTGSSolverBodyTxInertia* mSolverBodyTxInertia;
|
|
ThreadContext& mThreadContext;
|
|
DynamicsTGSContext& mDynamicsContext;
|
|
PxsContactManagerOutputIterator& mOutputs;
|
|
IslandContextStep& mIslandContext;
|
|
};
|
|
|
|
class SetupSolverConstraintsTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
PxSolverConstraintDesc* mContactDescPtr;
|
|
PxsContactManagerOutputIterator& mOutputs;
|
|
Dy::ThreadContext& mThreadContext;
|
|
PxReal mTotalDt;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(SetupSolverConstraintsTask)
|
|
|
|
public:
|
|
|
|
SetupSolverConstraintsTask(IslandContextStep& islandContext, PxSolverConstraintDesc* contactDescPtr,
|
|
PxsContactManagerOutputIterator& outputs, Dy::ThreadContext& threadContext, PxReal totalDt, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mContactDescPtr(contactDescPtr), mOutputs(outputs), mThreadContext(threadContext),
|
|
mTotalDt(totalDt), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SetupSolverConstraintsTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
Dy::ThreadContext& threadContext = *mIslandContext.mThreadContext;
|
|
const PxU32 nbBatches = threadContext.numContactConstraintBatches;
|
|
PxConstraintBatchHeader* hdr = mIslandContext.mObjects.constraintBatchHeaders;
|
|
//for (PxU32 a = 0; a < mIslandContext.mArticulationOffset; a += SetupSolverConstraintsSubTask::MaxPerTask)
|
|
for (PxU32 a = 0; a < nbBatches; a += SetupSolverConstraintsSubTask::MaxPerTask)
|
|
{
|
|
const PxU32 nbConstraints = PxMin(nbBatches - a, SetupSolverConstraintsSubTask::MaxPerTask);
|
|
SetupSolverConstraintsSubTask* task = PX_PLACEMENT_NEW(mContext.mTaskPool.allocate(sizeof(SetupSolverConstraintsSubTask)), SetupSolverConstraintsSubTask)
|
|
(mContactDescPtr, hdr + a, nbConstraints, mOutputs, mIslandContext.mStepDt, mTotalDt, mIslandContext.mInvStepDt, mContext.mInvDt, mIslandContext.mBiasCoefficient, mThreadContext, mContext);
|
|
|
|
task->setContinuation(mCont);
|
|
task->removeReference();
|
|
}
|
|
|
|
const PxU32 articCount = mIslandContext.mCounts.articulations;
|
|
|
|
for (PxU32 i = 0; i < articCount; i += PxsCreateArticConstraintsSubTask::NbArticsPerTask)
|
|
{
|
|
const PxU32 nbToProcess = PxMin(articCount - i, PxsCreateArticConstraintsSubTask::NbArticsPerTask);
|
|
|
|
PxsCreateArticConstraintsSubTask* task = PX_PLACEMENT_NEW(mContext.getTaskPool().allocate(sizeof(PxsCreateArticConstraintsSubTask)), PxsCreateArticConstraintsSubTask)
|
|
(mThreadContext.mArticulationArray + i, nbToProcess, mContext.mSolverBodyDataPool2.begin(), mContext.mSolverBodyTxInertiaPool.begin(), mThreadContext, mContext, mOutputs,
|
|
mIslandContext);
|
|
|
|
task->setContinuation(mCont);
|
|
task->removeReference();
|
|
}
|
|
}
|
|
};
|
|
|
|
class PartitionTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
const PxSolverConstraintDesc* mContactDescPtr;
|
|
PxTGSSolverBodyVel* mSolverBodyData;
|
|
Dy::ThreadContext& mThreadContext;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(PartitionTask)
|
|
|
|
public:
|
|
|
|
PartitionTask(IslandContextStep& islandContext, PxSolverConstraintDesc* contactDescPtr, PxTGSSolverBodyVel* solverBodyData,
|
|
Dy::ThreadContext& threadContext, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mContactDescPtr(contactDescPtr), mSolverBodyData(solverBodyData), mThreadContext(threadContext),
|
|
mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "PartitionTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
const ArticulationSolverDesc* artics = mThreadContext.getArticulations().begin();
|
|
|
|
PxU32 totalDescCount = mThreadContext.contactDescArraySize;
|
|
|
|
mThreadContext.mConstraintsPerPartition.forceSize_Unsafe(0);
|
|
mThreadContext.mConstraintsPerPartition.resize(1);
|
|
mThreadContext.mConstraintsPerPartition[0] = 0;
|
|
|
|
const PxU32 numArticulations = mThreadContext.getArticulations().size();
|
|
PX_ALLOCA(_eaArticulations, Dy::FeatherstoneArticulation*, numArticulations);
|
|
Dy::FeatherstoneArticulation** eaArticulations = _eaArticulations;
|
|
for(PxU32 i=0;i<numArticulations;i++)
|
|
eaArticulations[i] = artics[i].articulation;
|
|
|
|
// PT: maxPartitions = PX_MAX_U32 in PGS. Was there a reason to limit it for TGS?
|
|
const ConstraintPartitionIn in( reinterpret_cast<PxU8*>(mSolverBodyData), mIslandContext.mCounts.bodies, sizeof(PxTGSSolverBodyVel),
|
|
eaArticulations, numArticulations, mContactDescPtr, totalDescCount, 64, false);
|
|
//args.mBitField = &mThreadContext.mPartitionNormalizationBitmap; // PT: removed, unused
|
|
|
|
ConstraintPartitionOut out(mIslandContext.mObjects.orderedConstraintDescs, mIslandContext.mObjects.tempConstraintDescs, &mThreadContext.mConstraintsPerPartition);
|
|
|
|
mThreadContext.mMaxPartitions = partitionContactConstraints(out, in);
|
|
mThreadContext.mNumDifferentBodyConstraints = out.mNumDifferentBodyConstraints;
|
|
mThreadContext.mNumStaticConstraints = out.mNumStaticConstraints;
|
|
mThreadContext.mHasOverflowPartitions = out.mNumOverflowConstraints != 0;
|
|
|
|
{
|
|
PxU32 descCount = mThreadContext.mNumDifferentBodyConstraints;
|
|
PxU32 selfConstraintDescCount = mThreadContext.contactDescArraySize - (mThreadContext.mNumDifferentBodyConstraints + mThreadContext.mNumStaticConstraints);
|
|
|
|
PxArray<PxU32>& accumulatedConstraintsPerPartition = mThreadContext.mConstraintsPerPartition;
|
|
|
|
PxU32 numHeaders = 0;
|
|
PxU32 currentPartition = 0;
|
|
PxU32 maxJ = descCount == 0 ? 0 : accumulatedConstraintsPerPartition[0];
|
|
|
|
const PxU32 maxBatchPartition = 0xFFFFFFFF;
|
|
|
|
//const PxU32 maxBatchSize2 = args.mEnhancedDeterminism ? 1u : 4u;
|
|
const PxU32 maxBatchSize2 = 4u;
|
|
|
|
PxConstraintBatchHeader* batchHeaders = mIslandContext.mObjects.constraintBatchHeaders;
|
|
|
|
PxSolverConstraintDesc* orderedConstraints = mIslandContext.mObjects.orderedConstraintDescs;
|
|
|
|
PxU32 headersPerPartition = 0;
|
|
|
|
//KS - if we have overflowed the partition limit, overflow constraints are pushed
|
|
//into 0th partition. If that's the case, we need to disallow batching of constraints
|
|
//in 0th partition.
