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- // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef PXS_NPHASE_IMPLEMENTATION_CONTEXT_H
#define PXS_NPHASE_IMPLEMENTATION_CONTEXT_H
#include "PxvNphaseImplementationContext.h"
#include "PxsContactManagerState.h"
#include "PxcNpCache.h"
#include "CmPinnableArray.h"
class PxsCMDiscreteUpdateTask;
namespace physx
{
struct PxsContactManagers : PxsContactManagerBase
{
PxArray<PxsContactManagerOutput> mOutputContactManagers;
PxArray<PxsContactManager*> mContactManagerMapping;
PxArray<Gu::Cache> mCaches;
// PT: these buffers should be in pinned memory but may not be if pinned allocation failed.
Cm::PinnableArray<const Sc::ShapeInteraction*> mShapeInteractionsGPU;
Cm::PinnableArray<PxReal> mRestDistancesGPU;
Cm::PinnableArray<PxsTorsionalFrictionData> mTorsionalPropertiesGPU;
PxsContactManagers(const PxU32 bucketId, Cm::VirtualAllocatorCallback& alloc) : PxsContactManagerBase(bucketId),
mOutputContactManagers ("mOutputContactManagers"),
mContactManagerMapping ("mContactManagerMapping"),
mCaches ("mCaches"),
mShapeInteractionsGPU (alloc, PxsHeapStats::eNARROWPHASE),
mRestDistancesGPU (alloc, PxsHeapStats::eNARROWPHASE),
mTorsionalPropertiesGPU (alloc, PxsHeapStats::eNARROWPHASE)
{
}
void clear()
{
mOutputContactManagers.forceSize_Unsafe(0);
mContactManagerMapping.forceSize_Unsafe(0);
mCaches.forceSize_Unsafe(0);
mShapeInteractionsGPU.forceSize_Unsafe(0);
mRestDistancesGPU.forceSize_Unsafe(0);
mTorsionalPropertiesGPU.forceSize_Unsafe(0);
}
private:
PX_NOCOPY(PxsContactManagers)
};
class PxsNphaseImplementationContext : public PxvNphaseImplementationFallback
{
PX_NOCOPY(PxsNphaseImplementationContext)
public:
PxsNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, Cm::VirtualAllocatorCallback& alloc, PxU32 index, bool gpu) :
PxvNphaseImplementationFallback (context),
mNarrowPhasePairs (index, alloc),
mNewNarrowPhasePairs (index, alloc),
mModifyCallback (NULL),
mIslandSim (islandSim),
mGPU (gpu)
{}
// PxvNphaseImplementationContext
virtual void destroy() PX_OVERRIDE PX_FINAL;
virtual void updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation,
PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShape) PX_OVERRIDE PX_FINAL;
virtual void postBroadPhaseUpdateContactManager(PxBaseTask*) PX_OVERRIDE PX_FINAL {}
virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
virtual void fetchUpdateContactManager() PX_OVERRIDE PX_FINAL {}
virtual void registerContactManager(PxsContactManager* cm, const Sc::ShapeInteraction* shapeInteraction, PxI32 touching, PxU32 numPatches) PX_OVERRIDE PX_FINAL;
// virtual void registerContactManagers(PxsContactManager** cm, Sc::ShapeInteraction** shapeInteractions, PxU32 nbContactManagers, PxU32 maxContactManagerId);
virtual void unregisterContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
virtual void refreshContactManager(PxsContactManager* cm) PX_OVERRIDE PX_FINAL;
virtual void registerShape(const PxNodeIndex& /*nodeIndex*/, const PxsShapeCore& /*shapeCore*/, const PxU32 /*transformCacheID*/, PxActor* /*actor*/, const bool /*isDeformableSurface*/) PX_OVERRIDE PX_FINAL {}
virtual void unregisterShape(const PxsShapeCore& /*shapeCore*/, const PxU32 /*transformCacheID*/, const bool /*isDeformableSurface*/) PX_OVERRIDE PX_FINAL {}
virtual void registerAggregate(const PxU32 /*transformCacheID*/) PX_OVERRIDE PX_FINAL {}
virtual void registerMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void updateMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void unregisterMaterial(const PxsMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void registerMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void updateMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void unregisterMaterial(const PxsDeformableSurfaceMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void registerMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void updateMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void unregisterMaterial(const PxsDeformableVolumeMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void registerMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void updateMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void unregisterMaterial(const PxsPBDMaterialCore&) PX_OVERRIDE PX_FINAL {}
