128 lines
5.0 KiB
C++
128 lines
5.0 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 "DyDynamicsBase.h"
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#include "PxsIslandSim.h"
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#include "common/PxProfileZone.h"
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using namespace physx;
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using namespace Dy;
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DynamicsContextBase::DynamicsContextBase(
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PxcNpMemBlockPool* memBlockPool,
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Cm::FlushPool& taskPool,
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PxvSimStats& simStats,
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PxVirtualAllocatorCallback* allocatorCallback,
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PxsMaterialManager* materialManager,
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IG::SimpleIslandManager& islandManager,
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PxU64 contextID,
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PxReal maxBiasCoefficient,
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PxReal lengthScale,
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bool enableStabilization,
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bool useEnhancedDeterminism,
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bool isResidualReportingEnabled
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) :
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Dy::Context (islandManager, allocatorCallback, simStats, enableStabilization, useEnhancedDeterminism, maxBiasCoefficient, lengthScale, contextID, isResidualReportingEnabled),
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mThreadContextPool (memBlockPool),
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mMaterialManager (materialManager),
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mTaskPool (taskPool),
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mKinematicCount (0),
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mThresholdStreamOut (0),
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mCurrentIndex (0)
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{
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}
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DynamicsContextBase::~DynamicsContextBase()
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{
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}
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void DynamicsContextBase::resetThreadContexts()
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{
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PxcThreadCoherentCacheIterator<ThreadContext, PxcNpMemBlockPool> threadContextIt(mThreadContextPool);
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ThreadContext* threadContext = threadContextIt.getNext();
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while(threadContext != NULL)
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{
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threadContext->reset();
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threadContext = threadContextIt.getNext();
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}
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}
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PxU32 DynamicsContextBase::reserveSharedSolverConstraintsArrays(const IG::IslandSim& islandSim, PxU32 maxArticulationLinks)
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{
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PX_PROFILE_ZONE("reserveSharedSolverConstraintsArrays", mContextID);
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const PxU32 bodyCount = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
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const PxU32 numArtics = islandSim.getNbActiveNodes(IG::Node::eARTICULATION_TYPE);
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const PxU32 numArticulationConstraints = numArtics * maxArticulationLinks; //Just allocate enough memory to fit worst-case maximum size articulations...
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const PxU32 nbActiveContactManagers = islandSim.getNbActiveEdges(IG::Edge::eCONTACT_MANAGER);
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const PxU32 nbActiveConstraints = islandSim.getNbActiveEdges(IG::Edge::eCONSTRAINT);
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const PxU32 totalConstraintCount = nbActiveConstraints + nbActiveContactManagers + numArticulationConstraints;
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mContactConstraintBatchHeaders.forceSize_Unsafe(0);
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mContactConstraintBatchHeaders.reserve((totalConstraintCount + 63) & (~63));
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mContactConstraintBatchHeaders.forceSize_Unsafe(totalConstraintCount);
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mContactList.forceSize_Unsafe(0);
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mContactList.reserve((nbActiveContactManagers + 63u) & (~63u));
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mContactList.forceSize_Unsafe(nbActiveContactManagers);
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mMotionVelocityArray.forceSize_Unsafe(0);
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mMotionVelocityArray.reserve((bodyCount + 63u) & (~63u));
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mMotionVelocityArray.forceSize_Unsafe(bodyCount);
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mBodyCoreArray.forceSize_Unsafe(0);
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mBodyCoreArray.reserve((bodyCount + 63u) & (~63u));
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mBodyCoreArray.forceSize_Unsafe(bodyCount);
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mRigidBodyArray.forceSize_Unsafe(0);
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mRigidBodyArray.reserve((bodyCount + 63u) & (~63u));
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mRigidBodyArray.forceSize_Unsafe(bodyCount);
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mArticulationArray.forceSize_Unsafe(0);
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mArticulationArray.reserve((numArtics + 63u) & (~63u));
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mArticulationArray.forceSize_Unsafe(numArtics);
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mNodeIndexArray.forceSize_Unsafe(0);
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mNodeIndexArray.reserve((bodyCount + 63u) & (~63u));
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mNodeIndexArray.forceSize_Unsafe(bodyCount);
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ThresholdStream& stream = getThresholdStream();
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stream.forceSize_Unsafe(0);
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stream.reserve(PxNextPowerOfTwo(nbActiveContactManagers != 0 ? nbActiveContactManagers - 1 : nbActiveContactManagers));
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//flip exceeded force threshold buffer
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mCurrentIndex = 1 - mCurrentIndex;
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return totalConstraintCount;
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}
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