|
|
PxU32 maxBatchSize = out.mNumOverflowConstraints == 0 ? maxBatchSize2 : 1;
|
|
|
|
for (PxU32 a = 0; a < descCount;)
|
|
{
|
|
PxU32 loopMax = PxMin(maxJ - a, maxBatchSize);
|
|
PxU16 j = 0;
|
|
if (loopMax > 0)
|
|
{
|
|
PxConstraintBatchHeader& header = batchHeaders[numHeaders++];
|
|
|
|
j = 1;
|
|
PxSolverConstraintDesc& desc = orderedConstraints[a];
|
|
if (!isArticulationConstraint(desc) && (desc.constraintType == DY_SC_TYPE_RB_CONTACT ||
|
|
desc.constraintType == DY_SC_TYPE_RB_1D) && currentPartition < maxBatchPartition)
|
|
{
|
|
for (; j < loopMax && desc.constraintType == orderedConstraints[a + j].constraintType &&
|
|
!isArticulationConstraint(orderedConstraints[a + j]); ++j);
|
|
}
|
|
header.startIndex = a;
|
|
header.stride = j;
|
|
header.constraintType = desc.constraintType;
|
|
headersPerPartition++;
|
|
}
|
|
if (maxJ == (a + j) && maxJ != descCount)
|
|
{
|
|
//Go to next partition!
|
|
accumulatedConstraintsPerPartition[currentPartition] = headersPerPartition;
|
|
headersPerPartition = 0;
|
|
currentPartition++;
|
|
maxJ = accumulatedConstraintsPerPartition[currentPartition];
|
|
maxBatchSize = maxBatchSize2;
|
|
}
|
|
a += j;
|
|
}
|
|
if (descCount)
|
|
accumulatedConstraintsPerPartition[currentPartition] = headersPerPartition;
|
|
|
|
accumulatedConstraintsPerPartition.forceSize_Unsafe(mThreadContext.mMaxPartitions);
|
|
|
|
for (PxU32 a = 0; a < selfConstraintDescCount; ++a)
|
|
{
|
|
PxConstraintBatchHeader& header = batchHeaders[numHeaders++];
|
|
header.startIndex = a + descCount;
|
|
header.stride = 1;
|
|
header.constraintType = DY_SC_TYPE_EXT_1D;
|
|
}
|
|
|
|
mThreadContext.numContactConstraintBatches = numHeaders;
|
|
}
|
|
}
|
|
};
|
|
|
|
class ParallelSolveTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
const SolverIslandObjectsStep& mObjects;
|
|
const PxsIslandIndices& mCounts;
|
|
PxReal mTotalDt;
|
|
ThreadContext& mThreadContext;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(ParallelSolveTask)
|
|
|
|
public:
|
|
|
|
ParallelSolveTask(IslandContextStep& islandContext, const SolverIslandObjectsStep& objects, const PxsIslandIndices& counts, PxReal totalDt, ThreadContext& threadContext,
|
|
DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mObjects(objects), mCounts(counts), mTotalDt(totalDt), mThreadContext(threadContext), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "ParallelSolveTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.iterativeSolveIslandParallel(mObjects, mCounts, mThreadContext, mIslandContext.mStepDt, mTotalDt, mIslandContext.mPosIters, mIslandContext.mVelIters,
|
|
&mIslandContext.mSharedSolverIndex, &mIslandContext.mSharedRigidBodyIndex, &mIslandContext.mSharedArticulationIndex, &mIslandContext.mSharedGravityIndex,
|
|
&mIslandContext.mSolvedCount, &mIslandContext.mRigidBodyIntegratedCount, &mIslandContext.mArticulationIntegratedCount, &mIslandContext.mGravityIntegratedCount,
|
|
4, 128, mIslandContext.mBiasCoefficient);
|
|
}
|
|
};
|
|
|
|
class SolveIslandTask : public Cm::Task
|
|
{
|
|
IslandContextStep& mIslandContext;
|
|
const SolverIslandObjectsStep& mObjects;
|
|
const PxsIslandIndices& mCounts;
|
|
PxReal mTotalDt;
|
|
ThreadContext& mThreadContext;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(SolveIslandTask)
|
|
|
|
public:
|
|
|
|
SolveIslandTask(IslandContextStep& islandContext, const SolverIslandObjectsStep& objects, const PxsIslandIndices& counts, PxReal totalDt, ThreadContext& threadContext,
|
|
DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mIslandContext(islandContext), mObjects(objects), mCounts(counts), mTotalDt(totalDt), mThreadContext(threadContext), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "SolveIslandTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
PxU32 j = 0, i = 0;
|
|
|
|
PxU32 numBatches = 0;
|
|
|
|
PxU32 currIndex = 0;
|
|
PxU32 totalCount = 0;
|
|
|
|
PxSolverConstraintDesc* contactDescBegin = mObjects.orderedConstraintDescs;
|
|
PxConstraintBatchHeader* headers = mObjects.constraintBatchHeaders;
|
|
|
|
PxU32 totalPartitions = 0;
|
|
for (PxU32 a = 0; a < mThreadContext.mConstraintsPerPartition.size(); ++a)
|
|
{
|
|
PxU32 endIndex = currIndex + mThreadContext.mConstraintsPerPartition[a];
|
|
|
|
PxU32 numBatchesInPartition = 0;
|
|
for (PxU32 b = currIndex; b < endIndex; ++b)
|
|
{
|
|
PxConstraintBatchHeader& _header = headers[b];
|
|
PxU16 stride = _header.stride, newStride = _header.stride;
|
|
PxU32 startIndex = j;
|
|
for (PxU16 c = 0; c < stride; ++c)
|
|
{
|
|
if (getConstraintLength(contactDescBegin[i]) == 0)
|
|
{
|
|
newStride--;
|
|
i++;
|
|
}
|
|
else
|
|
{
|
|
if (i != j)
|
|
contactDescBegin[j] = contactDescBegin[i];
|
|
i++;
|
|
j++;
|
|
}
|
|
}
|
|
|
|
if (newStride != 0)
|
|
{
|
|
headers[numBatches].startIndex = startIndex;
|
|
headers[numBatches].stride = newStride;
|
|
PxU8 type = *contactDescBegin[startIndex].constraint;
|
|
if (type == DY_SC_TYPE_STATIC_CONTACT)
|
|
{
|
|
//Check if any block of constraints is classified as type static (single) contact constraint.
|
|
//If they are, iterate over all constraints grouped with it and switch to "dynamic" contact constraint
|
|
//type if there's a dynamic contact constraint in the group.
|
|
for (PxU32 c = 1; c < newStride; ++c)
|
|
{
|
|
if (*contactDescBegin[startIndex + c].constraint == DY_SC_TYPE_RB_CONTACT)
|
|
{
|
|
type = DY_SC_TYPE_RB_CONTACT;
|
|
}
|
|
}
|
|
}
|
|
|
|
headers[numBatches].constraintType = type;
|
|
numBatches++;
|
|
numBatchesInPartition++;
|
|
}
|
|
}
|
|
currIndex += mThreadContext.mConstraintsPerPartition[a];
|
|
mThreadContext.mConstraintsPerPartition[totalPartitions] = numBatchesInPartition;
|
|
if (numBatchesInPartition)
|
|
totalPartitions++;
|
|
else if (a == 0)
|
|
mThreadContext.mHasOverflowPartitions = false; //If our first partition is now empty, we have no overflows so clear the overflow flag
|
|
totalCount += numBatchesInPartition;
|
|
}
|
|
|
|
currIndex = totalCount;
|
|
|
|
processOverflowConstraints(reinterpret_cast<PxU8*>(mContext.mSolverBodyVelPool.begin() + mObjects.solverBodyOffset+1), sizeof(PxTGSSolverBodyVel),
|
|
mCounts.bodies, mThreadContext.getArticulations().begin(), mThreadContext.getArticulations().size(), contactDescBegin,
|
|
mThreadContext.mHasOverflowPartitions ? mThreadContext.mConstraintsPerPartition[0] : 0);
|
|
|
|
//Decision whether to spawn multi-threaded solver or single-threaded solver...
