Revision control
- //
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// 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
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//
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//
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // 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 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
{
- Ps::Array<PxsContactManagerOutput> mOutputContactManagers;
- Ps::Array<PxsContactManager*> mContactManagerMapping;
- Ps::Array<Gu::Cache> mCaches;
+ 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) : PxsContactManagerBase(bucketId),
- mOutputContactManagers(PX_DEBUG_EXP("mOutputContactManagers")),
- mContactManagerMapping(PX_DEBUG_EXP("mContactManagerMapping")),
- mCaches(PX_DEBUG_EXP("mCaches"))
+ 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 PxvNphaseImplementationContextUsableAsFallback
+ class PxsNphaseImplementationContext : public PxvNphaseImplementationFallback
{
- public:
- static PxsNphaseImplementationContext* create(PxsContext& context, IG::IslandSim* islandSim);
-
- PxsNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, PxU32 index = 0): PxvNphaseImplementationContextUsableAsFallback(context), mNarrowPhasePairs(index), mNewNarrowPhasePairs(index),
- mModifyCallback(NULL), mIslandSim(islandSim) {}
- virtual void destroy();
- virtual void updateContactManager(PxReal dt, bool hasBoundsArrayChanged, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassContinuation);
- virtual void postBroadPhaseUpdateContactManager() {}
- virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation);
-
- virtual void registerContactManager(PxsContactManager* cm, PxI32 touching, PxU32 numPatches);
- virtual void registerContactManagers(PxsContactManager** cm, PxU32 nbContactManagers, PxU32 maxContactManagerId);
- virtual void unregisterContactManager(PxsContactManager* cm);
- virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs);
-
-
- virtual void refreshContactManager(PxsContactManager* cm);
- virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs);
-
- virtual void registerShape(const PxsShapeCore& shapeCore);
-
- virtual void updateShapeMaterial(const PxsShapeCore& shapeCore);
- virtual void updateShapeContactOffset(const PxsShapeCore& shapeCore);
-
- virtual void unregisterShape(const PxsShapeCore& shapeCore);
-
- virtual void registerMaterial(const PxsMaterialCore& materialCore);
- virtual void updateMaterial(const PxsMaterialCore& materialCore);
- virtual void unregisterMaterial(const PxsMaterialCore& materialCore);
-
- virtual void appendContactManagers();
- virtual void appendContactManagersFallback(PxsContactManagerOutput* cmOutputs);
-
- virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs);
-
- virtual void setContactModifyCallback(PxContactModifyCallback* callback) { mModifyCallback = callback; }
-
- virtual PxsContactManagerOutputIterator getContactManagerOutputs();
-
- virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npIndex);
-
- virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() { return NULL; }
-
- virtual void acquireContext(){}
- virtual void releaseContext(){}
- virtual void preallocateNewBuffers(PxU32 /*nbNewPairs*/, PxU32 /*maxIndex*/) { /*TODO - implement if it's useful to do so*/}
-
- void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation);
- void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation);
- void fetchUpdateContactManager() {}
-
-
-
- void startNarrowPhaseTasks() {}
-
- virtual void lock() { mContactManagerMutex.lock(); }
- virtual void unlock() { mContactManagerMutex.unlock(); }
-
-
-
- Ps::Array<PxU32> mRemovedContactManagers;
- PxsContactManagers mNarrowPhasePairs;
- PxsContactManagers mNewNarrowPhasePairs;
-
- PxContactModifyCallback* mModifyCallback;
-
- IG::IslandSim* mIslandSim;
-
- Ps::Mutex mContactManagerMutex;
-
- private:
-
- void unregisterContactManagerInternal(PxU32 npIndex, PxsContactManagers& managers, PxsContactManagerOutput* cmOutputs);
-
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);
+
+ PX_FORCE_INLINE void unregisterAndForceSize(PxsContactManagers& cms, PxU32 index)
+ {
+ unregisterContactManagerInternal(index, cms, cms.mOutputContactManagers.begin());
+ cms.mOutputContactManagers.forceSize_Unsafe(cms.mOutputContactManagers.size()-1);
+ }
+
+ void appendNewLostPairs();
};
}
#endif