Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_CUDA_HELPERS_EXT_H
++ #define PX_CUDA_HELPERS_EXT_H
++
++
++ #include "foundation/PxPreprocessor.h"
++
++ #if PX_SUPPORT_GPU_PHYSX
++ #include "foundation/PxSimpleTypes.h"
++ #include "foundation/PxAssert.h"
++ #include "foundation/PxFoundation.h"
++ #include "cudamanager/PxCudaContextManager.h"
++ #include "cudamanager/PxCudaContext.h"
++ #include "cudamanager/PxCudaTypes.h"
++
++
++ namespace physx
++ {
++ namespace Ext
++ {
++
++ class PxCudaHelpersExt
++ {
++ public:
++
++ /**
++ * \brief Allocates a device buffer and returns the pointer to the memory
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context the allocation should be attributed to.
++ * \param[in] numElements the number of elements of type T to allocate.
++ *
++ * \return a pointer to the allocated memory.
++ */
++ template<typename T>
++ static T* allocDeviceBuffer(PxCudaContextManager& cudaContextManager, PxU64 numElements)
++ {
++ PxScopedCudaLock lock(cudaContextManager);
++
++ CUdeviceptr ptr = 0;
++ PxCUresult result = cudaContextManager.getCudaContext()->memAlloc(&ptr, numElements * sizeof(T));
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "allocDeviceBuffer failed with error code %i!\n", PxI32(result));
++
++ return reinterpret_cast<T*>(ptr);
++ }
++
++ /**
++ * \brief Frees a device buffer
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context the device buffer is attributed to.
++ * \param[in] deviceBuffer reference to a pointer pointing to the device memory buffer.
++ */
++ template<typename T>
++ static void freeDeviceBuffer(PxCudaContextManager& cudaContextManager, T*& deviceBuffer)
++ {
++ if (deviceBuffer)
++ {
++ PxScopedCudaLock lock(cudaContextManager);
++ PxCUresult result = cudaContextManager.getCudaContext()->memFree(reinterpret_cast<CUdeviceptr>(deviceBuffer));
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "freeDeviceBuffer failed with error code %i!\n", PxI32(result));
++
++ deviceBuffer = NULL;
++ }
++ }
++
++ /**
++ * \brief Allocates a pinned host buffer and returns the pointer to the memory
++ *
++ * A pinned host buffer can be used on the gpu after getting a mapped device pointer from the pinned host buffer pointer, see getMappedDevicePtr
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context the allocation should be attributed to.
++ * \param[in] numElements the number of elements of type T to allocate.
++ *
++ * \return a pointer to the allocated memory.
++ */
++ template<typename T>
++ static T* allocPinnedHostBuffer(PxCudaContextManager& cudaContextManager, PxU64 numElements)
++ {
++ PxScopedCudaLock lock(cudaContextManager);
++
++ void* ptr = NULL;
++ const unsigned int cuMemhostallocDevicemap = 0x02;
++ const unsigned int cuMemhostallocPortable = 0x01;
++ PxCUresult result = cudaContextManager.getCudaContext()->memHostAlloc(&ptr, numElements * sizeof(T), cuMemhostallocDevicemap | cuMemhostallocPortable);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "allocPinnedHostBuffer failed with error code %i!\n", PxI32(result));
++
++ return reinterpret_cast<T*>(ptr);
++ }
++
++ /**
++ * \brief Frees a pinned host buffer
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context the pinned memory buffer is attributed to.
++ * \param[in] pinnedHostBuffer reference to a pointer pointing to the pinned memory buffer.
++ */
++ template<typename T>
++ static void freePinnedHostBuffer(PxCudaContextManager& cudaContextManager, T*& pinnedHostBuffer)
++ {
++ if (pinnedHostBuffer)
++ {
++ PxScopedCudaLock lock(cudaContextManager);
++ PxCUresult result = cudaContextManager.getCudaContext()->memFreeHost(pinnedHostBuffer);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "freePinnedHostBuffer failed with error code %i!\n", PxI32(result));
++
++ pinnedHostBuffer = NULL;
++ }
++ }
++
++ /**
++ * \brief Copies a device buffer to the host
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] hostBuffer pointer to the destination (pinned) host memory buffer.
++ * \param[in] deviceBuffer pointer to the source device buffer.
++ * \param[in] numElements the number of elements of type T to copy.
++ */
++ template<typename T>
++ static void copyDToH(PxCudaContextManager& cudaContextManager, T* hostBuffer, const T* deviceBuffer, PxU64 numElements)
++ {
++ if (!deviceBuffer || !hostBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoH(hostBuffer, CUdeviceptr(deviceBuffer), numBytes);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDToH failed with error code %i!\n", PxI32(result));
++ }
++
++ /**
++ * \brief Copies a host buffer to the device
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] deviceBuffer pointer to the destination device buffer.
++ * \param[in] hostBuffer pointer to the source (pinned) host memory buffer.
++ * \param[in] numElements the number of elements of type T to copy.
++ */
++ template<typename T>
++ static void copyHToD(PxCudaContextManager& cudaContextManager, T* deviceBuffer, const T* hostBuffer, PxU64 numElements)
++ {
++ if (!deviceBuffer || !hostBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ PxCUresult result = cudaContextManager.getCudaContext()->memcpyHtoD(CUdeviceptr(deviceBuffer), hostBuffer, numBytes);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyHtoD failed with error code %i!\n", PxI32(result));
++ }
++
++ /**
++ * \brief Schedules device to host copy operation on the specified stream
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] hostBuffer pointer to the destination (pinned) host memory buffer.