|
|
|
|
mThreadContext.mConstraintsPerPartition.forceSize_Unsafe(totalPartitions);
|
|
mThreadContext.numContactConstraintBatches = totalCount;
|
|
|
|
PxU32 maxLinks = 0;
|
|
for (PxU32 a = 0; a < mCounts.articulations; ++a)
|
|
{
|
|
ArticulationSolverDesc& desc = mThreadContext.getArticulations()[a];
|
|
maxLinks = PxMax(maxLinks, PxU32(desc.linkCount));
|
|
}
|
|
|
|
mThreadContext.mDeltaV.forceSize_Unsafe(0);
|
|
mThreadContext.mDeltaV.reserve(maxLinks);
|
|
mThreadContext.mDeltaV.forceSize_Unsafe(maxLinks);
|
|
|
|
mThreadContext.mZVector.forceSize_Unsafe(0);
|
|
mThreadContext.mZVector.reserve(maxLinks);
|
|
mThreadContext.mZVector.forceSize_Unsafe(maxLinks);
|
|
|
|
SolverContext cache;
|
|
cache.deltaV = mThreadContext.mDeltaV.begin();
|
|
|
|
if (mThreadContext.mConstraintsPerPartition.size())
|
|
{
|
|
const PxU32 threadCount = getTaskManager()->getCpuDispatcher()->getWorkerCount();
|
|
|
|
PxU32 nbHeadersPerPartition;
|
|
|
|
if (mThreadContext.mHasOverflowPartitions)
|
|
{
|
|
// jcarius: mitigating potential divide-by-zero problem. It's unclear whether size originally includes
|
|
// the overflow partition or not.
|
|
const PxU32 size = mThreadContext.mConstraintsPerPartition.size();
|
|
const PxU32 nbPartitionsMinusOverflow = (size > 1) ? (size - 1) : 1;
|
|
|
|
PxU32 nbConstraintsMinusOverflow = currIndex - mThreadContext.mConstraintsPerPartition[0];
|
|
nbHeadersPerPartition = ((nbConstraintsMinusOverflow + nbPartitionsMinusOverflow - 1) / nbPartitionsMinusOverflow);
|
|
}
|
|
else
|
|
nbHeadersPerPartition = ((currIndex + mThreadContext.mConstraintsPerPartition.size() - 1) / mThreadContext.mConstraintsPerPartition.size());
|
|
|
|
const PxU32 NbBatchesPerThread = 8;
|
|
//const PxU32 NbBatchesPerThread = 4;
|
|
|
|
const PxU32 nbIdealThreads = (nbHeadersPerPartition + NbBatchesPerThread-1) / NbBatchesPerThread;
|
|
|
|
if (threadCount < 2 || nbIdealThreads < 2) // not great if we have many articulations but no contact constraints => PX-4708
|
|
mContext.iterativeSolveIsland(mObjects, mCounts, mThreadContext, mIslandContext.mStepDt, mIslandContext.mInvStepDt, mTotalDt,
|
|
mIslandContext.mPosIters, mIslandContext.mVelIters, cache, mIslandContext.mBiasCoefficient);
|
|
else
|
|
{
|
|
mIslandContext.mSharedSolverIndex = 0;
|
|
mIslandContext.mSolvedCount = 0;
|
|
mIslandContext.mSharedRigidBodyIndex = 0;
|
|
mIslandContext.mRigidBodyIntegratedCount = 0;
|
|
mIslandContext.mSharedArticulationIndex = 0;
|
|
mIslandContext.mArticulationIntegratedCount = 0;
|
|
mIslandContext.mSharedGravityIndex = 0;
|
|
mIslandContext.mGravityIntegratedCount = 0;
|
|
|
|
PxU32 nbThreads = PxMin(threadCount, nbIdealThreads);
|
|
|
|
ParallelSolveTask* tasks = reinterpret_cast<ParallelSolveTask*>(mContext.getTaskPool().allocate(sizeof(ParallelSolveTask)*nbThreads));
|
|
|
|
for (PxU32 a = 0; a < nbThreads; ++a)
|
|
{
|
|
PX_PLACEMENT_NEW(&tasks[a], ParallelSolveTask)(mIslandContext, mObjects, mCounts, mTotalDt, mThreadContext, mContext);
|
|
tasks[a].setContinuation(mCont);
|
|
tasks[a].removeReference();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
mContext.iterativeSolveIsland(mObjects, mCounts, mThreadContext, mIslandContext.mStepDt,
|
|
mIslandContext.mInvStepDt, mTotalDt, mIslandContext.mPosIters, mIslandContext.mVelIters, cache,
|
|
mIslandContext.mBiasCoefficient);
|
|
}
|
|
}
|
|
};
|
|
|
|
class EndIslandTask : public Cm::Task
|
|
{
|
|
ThreadContext& mThreadContext;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(EndIslandTask)
|
|
|
|
public:
|
|
|
|
EndIslandTask(ThreadContext& threadContext, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mThreadContext(threadContext), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "EndIslandTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.endIsland(mThreadContext);
|
|
}
|
|
};
|
|
|
|
class FinishSolveIslandTask : public Cm::Task
|
|
{
|
|
ThreadContext& mThreadContext;
|
|
const SolverIslandObjectsStep& mObjects;
|
|
const PxsIslandIndices& mCounts;
|
|
IG::SimpleIslandManager& mIslandManager;
|
|
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(FinishSolveIslandTask)
|
|
|
|
public:
|
|
|
|
FinishSolveIslandTask(ThreadContext& threadContext, const SolverIslandObjectsStep& objects,
|
|
const PxsIslandIndices& counts, IG::SimpleIslandManager& islandManager, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mThreadContext(threadContext), mObjects(objects), mCounts(counts), mIslandManager(islandManager), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "FinishSolveIslandTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.finishSolveIsland(mThreadContext, mObjects, mCounts, mIslandManager, mCont);
|
|
}
|
|
};
|
|
|
|
void DynamicsTGSContext::iterativeSolveIsland(const SolverIslandObjectsStep& objects, const PxsIslandIndices& counts, ThreadContext& mThreadContext,
|
|
PxReal stepDt, PxReal invStepDt, PxReal totalDt, PxU32 posIters, PxU32 velIters, SolverContext& cache, PxReal biasCoefficient)
|
|
{
|
|
PX_PROFILE_ZONE("Dynamics:solveIsland", mContextID);
|
|
PxReal elapsedTime = 0.0f;
|
|
const PxReal recipStepDt = 1.0f/stepDt;
|
|
|
|
const PxU32 bodyOffset = objects.solverBodyOffset;
|
|
|
|
const bool externalForcesEveryTgsIterationEnabled = mIsExternalForcesEveryTgsIterationEnabled;
|
|
|
|
if (mThreadContext.numContactConstraintBatches == 0)
|
|
{
|
|
for (PxU32 i = 0; i < counts.articulations; ++i)
|
|
{
|
|
elapsedTime = 0.0f;
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[i];
|
|
for (PxU32 a = 0; a < posIters; a++)
|
|
{
|
|
if (externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
PX_ASSERT(mThreadContext.mZVector.size() >= d.linkCount);
|
|
FeatherstoneArticulation::applyTgsSubstepForces(d, stepDt, mThreadContext.mZVector.begin());
|
|
}
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, recipStepDt, false, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
ArticulationPImpl::updateDeltaMotion(d, stepDt, mThreadContext.mDeltaV.begin(), mInvDt);
|
|
elapsedTime += stepDt;
|
|
}
|
|
|
|
ArticulationPImpl::saveVelocityTGS(d.articulation, mInvDt);
|
|
|
|
d.articulation->concludeInternalConstraints(true);
|
|
|
|
for (PxU32 a = 0; a < velIters; ++a)
|
|
{
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, recipStepDt, true, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
}
|
|
|
|
d.articulation->writebackInternalConstraints(true);
|
|
}
|
|
|
|
if (externalForcesEveryTgsIterationEnabled)
|
|
integrateBodiesAndApplyGravity(objects, counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, mSolverBodyTxInertiaPool.begin() + bodyOffset, stepDt, posIters);