virtual void updateShapeMaterial(const PxsShapeCore&) PX_OVERRIDE PX_FINAL {}
virtual void startNarrowPhaseTasks() PX_OVERRIDE PX_FINAL {}
virtual void appendContactManagers() PX_OVERRIDE PX_FINAL;
virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npIndex) PX_OVERRIDE PX_FINAL;
virtual PxsContactManagerOutputIterator getContactManagerOutputs() PX_OVERRIDE PX_FINAL;
virtual void setContactModifyCallback(PxContactModifyCallback* callback) PX_OVERRIDE PX_FINAL { mModifyCallback = callback; }
virtual void acquireContext() PX_OVERRIDE PX_FINAL {}
virtual void releaseContext() PX_OVERRIDE PX_FINAL {}
virtual void preallocateNewBuffers(PxU32 /*nbNewPairs*/, PxU32 /*maxIndex*/) PX_OVERRIDE PX_FINAL { /*TODO - implement if it's useful to do so*/}
virtual void lock() PX_OVERRIDE PX_FINAL { mContactManagerMutex.lock(); }
virtual void unlock() PX_OVERRIDE PX_FINAL { mContactManagerMutex.unlock(); }
virtual PxsContactManagerOutputCounts* getLostFoundPatchOutputCounts() PX_OVERRIDE PX_FINAL { return mGPU ? mGPU_CmFoundLostOutputCounts.begin() : NULL; }
virtual PxsContactManager** getLostFoundPatchManagers() PX_OVERRIDE PX_FINAL { return mGPU ? mGPU_CmFoundLost.begin() : NULL; }
virtual PxU32 getNbLostFoundPatchManagers() PX_OVERRIDE PX_FINAL { return mGPU ? mGPU_CmFoundLost.size() : 0; }
virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() PX_OVERRIDE PX_FINAL { return NULL; }
virtual PxReal* getGPURestDistances() PX_OVERRIDE PX_FINAL { return NULL; }
virtual Sc::ShapeInteraction** getGPUShapeInteractions() PX_OVERRIDE PX_FINAL { return NULL; }
virtual PxsTorsionalFrictionData* getGPUTorsionalData() PX_OVERRIDE PX_FINAL { return NULL; }
//~PxvNphaseImplementationContext
// PxvNphaseImplementationFallback
virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) PX_OVERRIDE PX_FINAL;
virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
virtual void appendContactManagersFallback(PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) PX_OVERRIDE PX_FINAL;
virtual const Sc::ShapeInteraction*const* getShapeInteractionsGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mShapeInteractionsGPU.begin(); }
virtual const PxReal* getRestDistancesGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mRestDistancesGPU.begin(); }
virtual const PxsTorsionalFrictionData* getTorsionalDataGPU() const PX_OVERRIDE PX_FINAL { return mNarrowPhasePairs.mTorsionalPropertiesGPU.begin(); }
//~PxvNphaseImplementationFallback
PxArray<PxU32> mRemovedContactManagers;
PxsContactManagers mNarrowPhasePairs;
PxsContactManagers mNewNarrowPhasePairs;
PxContactModifyCallback* mModifyCallback;
IG::IslandSim* mIslandSim;
PxMutex mContactManagerMutex;
PxArray<PxsCMDiscreteUpdateTask*> mGPU_CmTasks;
PxArray<PxsContactManagerOutputCounts> mGPU_CmFoundLostOutputCounts;
PxArray<PxsContactManager*> mGPU_CmFoundLost;
const bool mGPU;
private:
- void unregisterContactManagerInternal(PxU32 npIndex, PxsContactManagers& managers, PxsContactManagerOutput* cmOutputs);
+ //Returns false when npIndex named no live pair and nothing was removed.
+ bool unregisterContactManagerInternal(PxU32 npIndex, PxsContactManagers& managers, PxsContactManagerOutput* cmOutputs);
PX_FORCE_INLINE void unregisterAndForceSize(PxsContactManagers& cms, PxU32 index)
{
- unregisterContactManagerInternal(index, cms, cms.mOutputContactManagers.begin());
- cms.mOutputContactManagers.forceSize_Unsafe(cms.mOutputContactManagers.size()-1);
+ //Only shrink when something was actually removed. unregisterContactManagerInternal() bails out on
+ //the sentinel and on an out-of-range index, and shrinking regardless underflowed an empty list's
+ //size to 0xFFFFFFFF - which the next registerContactManager() turns into a four-billion-element
+ //copy inside PxArray::recreate().
+ // ### DEFENSIVE (NvBug 6163965)
+ if(unregisterContactManagerInternal(index, cms, cms.mOutputContactManagers.begin()))
+ cms.mOutputContactManagers.forceSize_Unsafe(cms.mOutputContactManagers.size()-1);
}
void appendNewLostPairs();
};
}
#endif