PxvNphaseImplementationContext.h

++ // 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 PXV_NPHASE_IMPLEMENTATION_CONTEXT_H

++ #define PXV_NPHASE_IMPLEMENTATION_CONTEXT_H

++

++ #include "PxSceneDesc.h"

++ #include "PxsContactManagerState.h"

++ #include "foundation/PxArray.h"

++ #include "PxsNphaseCommon.h"

++

++ // PT: TODO: forward decl don't work easily with templates, to revisit

++ #include "PxsMaterialCore.h"

++ #include "PxsDeformableSurfaceMaterialCore.h"

++ #include "PxsDeformableVolumeMaterialCore.h"

++ #include "PxsPBDMaterialCore.h"

++

++ namespace physx

++ {

++ namespace IG

++ {

++ 	class IslandSim;

++ 	typedef PxU32 EdgeIndex;

++ }

++

++ namespace Cm

++ {

++ 	class FanoutTask;

++ 	class VirtualAllocatorCallback;

++ }

++

++ namespace Sc

++ {

++ 	class ShapeInteraction;

++ }

++

++ class PxNodeIndex;

++ class PxBaseTask;

++ class PxsContext;

++ struct PxsShapeCore;

++

++ class PxsContactManager;

++ struct PxsContactManagerOutput;

++ struct PxsTorsionalFrictionData;

++

++ class PxsContactManagerOutputIterator

++ {

++ 	PxU32 mOffsets[1<<PxsContactManagerBase::MaxBucketBits];

++ 	PxsContactManagerOutput* mOutputs;

++

++ public:

++

++ 	PxsContactManagerOutputIterator() : mOutputs(NULL)

++ 	{

++ 	}

++

++ 	PxsContactManagerOutputIterator(const PxU32* offsets, PxU32 nbOffsets, PxsContactManagerOutput* outputs) : mOutputs(outputs)

++ 	{

++ 		PX_ASSERT(nbOffsets <= (1<<PxsContactManagerBase::MaxBucketBits));

++

++ 		for(PxU32 a = 0; a < nbOffsets; ++a)

++ 		{

++ 			mOffsets[a] = offsets[a];

++ 		}

++ 	}

++

++ 	PX_FORCE_INLINE PxsContactManagerOutput& getContactManagerOutput(PxU32 id)

++ 	{

++ 		PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);

++ 		PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);

++ 		PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);

++ 		return mOutputs[mOffsets[bucketId] + cmOutId];

++ 	}

++

++ 	PxU32 getIndex(PxU32 id)	const

++ 	{

++ 		PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);

++ 		PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);

++ 		PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);

++ 		return mOffsets[bucketId] + cmOutId;

++ 	}

++ };

++

++ class PxvNphaseImplementationContext

++ {

++ 										PX_NOCOPY(PxvNphaseImplementationContext)

++

++ 			PxsContext&					mContext;

++ public:

++ 										PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}

++ 	virtual								~PxvNphaseImplementationContext() {}

++

++ 	virtual void						destroy() = 0;

++ 	virtual void						updateContactManager(PxReal dt, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShapeTask) = 0;

++ 	virtual void						postBroadPhaseUpdateContactManager(PxBaseTask* continuation) = 0;

++ 	virtual void						secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) = 0;

++ 	virtual void						fetchUpdateContactManager() = 0;

++

++ 	virtual void						registerContactManager(PxsContactManager* cm, const Sc::ShapeInteraction* interaction, PxI32 touching, PxU32 patchCount) = 0;

++ //	virtual void						registerContactManagers(PxsContactManager** cm, Sc::ShapeInteraction** shapeInteractions, PxU32 nbContactManagers, PxU32 maxContactManagerId) = 0;

++ 	virtual void						unregisterContactManager(PxsContactManager* cm) = 0;

++ 	virtual void						refreshContactManager(PxsContactManager* cm) = 0;