|
|
else
|
|
integrateBodies(counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, mSolverBodyTxInertiaPool.begin() + bodyOffset, mDt);
|
|
return;
|
|
}
|
|
|
|
cache.contactErrorAccumulator = mIsResidualReportingEnabled ? &mThreadContext.getSimStats().contactErrorAccumulator.mPositionIterationErrorAccumulator : NULL;
|
|
cache.isPositionIteration = true;
|
|
for (PxU32 a = 1; a < posIters; a++)
|
|
{
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
if(externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
applySubstepGravity(objects.bodies, *objects.externalAccelerations, counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, stepDt, mSolverBodyTxInertiaPool.begin() + bodyOffset, objects.nodeIndexArray);
|
|
applyArticulationTgsSubstepForces(mThreadContext, counts.articulations, stepDt);
|
|
}
|
|
|
|
solveConstraintsIteration(objects.orderedConstraintDescs, objects.constraintBatchHeaders, mThreadContext.numContactConstraintBatches, invStepDt,
|
|
mSolverBodyTxInertiaPool.begin(), elapsedTime, -PX_MAX_F32, cache);
|
|
integrateBodies(counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, mSolverBodyTxInertiaPool.begin() + bodyOffset, stepDt);
|
|
|
|
for (PxU32 i = 0; i < counts.articulations; ++i)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[i];
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, recipStepDt, false, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
}
|
|
|
|
stepArticulations(mThreadContext, counts, stepDt, mInvDt);
|
|
elapsedTime += stepDt;
|
|
}
|
|
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
if(externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
applySubstepGravity(objects.bodies, *objects.externalAccelerations, counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, stepDt, mSolverBodyTxInertiaPool.begin() + bodyOffset, objects.nodeIndexArray);
|
|
applyArticulationTgsSubstepForces(mThreadContext, counts.articulations, stepDt);
|
|
}
|
|
|
|
solveConcludeConstraintsIteration<false>(objects.orderedConstraintDescs, objects.constraintBatchHeaders, mThreadContext.numContactConstraintBatches,
|
|
mSolverBodyTxInertiaPool.begin(), elapsedTime, cache, 0);
|
|
|
|
for (PxU32 i = 0; i < counts.articulations; ++i)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[i];
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, recipStepDt, false, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
d.articulation->concludeInternalConstraints(true);
|
|
}
|
|
|
|
elapsedTime += stepDt;
|
|
|
|
const PxReal invDt = mInvDt;
|
|
|
|
integrateBodies(counts.bodies, mSolverBodyVelPool.begin() + bodyOffset, mSolverBodyTxInertiaPool.begin() + bodyOffset,
|
|
stepDt);
|
|
|
|
stepArticulations(mThreadContext, counts, stepDt, mInvDt);
|
|
|
|
for(PxU32 a = 0; a < counts.articulations; ++a)
|
|
{
|
|
Dy::ArticulationSolverDesc& desc = mThreadContext.getArticulations()[a];
|
|
|
|
//ArticulationPImpl::updateDeltaMotion(desc, stepDt, mThreadContext.mDeltaV.begin());
|
|
ArticulationPImpl::saveVelocityTGS(desc.articulation, invDt);
|
|
}
|
|
|
|
cache.contactErrorAccumulator = mIsResidualReportingEnabled ? &mThreadContext.getSimStats().contactErrorAccumulator.mVelocityIterationErrorAccumulator : NULL;
|
|
cache.isPositionIteration = false;
|
|
for (PxU32 a = 0; a < velIters; ++a)
|
|
{
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
solveConstraintsIteration(objects.orderedConstraintDescs, objects.constraintBatchHeaders, mThreadContext.numContactConstraintBatches, invStepDt,
|
|
mSolverBodyTxInertiaPool.begin(), elapsedTime, /*-PX_MAX_F32*/0.f, cache);
|
|
for (PxU32 i = 0; i < counts.articulations; ++i)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[i];
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, recipStepDt, true, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
}
|
|
}
|
|
|
|
writebackConstraintsIteration(objects.constraintBatchHeaders, objects.orderedConstraintDescs, mThreadContext.numContactConstraintBatches, cache);
|
|
for (PxU32 i = 0; i < counts.articulations; ++i)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[i];
|
|
d.articulation->writebackInternalConstraints(true);
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::applySubstepGravityParallel(const SolverIslandObjectsStep& objects, PxTGSSolverBodyVel* solverVels, const PxU32 bodyOffset, PxReal stepDt,
|
|
const PxU32 nbBodies, PxU32& startGravityIdx, PxU32& nbGravityRemaining, PxU32& targetGravityProgressCount,
|
|
PxI32* gravityProgressCount, PxI32* gravityCounts, PxU32 unrollSize)
|
|
{
|
|
PxU32 gravityStartIdx = startGravityIdx - targetGravityProgressCount;
|
|
|
|
PxU32 nbGravity = 0;
|
|
while (gravityStartIdx < nbBodies)
|
|
{
|
|
const PxU32 nbToGravity = PxMin(nbBodies - gravityStartIdx, nbGravityRemaining);
|
|
|
|
applySubstepGravity(objects.bodies + gravityStartIdx, *objects.externalAccelerations, nbToGravity,
|
|
solverVels + bodyOffset + gravityStartIdx, stepDt, mSolverBodyTxInertiaPool.begin() + bodyOffset + gravityStartIdx, &objects.nodeIndexArray[gravityStartIdx]);
|
|
|
|
nbGravityRemaining -= nbToGravity;
|
|
startGravityIdx += nbToGravity;
|
|
gravityStartIdx += nbToGravity;
|
|
|
|
nbGravity += nbToGravity;
|
|
|
|
if (nbGravityRemaining == 0)
|
|
{
|
|
startGravityIdx = PxU32(PxAtomicAdd(gravityCounts, PxI32(unrollSize))) - unrollSize;
|
|
nbGravityRemaining = unrollSize;
|
|
gravityStartIdx = startGravityIdx - targetGravityProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbGravity)
|
|
PxAtomicAdd(gravityProgressCount, PxI32(nbGravity));
|
|
|
|
targetGravityProgressCount += nbBodies;
|
|
}
|
|
|
|
void DynamicsTGSContext::applyArticulationSubstepGravityParallel(
|
|
PxU32& startArticulationIdx, PxU32& targetArticulationProgressCount, PxI32* articulationProgressCount,
|
|
PxI32* articulationIntegrationCounts, ArticulationSolverDesc* articulationDescs, PxU32 nbArticulations,
|
|
PxReal stepDt, ThreadContext& threadContext)
|
|
{
|
|
PxU32 artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
PxU32 nbArticsProcessed = 0;
|
|
while(artIcStartIdx < nbArticulations)
|
|
{
|
|
ArticulationSolverDesc& d = articulationDescs[artIcStartIdx];
|
|
FeatherstoneArticulation::applyTgsSubstepForces(d, stepDt, threadContext.mZVector.begin());
|
|
|
|
nbArticsProcessed++;
|
|
|
|
startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
}
|
|
|
|
if(nbArticsProcessed)
|
|
PxAtomicAdd(articulationProgressCount, PxI32(nbArticsProcessed));
|
|
|
|
targetArticulationProgressCount += nbArticulations;
|
|
}
|
|
|
|
