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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #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