Revision control
- //
// 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) 2008-2021 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 PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
#define PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
#include "PxSceneDesc.h"
#include "PxsContactManagerState.h"
- #include "PsArray.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 SimpleIslandManager;
class IslandSim;
typedef PxU32 EdgeIndex;
}
- namespace Dy
+ namespace Cm
{
- class Context;
+ class FanoutTask;
+ class VirtualAllocatorCallback;
}
+ namespace Sc
+ {
+ class ShapeInteraction;
+ }
+
+ class PxNodeIndex;
class PxBaseTask;
class PxsContext;
struct PxsShapeCore;
- class PxsMaterialCore;
- struct PxgDynamicsMemoryConfig;
+
class PxsContactManager;
struct PxsContactManagerOutput;
- class PxsKernelWranglerManager;
- class PxsHeapMemoryAllocatorManager;
-
-
- struct PxsContactManagerBase
- {
- static const PxU32 NEW_CONTACT_MANAGER_MASK = 0x80000000;
- static const PxU32 GPU_NP_OFFSET = 0x4;
-
- static const PxU32 MaxBucketBits = 3;
-
- const PxU32 mBucketId;
-
- PxsContactManagerBase(const PxU32 bucketId) : mBucketId(bucketId)
- {
- PX_ASSERT(bucketId < (1<<MaxBucketBits));
- }
-
-
- PX_FORCE_INLINE PxU32 computeId(const PxU32 index) const { PX_ASSERT(index < PxU32(1 << (32 - (MaxBucketBits-1)))); return (index << MaxBucketBits) | (mBucketId); }
- static PX_FORCE_INLINE PxU32 computeIndexFromId(const PxU32 id) { return id >> MaxBucketBits; }
- static PX_FORCE_INLINE PxU32 computeBucketIndexFromId(const PxU32 id) { return id & ((1<<MaxBucketBits)-1); }
-
- private:
- PX_NOCOPY(PxsContactManagerBase)
- };
+ struct PxsTorsionalFrictionData;
class PxsContactManagerOutputIterator
{
PxU32 mOffsets[1<<PxsContactManagerBase::MaxBucketBits];
PxsContactManagerOutput* mOutputs;
public:
PxsContactManagerOutputIterator() : mOutputs(NULL)
{
}
- PxsContactManagerOutputIterator(PxU32* offsets, PxU32 nbOffsets, PxsContactManagerOutput* outputs) : mOutputs(outputs)
+ 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& getContactManager(PxU32 id)
+ 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)
+ 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
{
- private:
- PX_NOCOPY(PxvNphaseImplementationContext)
+ PX_NOCOPY(PxvNphaseImplementationContext)
+
+ PxsContext& mContext;
public:
-
- PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}
- virtual ~PxvNphaseImplementationContext() {}
+ PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}
+ virtual ~PxvNphaseImplementationContext() {}
+
virtual void destroy() = 0;
- virtual void updateContactManager(PxReal dt, bool hasBoundsArrayChanged, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassContinuation) = 0;
- virtual void postBroadPhaseUpdateContactManager() = 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, PxI32 touching, PxU32 patchCount) = 0;
- virtual void registerContactManagers(PxsContactManager** cm, PxU32 nbContactManagers, PxU32 maxContactManagerId) = 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 PxsShapeCore& shapeCore) = 0;
- virtual void unregisterShape(const PxsShapeCore& shapeCore) = 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 PxsContactManagerOutput* getGPUContactManagerOutputBase() = 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 setContactModifyCallback(PxContactModifyCallback* callback) = 0;
- virtual void acquireContext() = 0;
- virtual void releaseContext() = 0;
- virtual void preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) = 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 void lock() = 0;
+ virtual void unlock() = 0;
-
-
-
- protected:
+ virtual PxsContactManagerOutputCounts* getLostFoundPatchOutputCounts() = 0;
+ virtual PxsContactManager** getLostFoundPatchManagers() = 0;
+ virtual PxU32 getNbLostFoundPatchManagers() = 0;
- PxsContext& mContext;
+ //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
+ class PxvNphaseImplementationFallback: public PxvNphaseImplementationContext
{
- private:
PX_NOCOPY(PxvNphaseImplementationFallback)
public:
-
- PxvNphaseImplementationFallback() {}
- virtual ~PxvNphaseImplementationFallback() {}
- virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;
- virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;
+ PxvNphaseImplementationFallback(PxsContext& context) : PxvNphaseImplementationContext(context) {}
+ virtual ~PxvNphaseImplementationFallback() {}
- virtual void registerContactManager(PxsContactManager* cm, PxI32 touching, PxU32 numPatches) = 0;
- virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
+ virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
- virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
+ virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;
+ virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;
- virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npId) = 0;
+ virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
+ virtual void appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;
+ virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;
- virtual void appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;
-
- virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
-
- virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;
-
- virtual void lock() = 0;
- virtual void unlock() = 0;
-
- };
-
- class PxvNphaseImplementationContextUsableAsFallback: public PxvNphaseImplementationContext, public PxvNphaseImplementationFallback
- {
- private:
- PX_NOCOPY(PxvNphaseImplementationContextUsableAsFallback)
- public:
- PxvNphaseImplementationContextUsableAsFallback(PxsContext& context): PxvNphaseImplementationContext(context) {}
- virtual ~PxvNphaseImplementationContextUsableAsFallback() {}
+ virtual const Sc::ShapeInteraction*const* getShapeInteractionsGPU() const = 0;
+ virtual const PxReal* getRestDistancesGPU() const = 0;
+ virtual const PxsTorsionalFrictionData* getTorsionalDataGPU() const = 0;
};
- PxvNphaseImplementationContextUsableAsFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim);
+ PxvNphaseImplementationFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, Cm::VirtualAllocatorCallback& alloc, bool gpuDynamics);
}
#endif