void DynamicsTGSContext::iterativeSolveIslandParallel(const SolverIslandObjectsStep& objects, const PxsIslandIndices& counts, ThreadContext& mThreadContext,
|
|
PxReal stepDt, PxReal totalDt, PxU32 posIters, PxU32 velIters, PxI32* solverCounts, PxI32* integrationCounts, PxI32* articulationIntegrationCounts, PxI32* gravityCounts,
|
|
PxI32* solverProgressCount, PxI32* integrationProgressCount, PxI32* articulationProgressCount, PxI32* gravityProgressCount, PxU32 solverUnrollSize, PxU32 integrationUnrollSize,
|
|
PxReal biasCoefficient)
|
|
{
|
|
PX_PROFILE_ZONE("Dynamics:solveIslandParallel", mContextID);
|
|
Dy::ThreadContext& threadContext = *getThreadContext();
|
|
PxU32 startSolveIdx = PxU32(PxAtomicAdd(solverCounts, PxI32(solverUnrollSize))) - solverUnrollSize;
|
|
PxU32 nbSolveRemaining = solverUnrollSize;
|
|
|
|
PxU32 startIntegrateIdx = PxU32(PxAtomicAdd(integrationCounts, PxI32(integrationUnrollSize))) - integrationUnrollSize;
|
|
PxU32 nbIntegrateRemaining = integrationUnrollSize;
|
|
|
|
PxU32 startGravityIdx = PxU32(PxAtomicAdd(gravityCounts, PxI32(integrationUnrollSize))) - integrationUnrollSize;
|
|
PxU32 nbGravityRemaining = integrationUnrollSize;
|
|
|
|
//For now, just do articulations 1 at a time. Might need to tweak this later depending on performance
|
|
PxU32 startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
|
|
PxU32 targetSolverProgressCount = 0, targetIntegrationProgressCount = 0, targetArticulationProgressCount = 0, targetGravityProgressCount = 0;
|
|
|
|
const PxU32 nbSolverBatches = mThreadContext.numContactConstraintBatches;
|
|
const PxU32 nbBodies = counts.bodies;// + mKinematicCount;
|
|
const PxU32 nbArticulations = counts.articulations;
|
|
|
|
PxSolverConstraintDesc* contactDescs = objects.orderedConstraintDescs;
|
|
PxConstraintBatchHeader* batchHeaders = objects.constraintBatchHeaders;
|
|
|
|
PxTGSSolverBodyVel* solverVels = mSolverBodyVelPool.begin();
|
|
PxTGSSolverBodyTxInertia* solverTxInertias = mSolverBodyTxInertiaPool.begin();
|
|
|
|
PxU32* constraintsPerPartitions = mThreadContext.mConstraintsPerPartition.begin();
|
|
const PxU32 nbPartitions = mThreadContext.mConstraintsPerPartition.size();
|
|
|
|
const PxU32 bodyOffset = objects.solverBodyOffset;
|
|
|
|
threadContext.mDeltaV.reserve(mThreadContext.mDeltaV.size());
|
|
threadContext.mZVector.resizeUninitialized(mThreadContext.mZVector.size());
|
|
|
|
SolverContext cache;
|
|
cache.deltaV = threadContext.mDeltaV.begin();
|
|
cache.contactErrorAccumulator = isResidualReportingEnabled() ? &mThreadContext.getSimStats().contactErrorAccumulator.mPositionIterationErrorAccumulator : NULL;
|
|
cache.isPositionIteration = true;
|
|
|
|
PxReal elapsedTime = 0.0f;
|
|
|
|
PxReal invStepDt = 1.0f/ stepDt;
|
|
|
|
const bool overflow = mThreadContext.mHasOverflowPartitions;
|
|
|
|
PxU32 iterCount = 0;
|
|
|
|
const bool externalForcesEveryTgsIterationEnabled = mIsExternalForcesEveryTgsIterationEnabled;
|
|
|
|
for (PxU32 a = 1; a < posIters; ++a)
|
|
{
|
|
// make sure all work from the previous position iteration is complete
|
|
WAIT_FOR_PROGRESS(integrationProgressCount, PxI32(targetIntegrationProgressCount));
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
if(externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
applySubstepGravityParallel(objects, solverVels, bodyOffset, stepDt, nbBodies, startGravityIdx,
|
|
nbGravityRemaining, targetGravityProgressCount, gravityProgressCount,
|
|
gravityCounts, integrationUnrollSize);
|
|
applyArticulationSubstepGravityParallel(startArticulationIdx, targetArticulationProgressCount,
|
|
articulationProgressCount, articulationIntegrationCounts,
|
|
mThreadContext.getArticulations().begin(), nbArticulations, stepDt,
|
|
threadContext);
|
|
|
|
// Make all threads wait until gravity is applied to all articulations and all bodies.
|
|
// The target progress counters have been incremented inside the substep gravity functions.
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
WAIT_FOR_PROGRESS(gravityProgressCount, PxI32(targetGravityProgressCount));
|
|
}
|
|
|
|
PxU32 offset = 0;
|
|
for (PxU32 b = 0; b < nbPartitions; ++b)
|
|
{
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
//Find the startIdx in the partition to process
|
|
PxU32 startIdx = startSolveIdx - targetSolverProgressCount;
|
|
|
|
const PxU32 nbBatches = constraintsPerPartitions[b];
|
|
|
|
PxU32 nbSolved = 0;
|
|
|
|
while (startIdx < nbBatches)
|
|
{
|
|
const PxU32 nbToSolve = PxMin(nbBatches - startIdx, nbSolveRemaining);
|
|
|
|
if (b == 0 && overflow)
|
|
parallelSolveConstraints<true>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, -PX_MAX_F32, cache, iterCount);
|
|
else
|
|
parallelSolveConstraints<false>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, -PX_MAX_F32, cache, iterCount);
|
|
|
|
nbSolveRemaining -= nbToSolve;
|
|
startSolveIdx += nbToSolve;
|
|
startIdx += nbToSolve;
|
|
|
|
nbSolved += nbToSolve;
|
|
|
|
if (nbSolveRemaining == 0)
|
|
{
|
|
startSolveIdx = PxU32(PxAtomicAdd(solverCounts, PxI32(solverUnrollSize))) - solverUnrollSize;
|
|
nbSolveRemaining = solverUnrollSize;
|
|
startIdx = startSolveIdx - targetSolverProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbSolved)
|
|
PxAtomicAdd(solverProgressCount, PxI32(nbSolved));
|
|
|
|
targetSolverProgressCount += nbBatches;
|
|
offset += nbBatches;
|
|
}
|
|
|
|
iterCount++;
|
|
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
|
|
{
|
|
PxU32 integStartIdx = startIntegrateIdx - targetIntegrationProgressCount;
|
|
|
|
PxU32 nbIntegrated = 0;
|
|
while (integStartIdx < nbBodies)
|
|
{
|
|
const PxU32 nbToIntegrate = PxMin(nbBodies - integStartIdx, nbIntegrateRemaining);
|
|
|
|
parallelIntegrateBodies(solverVels + integStartIdx + bodyOffset, solverTxInertias + integStartIdx + bodyOffset,
|
|
nbToIntegrate, stepDt, iterCount);
|
|
|
|
nbIntegrateRemaining -= nbToIntegrate;
|
|
startIntegrateIdx += nbToIntegrate;
|
|
integStartIdx += nbToIntegrate;
|
|
|
|
nbIntegrated += nbToIntegrate;
|
|
|
|
if (nbIntegrateRemaining == 0)
|
|
{
|
|
startIntegrateIdx = PxU32(PxAtomicAdd(integrationCounts, PxI32(integrationUnrollSize))) - integrationUnrollSize;
|
|
nbIntegrateRemaining = integrationUnrollSize;
|
|
integStartIdx = startIntegrateIdx - targetIntegrationProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbIntegrated)
|
|
PxAtomicAdd(integrationProgressCount, PxI32(nbIntegrated));
|
|
|
|
targetIntegrationProgressCount += nbBodies;
|
|
}
|
|
|
|
// Note: Articulation internal constraints do not need to wait for rigid bodies integration because they don't need the
|
|
// rigid velocities anymore.