++

++ 	virtual void						registerShape(const PxNodeIndex& nodeIndex, const PxsShapeCore& shapeCore, const PxU32 transformCacheID, PxActor* actor, const bool isDeformableSurface = false) = 0;

++ 	virtual void						unregisterShape(const PxsShapeCore& shapeCore, const PxU32 transformCacheID, const bool isDeformableSurface = false) = 0;

++

++ 	virtual void						registerAggregate(const PxU32 transformCacheID) = 0;

++

++ 	virtual void						registerMaterial(const PxsMaterialCore& materialCore) = 0;

++ 	virtual void						updateMaterial(const PxsMaterialCore& materialCore) = 0;

++ 	virtual void						unregisterMaterial(const PxsMaterialCore& materialCore) = 0;

++

++ 	virtual void						registerMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;

++ 	virtual void						updateMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;

++ 	virtual void						unregisterMaterial(const PxsDeformableSurfaceMaterialCore& materialCore) = 0;

++

++ 	virtual void						registerMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;

++ 	virtual void						updateMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;

++ 	virtual void						unregisterMaterial(const PxsDeformableVolumeMaterialCore& materialCore) = 0;

++

++ 	virtual void						registerMaterial(const PxsPBDMaterialCore& materialCore) = 0;

++ 	virtual void						updateMaterial(const PxsPBDMaterialCore& materialCore) = 0;

++ 	virtual void						unregisterMaterial(const PxsPBDMaterialCore& materialCore) = 0;

++

++ 	virtual void						updateShapeMaterial(const PxsShapeCore& shapeCore) = 0;

++

++ 	virtual void						startNarrowPhaseTasks() = 0;

++

++ 	virtual void						appendContactManagers() = 0;

++

++ 	virtual PxsContactManagerOutput&	getNewContactManagerOutput(PxU32 index) = 0;

++

++ 	virtual PxsContactManagerOutputIterator	getContactManagerOutputs() = 0;

++

++ 	virtual void						setContactModifyCallback(PxContactModifyCallback* callback) = 0;

++

++ 	virtual void						acquireContext() = 0;

++ 	virtual void						releaseContext() = 0;

++ 	virtual void						preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) = 0;

++

++ 	virtual	void						lock() = 0;

++ 	virtual void						unlock() = 0;

++

++ 	virtual PxsContactManagerOutputCounts*	getLostFoundPatchOutputCounts() = 0;

++ 	virtual PxsContactManager**			getLostFoundPatchManagers() = 0;

++ 	virtual PxU32						getNbLostFoundPatchManagers() = 0;

++

++ 	//GPU-specific buffers. Return null for CPU narrow phase

++

++ 	virtual PxsContactManagerOutput*	getGPUContactManagerOutputBase() = 0;

++ 	virtual PxReal*						getGPURestDistances() = 0;

++ 	virtual Sc::ShapeInteraction**		getGPUShapeInteractions() = 0;

++ 	virtual PxsTorsionalFrictionData*	getGPUTorsionalData() = 0;

++ };

++

++ class PxvNphaseImplementationFallback: public PxvNphaseImplementationContext

++ {

++ 												PX_NOCOPY(PxvNphaseImplementationFallback)

++ public:

++ 												PxvNphaseImplementationFallback(PxsContext& context) : PxvNphaseImplementationContext(context)	{}

++ 	virtual										~PxvNphaseImplementationFallback() {}

++

++ 	virtual void								unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;

++

++ 	virtual void								processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;

++ 	virtual void								processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;

++

++ 	virtual void								refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;

++ 	virtual void								appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;

++ 	virtual void								removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;

++

++ 	virtual const Sc::ShapeInteraction*const*	getShapeInteractionsGPU()	const	= 0;

++ 	virtual const PxReal*						getRestDistancesGPU()		const	= 0;

++ 	virtual const PxsTorsionalFrictionData*		getTorsionalDataGPU()		const	= 0;

++ };

++

++ PxvNphaseImplementationFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, Cm::VirtualAllocatorCallback& alloc, bool gpuDynamics);

++

++ }

++

++ #endif

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