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+ //
+ // 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_PARTITION_EDGE_H
+ #define PXS_PARTITION_EDGE_H
+
+ // PT: this is a temporary place for code related to PartitionEdge. This seems to be a GPU-only class
+ // but for some reason some CPU bits do need it. Ideally it would be fully contained inside the GPU DLL.
+
+ #include "PxsIslandSim.h"
+ #include "PxcNpWorkUnit.h"
+
+ namespace physx
+ {
+ // PT: TODO: mNextPatch is almost always null so it would make sense to store that cold data somewhere else, e.g:
+ // - use one bit to mark the general case where mNextPatch is null
+ // - store non-null mNextPatch in a hashmap indexed by mUniqueIndex (no need to reserve the full memory for it)
+ //
+ // The only annoying bit is that the mechanism needed to actually walk the linked list (i.e. the hashmap) needs to be
+ // available in processPartitionEdges below, so that's more GPU stuff exposed to the CPU code. But I guess we crossed
+ // that line a while ago when the heads of the LLs moved to the low-level island manager anyway. And in fact we could
+ // put the two in the same structure eventually, like a PartitionEdgeManager.
+ //
+ // In any case the benefit of the change would be a smaller PartitionEdge. Going further, the nodes can be retrieved from
+ // the edge index, so if mNextPatch also disappears then only the unique ID remains, which.... can be derived from
+ // the PartitionEdge address?! So it would be just the "edge index" with some bits encoded in it, just 4 bytes.
+ //
+ // This is per-edge data so we could also merge this with CPUExternalData, which already contains the node indices, and
+ // has an implicit unique index as the index into mEdgeNodeIndices. But maybe we cannot because there can be multiple
+ // PartitionEdge for the same source edge (hence the linked list).
+ //
+ // Another idea would be to store the edge index instead. You would need access to the edge manager in CPU code but no
+ // hashmap or new structure is needed.
+
+ struct PartitionEdge
+ {
+ enum Enum
+ {
+ HAS_INFINITE_MASS0 = (1<<0),
+ HAS_INFINITE_MASS1 = (1<<1),
+ HAS_THRESHOLD = (1<<2),
+ IS_CONTACT = (1<<3),
+ SPECIAL_HANDLED = (1<<4),
+
+ NB_BITS = 5
+ };
+
+ PxNodeIndex mNode0; //! The node index for node 0. Can be obtained from the edge index alternatively
+ PxNodeIndex mNode1; //! The node index for node 1. Can be obtained from the edge index alternatively
+ PartitionEdge* mNextPatch; //! for the contact manager has more than 1 patch, we have next patch's edge and previous patch's edge to connect to this edge
+ private:
+ IG::EdgeIndex mEdgeIndex; //! The edge index into the island manager. Used to identify the contact manager/constraint
+ public:
+ PxU32 mUniqueIndex; //! a unique ID for this edge
+
+ PX_FORCE_INLINE IG::EdgeIndex getEdgeIndex() const { return mEdgeIndex >> NB_BITS; }
+
+ PX_FORCE_INLINE PxU32 isArticulation0() const { return mNode0.isArticulation(); }
+ PX_FORCE_INLINE PxU32 isArticulation1() const { return mNode1.isArticulation(); }
+
+ PX_FORCE_INLINE PxU32 hasInfiniteMass0() const { return mEdgeIndex & HAS_INFINITE_MASS0; }
+ PX_FORCE_INLINE PxU32 hasInfiniteMass1() const { return mEdgeIndex & HAS_INFINITE_MASS1; }
+
+ PX_FORCE_INLINE void setInfiniteMass0() { mEdgeIndex |= HAS_INFINITE_MASS0; }
+ PX_FORCE_INLINE void setInfiniteMass1() { mEdgeIndex |= HAS_INFINITE_MASS1; }
+
+ PX_FORCE_INLINE void setHasThreshold() { mEdgeIndex |= HAS_THRESHOLD; }
+ PX_FORCE_INLINE PxU32 hasThreshold() const { return mEdgeIndex & HAS_THRESHOLD; }
+
+ PX_FORCE_INLINE void setIsContact() { mEdgeIndex |= IS_CONTACT; }
+ PX_FORCE_INLINE PxU32 isContact() const { return mEdgeIndex & IS_CONTACT; }
+
+ PX_FORCE_INLINE void setSpecialHandled() { mEdgeIndex |= SPECIAL_HANDLED; }
+ PX_FORCE_INLINE void clearSpecialHandled() { mEdgeIndex &= ~SPECIAL_HANDLED; }
+ PX_FORCE_INLINE PxU32 isSpecialHandled() const { return mEdgeIndex & SPECIAL_HANDLED; }
+
+ //KS - This constructor explicitly does not set mUniqueIndex. It is filled in by the pool allocator and this constructor
+ //is called afterwards. We do not want to stomp the uniqueIndex value
+ PartitionEdge(IG::EdgeIndex index) :
+ mNextPatch(NULL),
+ mEdgeIndex(index << NB_BITS)
+ {
+ PX_ASSERT(!(index & 0xf8000000)); // PT: reserve 5 bits for internal flags
+ }
+ };
+ PX_COMPILE_TIME_ASSERT(sizeof(PartitionEdge)<=32); // PT: 2 of them per cache-line
+
+ static PX_FORCE_INLINE void processPartitionEdges(const IG::GPUExternalData* gpuData, const PxcNpWorkUnit& unit)
+ {
+ if(gpuData && !(unit.mFlags & PxcNpWorkUnitFlag::eDISABLE_RESPONSE))
+ {
+ PxU32* edgeNodeIndices = gpuData->getEdgeNodeIndexPtr();
+ if(edgeNodeIndices) // PT: only non-null for GPU version
+ {
+ const PartitionEdge* partitionEdge = gpuData->getFirstPartitionEdge(unit.mEdgeIndex);
+ while(partitionEdge)
+ {
+ edgeNodeIndices[partitionEdge->mUniqueIndex] = unit.mNpIndex;
+ partitionEdge = partitionEdge->mNextPatch;
+ }
+ }
+ }
+ }
+ }
+
+ #endif