|
|
|
|
PxU32 artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
PxU32 nbArticsProcessed = 0;
|
|
while (artIcStartIdx < nbArticulations)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[artIcStartIdx];
|
|
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, invStepDt, false, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
|
|
ArticulationPImpl::updateDeltaMotion(d, stepDt, cache.deltaV, mInvDt);
|
|
|
|
nbArticsProcessed++;
|
|
|
|
startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
}
|
|
|
|
if (nbArticsProcessed)
|
|
PxAtomicAdd(articulationProgressCount, PxI32(nbArticsProcessed));
|
|
|
|
targetArticulationProgressCount += nbArticulations;
|
|
|
|
elapsedTime += stepDt;
|
|
}
|
|
|
|
// The last position iteration with conclude constraint
|
|
{
|
|
WAIT_FOR_PROGRESS(integrationProgressCount, PxI32(targetIntegrationProgressCount));
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
if(externalForcesEveryTgsIterationEnabled)
|
|
{
|
|
applySubstepGravityParallel(objects, solverVels, bodyOffset, stepDt, nbBodies, startGravityIdx,
|
|
nbGravityRemaining, targetGravityProgressCount, gravityProgressCount,
|
|
gravityCounts, integrationUnrollSize);
|
|
applyArticulationSubstepGravityParallel(startArticulationIdx, targetArticulationProgressCount,
|
|
articulationProgressCount, articulationIntegrationCounts,
|
|
mThreadContext.getArticulations().begin(), nbArticulations, stepDt,
|
|
threadContext);
|
|
|
|
// Make all threads wait until gravity is applied to all articulations and all bodies.
|
|
// The target progress counters have been incremented inside the substep gravity functions.
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
WAIT_FOR_PROGRESS(gravityProgressCount, PxI32(targetGravityProgressCount));
|
|
}
|
|
|
|
PxU32 offset = 0;
|
|
for (PxU32 b = 0; b < nbPartitions; ++b)
|
|
{
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
//Find the startIdx in the partition to process
|
|
PxU32 startIdx = startSolveIdx - targetSolverProgressCount;
|
|
|
|
const PxU32 nbBatches = constraintsPerPartitions[b];
|
|
|
|
PxU32 nbSolved = 0;
|
|
while (startIdx < nbBatches)
|
|
{
|
|
PxU32 nbToSolve = PxMin(nbBatches - startIdx, nbSolveRemaining);
|
|
if (b == 0 && overflow)
|
|
solveConcludeConstraintsIteration<true>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, cache, iterCount);
|
|
else
|
|
solveConcludeConstraintsIteration<false>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, cache, iterCount);
|
|
nbSolveRemaining -= nbToSolve;
|
|
startSolveIdx += nbToSolve;
|
|
startIdx += nbToSolve;
|
|
|
|
nbSolved += nbToSolve;
|
|
|
|
if (nbSolveRemaining == 0)
|
|
{
|
|
startSolveIdx = PxU32(PxAtomicAdd(solverCounts, PxI32(solverUnrollSize))) - solverUnrollSize;
|
|
nbSolveRemaining = solverUnrollSize;
|
|
startIdx = startSolveIdx - targetSolverProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbSolved)
|
|
PxAtomicAdd(solverProgressCount, PxI32(nbSolved));
|
|
|
|
targetSolverProgressCount += nbBatches;
|
|
offset += nbBatches;
|
|
}
|
|
|
|
iterCount++;
|
|
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
|
|
{
|
|
PxU32 integStartIdx = startIntegrateIdx - targetIntegrationProgressCount;
|
|
PxU32 nbIntegrated = 0;
|
|
while (integStartIdx < nbBodies)
|
|
{
|
|
PxU32 nbToIntegrate = PxMin(nbBodies - integStartIdx, nbIntegrateRemaining);
|
|
|
|
parallelIntegrateBodies(solverVels + integStartIdx + bodyOffset, solverTxInertias + integStartIdx + bodyOffset,
|
|
nbToIntegrate, stepDt, iterCount);
|
|
|
|
nbIntegrateRemaining -= nbToIntegrate;
|
|
startIntegrateIdx += nbToIntegrate;
|
|
integStartIdx += nbToIntegrate;
|
|
|
|
nbIntegrated += nbToIntegrate;
|
|
|
|
if (nbIntegrateRemaining == 0)
|
|
{
|
|
startIntegrateIdx = PxU32(PxAtomicAdd(integrationCounts, PxI32(integrationUnrollSize))) - integrationUnrollSize;
|
|
nbIntegrateRemaining = integrationUnrollSize;
|
|
integStartIdx = startIntegrateIdx - targetIntegrationProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbIntegrated)
|
|
PxAtomicAdd(integrationProgressCount, PxI32(nbIntegrated));
|
|
|
|
targetIntegrationProgressCount += nbBodies;
|
|
}
|
|
|
|
PxU32 artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
|
|
const PxReal invDt = mInvDt;
|
|
PxU32 nbArticsProcessed = 0;
|
|
while (artIcStartIdx < nbArticulations)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[artIcStartIdx];
|
|
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, invStepDt, false, true, elapsedTime, biasCoefficient, mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
|
|
d.articulation->concludeInternalConstraints(true);
|
|
|
|
ArticulationPImpl::updateDeltaMotion(d, stepDt, cache.deltaV, mInvDt);
|
|
ArticulationPImpl::saveVelocityTGS(d.articulation, invDt);
|
|
|
|
nbArticsProcessed++;
|
|
|
|
startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
}
|
|
|
|
if (nbArticsProcessed)
|
|
PxAtomicAdd(articulationProgressCount, PxI32(nbArticsProcessed));
|
|
|
|
targetArticulationProgressCount += nbArticulations;
|
|
|
|
elapsedTime += stepDt;
|
|
|
|
putThreadContext(&threadContext);
|
|
}
|
|
|
|
|
|
WAIT_FOR_PROGRESS(integrationProgressCount, PxI32(targetIntegrationProgressCount));
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
|
|
cache.contactErrorAccumulator = isResidualReportingEnabled() ? &mThreadContext.getSimStats().contactErrorAccumulator.mVelocityIterationErrorAccumulator : NULL;
|
|
cache.isPositionIteration = false;
|
|
// Velocity Iterations. It's legal to skip them (velIters == 0).
