189 lines
6.5 KiB
C++
189 lines
6.5 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef DY_THREAD_CONTEXT_H
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#define DY_THREAD_CONTEXT_H
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#include "foundation/PxTransform.h"
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#include "geomutils/PxContactBuffer.h"
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#include "PxvConfig.h"
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#include "PxvDynamics.h"
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#include "PxcThreadCoherentCache.h"
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#include "PxcConstraintBlockStream.h"
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#include "foundation/PxBitMap.h"
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#include "DyVArticulation.h"
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#include "DyFrictionPatchStreamPair.h"
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#include "DySolverConstraintDesc.h"
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#include "DyCorrelationBuffer.h"
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#include "foundation/PxAllocator.h"
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#include "DyResidualAccumulator.h"
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namespace physx
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{
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struct PxsIndexedContactManager;
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class PxsRigidBody;
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namespace Dy
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{
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/*!
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Cache information specific to the software implementation(non common).
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See PxcgetThreadContext.
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Not thread-safe, so remember to have one object per thread!
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TODO! refactor this and rename(it is a general per thread cache). Move transform cache into its own class.
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*/
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class ThreadContext : public PxcThreadCoherentCache<ThreadContext, PxcNpMemBlockPool>::EntryBase
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{
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PX_NOCOPY(ThreadContext)
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public:
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#if PX_ENABLE_SIM_STATS
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struct ThreadSimStats
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{
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void clear()
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{
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numActiveConstraints = 0;
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numActiveDynamicBodies = 0;
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numActiveKinematicBodies = 0;
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numAxisSolverConstraints = 0;
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}
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PxU32 numActiveConstraints;
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PxU32 numActiveDynamicBodies;
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PxU32 numActiveKinematicBodies;
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PxU32 numAxisSolverConstraints;
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Dy::ErrorAccumulatorEx contactErrorAccumulator;
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};
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#else
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PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
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#endif
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//TODO: tune cache size based on number of active objects.
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ThreadContext(PxcNpMemBlockPool* memBlockPool);
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void reset();
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void resizeArrays(PxU32 articulationCount);
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// PT: TODO: is there a reason why everything is public except mArticulations ?
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PX_FORCE_INLINE PxArray<ArticulationSolverDesc>& getArticulations() { return mArticulations; }
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#if PX_ENABLE_SIM_STATS
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PX_FORCE_INLINE ThreadSimStats& getSimStats()
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{
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return mThreadSimStats;
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}
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#else
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PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
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#endif
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PxContactBuffer mContactBuffer;
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// temporary buffer for correlation
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PX_ALIGN(16, CorrelationBuffer mCorrelationBuffer);
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FrictionPatchStreamPair mFrictionPatchStreamPair; // patch streams
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PxsConstraintBlockManager mConstraintBlockManager; // for when this thread context is "lead" on an island
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PxcConstraintBlockStream mConstraintBlockStream; // constraint block pool
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// this stuff is just used for reformatting the solver data. Hopefully we should have a more
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// sane format for this when the dust settles - so it's just temporary. If we keep this around
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// here we should move these from public to private
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PxU32 mNumDifferentBodyConstraints;
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PxU32 mNumStaticConstraints;
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bool mHasOverflowPartitions;
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PxArray<PxU32> mConstraintsPerPartition;
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//PxArray<PxU32> mPartitionNormalizationBitmap; // PT: for PX_NORMALIZE_PARTITIONS
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PxsBodyCore** mBodyCoreArray;
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PxsRigidBody** mRigidBodyArray;
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FeatherstoneArticulation** mArticulationArray;
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Cm::SpatialVector* motionVelocityArray;
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PxU32* bodyRemapTable;
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PxU32* mNodeIndexArray;
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// PT: TODO: unify names around here, some use "m", some don't
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//Constraint info for normal constraint solver
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PxSolverConstraintDesc* contactConstraintDescArray;
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PxU32 contactDescArraySize;
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PxSolverConstraintDesc* orderedContactConstraints;
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PxConstraintBatchHeader* contactConstraintBatchHeaders;
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PxU32 numContactConstraintBatches;
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//Constraint info for partitioning
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PxSolverConstraintDesc* tempConstraintDescArray;
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#if PGS_SUPPORT_COMPOUND_CONSTRAINTS
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//Info for tracking compound contact managers (temporary data - could use scratch memory!)
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PxArray<CompoundContactManager> compoundConstraints;
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//Used for sorting constraints. Temporary, could use scratch memory
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PxArray<const PxsIndexedContactManager*> orderedContactList;
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PxArray<const PxsIndexedContactManager*> tempContactList;
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PxArray<PxU32> sortIndexArray;
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#endif
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PxArray<Cm::SpatialVectorF> mZVector; // scratch space, used for propagation during constraint prepping
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PxArray<Cm::SpatialVectorF> mDeltaV; // scratch space, used temporarily for propagating velocities
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PxU32 mOrderedContactDescCount;
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PxU32 mOrderedFrictionDescCount;
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PxU32 mConstraintSize; // PT: TODO: consider removing, this is only used for stats
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PxU32 mAxisConstraintCount; // PT: TODO: consider removing, this is only used for stats
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PxU32 mMaxPartitions;
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PxU32 mMaxFrictionPartitions;
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PxU32 mMaxSolverPositionIterations;
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PxU32 mMaxSolverVelocityIterations;
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PxU32 mMaxArticulationLinks;
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PxSolverConstraintDesc* mContactDescPtr;
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private:
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PxArray<ArticulationSolverDesc> mArticulations;
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#if PX_ENABLE_SIM_STATS
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ThreadSimStats mThreadSimStats;
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#else
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PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
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#endif
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};
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}
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}
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#endif
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