++ * \param[in] deviceBuffer pointer to the source device buffer.
++ * \param[in] numElements the number of elements of type T to copy.
++ * \param[in] stream the CUDA stream to perform the operation on.
++ */
++ template<typename T>
++ static void copyDToHAsync(PxCudaContextManager& cudaContextManager, T* hostBuffer, const T* deviceBuffer, PxU64 numElements, CUstream stream)
++ {
++ if (!deviceBuffer || !hostBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoHAsync(hostBuffer, CUdeviceptr(deviceBuffer), numBytes, stream);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDtoHAsync failed with error code %i!\n", PxI32(result));
++ }
++
++ /**
++ * \brief Schedules host to device copy operation on the specified stream
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] deviceBuffer pointer to the destination device buffer.
++ * \param[in] hostBuffer pointer to the source (pinned) host memory buffer.
++ * \param[in] numElements the number of elements of type T to copy.
++ * \param[in] stream the CUDA stream to perform the operation on.
++ */
++ template<typename T>
++ static void copyHToDAsync(PxCudaContextManager& cudaContextManager, T* deviceBuffer, const T* hostBuffer, PxU64 numElements, CUstream stream)
++ {
++ if (!deviceBuffer || !hostBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ PxCUresult result = cudaContextManager.getCudaContext()->memcpyHtoDAsync(CUdeviceptr(deviceBuffer), hostBuffer, numBytes, stream);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyHtoDAsync failed with error code %i!\n", PxI32(result));
++ }
++
++ /**
++ * \brief Schedules device to device copy operation on the specified stream
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] dstDeviceBuffer pointer to the destination device buffer.
++ * \param[in] srcDeviceBuffer pointer to the source device buffer.
++ * \param[in] numElements the number of elements of type T to copy.
++ * \param[in] stream the CUDA stream to perform the operation on.
++ */
++ template<typename T>
++ static void copyDToDAsync(PxCudaContextManager& cudaContextManager, T* dstDeviceBuffer, const T* srcDeviceBuffer, PxU64 numElements, CUstream stream)
++ {
++ if (!srcDeviceBuffer || !dstDeviceBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoDAsync(CUdeviceptr(dstDeviceBuffer), CUdeviceptr(srcDeviceBuffer), numBytes, stream);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDtoDAsync failed with error code %i!\n", PxI32(result));
++ }
++
++ /**
++ * \brief Schedules a memset operation on the device on the specified stream. Only supported for 1 bytes or 4 byte data types.
++ *
++ * The cuda context will get acquired automatically
++ *
++ * \param[in] cudaContextManager the PxCudaContextManager managing the CUDA context executing the operation.
++ * \param[in] dstDeviceBuffer pointer to the destination device buffer.
++ * \param[in] value the value to set the memory to.
++ * \param[in] numElements the number of elements of type T to set.
++ * \param[in] stream the CUDA stream to perform the operation on.
++ */
++ template<typename T>
++ static void memsetAsync(PxCudaContextManager& cudaContextManager, T* dstDeviceBuffer, const T& value, PxU64 numElements, CUstream stream)
++ {
++ PX_COMPILE_TIME_ASSERT(sizeof(T) == sizeof(PxU32) || sizeof(T) == sizeof(PxU8));
++
++ if (!dstDeviceBuffer)
++ return;
++
++ PxScopedCudaLock lock(cudaContextManager);
++ PxU64 numBytes = numElements * sizeof(T);
++
++ if (sizeof(T) == sizeof(PxU32))
++ {
++ PxCUresult result = cudaContextManager.getCudaContext()->memsetD32Async(CUdeviceptr(dstDeviceBuffer), reinterpret_cast<const PxU32&>(value), numBytes >> 2, stream);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "memsetAsync failed with error code %i!\n", PxI32(result));
++ }
++ else
++ {
++ PxCUresult result = cudaContextManager.getCudaContext()->memsetD8Async(CUdeviceptr(dstDeviceBuffer), reinterpret_cast<const PxU8&>(value), numBytes, stream);
++ if (result != 0)
++ PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "memsetAsync failed with error code %i!\n", PxI32(result));
++ }
++ }
++ };
++
++ #define PX_EXT_DEVICE_MEMORY_ALLOC(T, cudaContextManager, numElements) physx::Ext::PxCudaHelpersExt::allocDeviceBuffer<T>(cudaContextManager, numElements)
++ #define PX_EXT_DEVICE_MEMORY_FREE(cudaContextManager, deviceBuffer) physx::Ext::PxCudaHelpersExt::freeDeviceBuffer(cudaContextManager, deviceBuffer);
++
++ #define PX_EXT_PINNED_MEMORY_ALLOC(T, cudaContextManager, numElements) physx::Ext::PxCudaHelpersExt::allocPinnedHostBuffer<T>(cudaContextManager, numElements)
++ #define PX_EXT_PINNED_MEMORY_FREE(cudaContextManager, pinnedHostBuffer) physx::Ext::PxCudaHelpersExt::freePinnedHostBuffer(cudaContextManager, pinnedHostBuffer);
++
++ }
++ }
++
++ #endif
++
++ #endif