|
|
for (PxU32 a = 0; a < velIters; ++a)
|
|
{
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
if (cache.contactErrorAccumulator)
|
|
cache.contactErrorAccumulator->reset();
|
|
|
|
PxU32 offset = 0;
|
|
for (PxU32 b = 0; b < nbPartitions; ++b)
|
|
{
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
|
|
//Find the startIdx in the partition to process
|
|
PxU32 startIdx = startSolveIdx - targetSolverProgressCount;
|
|
|
|
const PxU32 nbBatches = constraintsPerPartitions[b];
|
|
|
|
PxU32 nbSolved = 0;
|
|
while (startIdx < nbBatches)
|
|
{
|
|
PxU32 nbToSolve = PxMin(nbBatches - startIdx, nbSolveRemaining);
|
|
if (b == 0 && overflow)
|
|
parallelSolveConstraints<true>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, 0.f/*-PX_MAX_F32*/, cache, iterCount);
|
|
else
|
|
parallelSolveConstraints<false>(contactDescs, batchHeaders + startIdx + offset, nbToSolve,
|
|
solverTxInertias, elapsedTime, 0.f/*-PX_MAX_F32*/, cache, iterCount);
|
|
|
|
nbSolveRemaining -= nbToSolve;
|
|
startSolveIdx += nbToSolve;
|
|
startIdx += nbToSolve;
|
|
|
|
nbSolved += nbToSolve;
|
|
|
|
if (nbSolveRemaining == 0)
|
|
{
|
|
startSolveIdx = PxU32(PxAtomicAdd(solverCounts, PxI32(solverUnrollSize))) - solverUnrollSize;
|
|
nbSolveRemaining = solverUnrollSize;
|
|
|
|
startIdx = startSolveIdx - targetSolverProgressCount;
|
|
}
|
|
}
|
|
|
|
if (nbSolved)
|
|
PxAtomicAdd(solverProgressCount, PxI32(nbSolved));
|
|
|
|
targetSolverProgressCount += nbBatches;
|
|
offset += nbBatches;
|
|
}
|
|
|
|
WAIT_FOR_PROGRESS(solverProgressCount, PxI32(targetSolverProgressCount));
|
|
|
|
PxU32 artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
|
|
PxU32 nbArticsProcessed = 0;
|
|
while (artIcStartIdx < nbArticulations)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[artIcStartIdx];
|
|
|
|
d.articulation->solveInternalConstraints(totalDt, stepDt, invStepDt, true, true, elapsedTime, biasCoefficient,
|
|
mIsResidualReportingEnabled, mIsExternalForcesEveryTgsIterationEnabled);
|
|
|
|
nbArticsProcessed++;
|
|
|
|
startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
}
|
|
|
|
if (nbArticsProcessed)
|
|
PxAtomicAdd(articulationProgressCount, PxI32(nbArticsProcessed));
|
|
|
|
targetArticulationProgressCount += nbArticulations;
|
|
|
|
iterCount++;
|
|
|
|
WAIT_FOR_PROGRESS(articulationProgressCount, PxI32(targetArticulationProgressCount));
|
|
}
|
|
|
|
//Write back constraints...
|
|
{
|
|
// Rigids
|
|
{
|
|
//Find the startIdx in the partition to process
|
|
PxU32 startIdx = startSolveIdx - targetSolverProgressCount;
|
|
|
|
const PxU32 nbBatches = nbSolverBatches;
|
|
|
|
while (startIdx < nbBatches)
|
|
{
|
|
PxU32 nbToSolve = PxMin(nbBatches - startIdx, nbSolveRemaining);
|
|
parallelWritebackConstraintsIteration(contactDescs, batchHeaders + startIdx, nbToSolve, cache);
|
|
nbSolveRemaining -= nbToSolve;
|
|
startSolveIdx += nbToSolve;
|
|
startIdx += nbToSolve;
|
|
|
|
if (nbSolveRemaining == 0)
|
|
{
|
|
startSolveIdx = PxU32(PxAtomicAdd(solverCounts, PxI32(solverUnrollSize))) - solverUnrollSize;
|
|
nbSolveRemaining = solverUnrollSize;
|
|
startIdx = startSolveIdx - targetSolverProgressCount;
|
|
}
|
|
}
|
|
|
|
// No need here to atomically add to solverProgressCount because this is the last thing we do during solve
|
|
}
|
|
|
|
// Articulations
|
|
{
|
|
PxU32 artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
|
|
while(artIcStartIdx < nbArticulations)
|
|
{
|
|
ArticulationSolverDesc& d = mThreadContext.getArticulations()[artIcStartIdx];
|
|
|
|
d.articulation->writebackInternalConstraints(true);
|
|
|
|
startArticulationIdx = PxU32(PxAtomicAdd(articulationIntegrationCounts, PxI32(1))) - 1;
|
|
artIcStartIdx = startArticulationIdx - targetArticulationProgressCount;
|
|
}
|
|
|
|
// No need here to atomically add to articulationProgressCount because this is the last thing we do during solve
|
|
}
|
|
|
|
// There is no need to WAIT_FOR_PROGRESS here anymore. Once a thread has reached this point, it has processed
|
|
// all work it was assigned and we can let it return to pick up another task. One thread returning here does not
|
|
// mean, however, that all work is done because other threads may still work on their rigids or articulations
|
|
// they've been assigned via the startSolveIdx and startArticulationIdx atomic calls.
|
|
}
|
|
}
|
|
|
|
class CopyBackTask : public Cm::Task
|
|
{
|
|
const SolverIslandObjectsStep& mObjects;
|
|
PxTGSSolverBodyVel* mVels;
|
|
PxTGSSolverBodyTxInertia* mTxInertias;
|
|
PxTGSSolverBodyData* mSolverBodyDatas;
|
|
const PxReal mInvDt;
|
|
IG::IslandSim& mIslandSim;
|
|
const PxU32 mStartIdx;
|
|
const PxU32 mEndIdx;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(CopyBackTask)
|
|
|
|
public:
|
|
|
|
CopyBackTask(const SolverIslandObjectsStep& objects,
|
|
PxTGSSolverBodyVel* vels, PxTGSSolverBodyTxInertia* txInertias,
|
|
PxTGSSolverBodyData* solverBodyDatas, PxReal invDt, IG::IslandSim& islandSim,
|
|
PxU32 startIdx, PxU32 endIdx, DynamicsTGSContext& context) : Cm::Task(context.getContextId()),
|
|
mObjects(objects), mVels(vels), mTxInertias(txInertias), mSolverBodyDatas(solverBodyDatas), mInvDt(invDt),
|
|
mIslandSim(islandSim), mStartIdx(startIdx), mEndIdx(endIdx), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "CopyBackTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.copyBackBodies(mObjects, mVels, mTxInertias, mSolverBodyDatas, mInvDt, mIslandSim, mStartIdx, mEndIdx);
|
|
}
|
|
};
|
|
|
|
class UpdateArticTask : public Cm::Task
|
|
{
|
|
Dy::ThreadContext& mThreadContext;
|
|
PxU32 mStartIdx;
|
|
PxU32 mEndIdx;
|
|
PxReal mDt;
|
|
DynamicsTGSContext& mContext;
|
|
|
|
PX_NOCOPY(UpdateArticTask)
|
|
|
|
public:
|
|
|
|
UpdateArticTask(Dy::ThreadContext& threadContext, PxU32 startIdx, PxU32 endIdx, PxReal dt, DynamicsTGSContext& context) :
|
|
Cm::Task(context.getContextId()),
|
|
mThreadContext(threadContext), mStartIdx(startIdx), mEndIdx(endIdx), mDt(dt), mContext(context)
|
|
{
|
|
}
|
|
|
|
virtual const char* getName() const { return "UpdateArticTask"; }
|
|
|
|
virtual void runInternal()
|
|
{
|
|
mContext.updateArticulations(mThreadContext, mStartIdx, mEndIdx, mDt);
|
|
}
|
|
};
|
|
|
|
void DynamicsTGSContext::finishSolveIsland(ThreadContext& mThreadContext, const SolverIslandObjectsStep& objects,
|
|
const PxsIslandIndices& counts, IG::SimpleIslandManager& islandManager, PxBaseTask* continuation)
|
|
{
|
|
mThreadContext.mConstraintBlockManager.reset();
|
|
mThreadContext.mConstraintBlockStream.reset();
|
|
|
|
const PxU32 NbBodiesPerTask = 512;
|
|
|
|
for (PxU32 a = 0; a < counts.bodies; a += NbBodiesPerTask)
|
|
{
|
|
CopyBackTask* task = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(CopyBackTask)), CopyBackTask)
|
|
(objects, mSolverBodyVelPool.begin() + objects.solverBodyOffset,
|
|
mSolverBodyTxInertiaPool.begin() + objects.solverBodyOffset, mSolverBodyDataPool2.begin() + objects.solverBodyOffset,
|
|
mInvDt, islandManager.getAccurateIslandSim(), a, PxMin(a + NbBodiesPerTask, counts.bodies),*this);
|
|
|
|
task->setContinuation(continuation);
|
|
task->removeReference();
|
|
}
|
|
|
|
const PxU32 NbArticsPerTask = 64;
|
|
|
|
for (PxU32 a = 0; a < counts.articulations; a += NbArticsPerTask)
|
|
{
|
|
UpdateArticTask* task = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(UpdateArticTask)), UpdateArticTask)
|
|
(mThreadContext, a, PxMin(counts.articulations, a+NbArticsPerTask), mDt, *this);
|
|
|
|
task->setContinuation(continuation);
|
|
task->removeReference();
|
|
}
|
|
}
|
|
|
|
void DynamicsTGSContext::endIsland(ThreadContext& mThreadContext)
|
|
{
|
|
putThreadContext(&mThreadContext);
|
|
}
|
|
|
|
void DynamicsTGSContext::solveIsland(const SolverIslandObjectsStep& objects,
|
|
const PxsIslandIndices& counts,
|
|
PxU32 solverBodyOffset,
|
|
IG::SimpleIslandManager& islandManager,
|
|
PxU32* bodyRemapTable, PxsMaterialManager* /*materialManager*/,
|
|
PxsContactManagerOutputIterator& iterator,
|
|
PxBaseTask* continuation)
|
|
{
|
|
ThreadContext& mThreadContext = *getThreadContext();
|
|
|
|
IslandContextStep& islandContext = *reinterpret_cast<IslandContextStep*>(mTaskPool.allocate(sizeof(IslandContextStep)));
|
|
islandContext.mThreadContext = &mThreadContext;
|
|
islandContext.mCounts = counts;
|
|
islandContext.mObjects = objects;
|
|
islandContext.mPosIters = 0;
|
|
islandContext.mVelIters = 0;
|
|
islandContext.mObjects.solverBodyOffset = solverBodyOffset;
|
|
|
|
prepareBodiesAndConstraints(islandContext.mObjects, islandManager, islandContext);
|
|
|
|
////Create task chain...
|
|
SetupDescsTask* descTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SetupDescsTask)), SetupDescsTask)(islandContext, islandContext.mObjects,
|
|
bodyRemapTable, solverBodyOffset, iterator, *this);
|
|
PreIntegrateTask* intTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(PreIntegrateTask)), PreIntegrateTask)(islandContext.mObjects.bodyCoreArray, islandContext.mObjects.bodies,
|
|
mSolverBodyVelPool.begin() + solverBodyOffset,
|
|
mSolverBodyTxInertiaPool.begin() + solverBodyOffset, mSolverBodyDataPool2.begin() + solverBodyOffset,
|
|
mThreadContext.mNodeIndexArray, islandContext.mCounts.bodies, mGravity, mDt, islandContext.mPosIters,
|
|
islandContext.mVelIters, *this);
|
|
SetupArticulationTask* articTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SetupArticulationTask)), SetupArticulationTask)(islandContext, mGravity,
|
|
mDt, islandContext.mPosIters, islandContext.mVelIters, *this);
|
|
SetStepperTask* stepperTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SetStepperTask)), SetStepperTask)(islandContext, *this);
|
|
SetupArticulationInternalConstraintsTask* articConTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SetupArticulationInternalConstraintsTask)), SetupArticulationInternalConstraintsTask)
|
|
(islandContext, mDt, mInvDt, *this);
|
|
PartitionTask* partitionTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(PartitionTask)), PartitionTask)
|
|
(islandContext, islandContext.mObjects.constraintDescs, mSolverBodyVelPool.begin()+solverBodyOffset+1, mThreadContext,
|
|
*this);
|
|
SetupSolverConstraintsTask* constraintTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SetupSolverConstraintsTask)), SetupSolverConstraintsTask)
|
|
(islandContext, islandContext.mObjects.orderedConstraintDescs, iterator, mThreadContext,
|
|
mDt, *this);
|
|
|
|
SolveIslandTask* solveTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(SolveIslandTask)), SolveIslandTask)(islandContext, islandContext.mObjects, islandContext.mCounts, mDt, mThreadContext, *this);
|
|
|
|
FinishSolveIslandTask* finishTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(FinishSolveIslandTask)), FinishSolveIslandTask)(mThreadContext, islandContext.mObjects, islandContext.mCounts, islandManager, *this);
|
|
|
|
EndIslandTask* endTask = PX_PLACEMENT_NEW(mTaskPool.allocate(sizeof(EndIslandTask)), EndIslandTask)(mThreadContext, *this);
|
|
|
|
endTask->setContinuation(continuation);
|
|
finishTask->setContinuation(endTask);
|
|
solveTask->setContinuation(finishTask);
|
|
constraintTask->setContinuation(solveTask);
|
|
partitionTask->setContinuation(constraintTask);
|
|
articConTask->setContinuation(partitionTask);
|
|
//Stepper triggers both articCon and constraintTask
|
|
stepperTask->setContinuation(articConTask);
|
|
stepperTask->setAdditionalContinuation(constraintTask);
|
|
|
|
articTask->setContinuation(stepperTask);
|
|
intTask->setContinuation(stepperTask);
|
|
descTask->setContinuation(stepperTask);
|
|
|
|
endTask->removeReference();
|
|
finishTask->removeReference();
|
|
solveTask->removeReference();
|
|
constraintTask->removeReference();
|
|
partitionTask->removeReference();
|
|
articConTask->removeReference();
|
|
stepperTask->removeReference();
|
|
articTask->removeReference();
|
|
intTask->removeReference();
|
|
descTask->removeReference();
|
|
}
|
|
|
|
void DynamicsTGSContext::mergeResults()
|
|
{
|
|
PX_PROFILE_ZONE("Dynamics.solverMergeResults", mContextID);
|
|
//OK. Sum up sim stats here...
|
|
|
|
#if PX_ENABLE_SIM_STATS
|
|
{
|
|
PxcThreadCoherentCacheIterator<ThreadContext, PxcNpMemBlockPool> threadContextIt(mThreadContextPool);
|
|
ThreadContext* threadContext = threadContextIt.getNext();
|
|
|
|
mTotalContactError.reset();
|
|
mContactErrorPosIter = &mTotalContactError.mPositionIterationErrorAccumulator;
|
|
mContactErrorVelIter = &mTotalContactError.mVelocityIterationErrorAccumulator;
|
|
|
|
while (threadContext != NULL)
|
|
{
|
|
if (mIsResidualReportingEnabled)
|
|
{
|
|
Dy::ErrorAccumulatorEx& error = threadContext->getSimStats().contactErrorAccumulator;
|
|
mTotalContactError.combine(error);
|
|
threadContext->getSimStats().contactErrorAccumulator.reset();
|
|
}
|
|
|
|
threadContext = threadContextIt.getNext();
|
|
}
|
|
}
|
|
#else
|
|
PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
|
|
#endif
|
|
}
|
|
|
|
}
|
|
}
|
|
|