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.
-
#include "DyThreadContext.h"
- #include "PsBitUtils.h"
+ #include "foundation/PxBitUtils.h"
namespace physx
{
namespace Dy
{
- ThreadContext::ThreadContext(PxcNpMemBlockPool* memBlockPool):
- mFrictionPatchStreamPair(*memBlockPool),
- mConstraintBlockManager (*memBlockPool),
- mConstraintBlockStream (*memBlockPool),
- mNumDifferentBodyConstraints(0),
- mNumSelfConstraints(0),
- mNumStaticConstraints(0),
- mConstraintsPerPartition(PX_DEBUG_EXP("ThreadContext::mConstraintsPerPartition")),
- mFrictionConstraintsPerPartition(PX_DEBUG_EXP("ThreadContext::frictionsConstraintsPerPartition")),
- mPartitionNormalizationBitmap(PX_DEBUG_EXP("ThreadContext::mPartitionNormalizationBitmap")),
- frictionConstraintDescArray(PX_DEBUG_EXP("ThreadContext::solverFrictionConstraintArray")),
- frictionConstraintBatchHeaders(PX_DEBUG_EXP("ThreadContext::frictionConstraintBatchHeaders")),
- compoundConstraints(PX_DEBUG_EXP("ThreadContext::compoundConstraints")),
- orderedContactList(PX_DEBUG_EXP("ThreadContext::orderedContactList")),
- tempContactList(PX_DEBUG_EXP("ThreadContext::tempContactList")),
- sortIndexArray(PX_DEBUG_EXP("ThreadContext::sortIndexArray")),
- mConstraintSize (0),
- mAxisConstraintCount(0),
- mSelfConstraintBlocks(NULL),
- mMaxPartitions(0),
- mMaxSolverPositionIterations(0),
- mMaxSolverVelocityIterations(0),
- mMaxArticulationLength(0),
- mContactDescPtr(NULL),
- mFrictionDescPtr(NULL),
- mArticulations(PX_DEBUG_EXP("ThreadContext::articulations"))
-
+ ThreadContext::ThreadContext(PxcNpMemBlockPool* memBlockPool) :
+ mFrictionPatchStreamPair (*memBlockPool),
+ mConstraintBlockManager (*memBlockPool),
+ mConstraintBlockStream (*memBlockPool),
+ mNumDifferentBodyConstraints (0),
+ mNumStaticConstraints (0),
+ mHasOverflowPartitions (false),
+ mNbArticulations (0),
+ mConstraintsPerPartition ("ThreadContext::mConstraintsPerPartition"),
+ //mPartitionNormalizationBitmap ("ThreadContext::mPartitionNormalizationBitmap"),
+ mBodyCoreArray (NULL),
+ mRigidBodyArray (NULL),
+ mArticulationArray (NULL),
+ motionVelocityArray (NULL),
+ bodyRemapTable (NULL),
+ mNodeIndexArray (NULL),
+ contactConstraintDescArray (NULL),
+ contactDescArraySize (0),
+ orderedContactConstraints (NULL),
+ contactConstraintBatchHeaders (NULL),
+ numContactConstraintBatches (0),
+ tempConstraintDescArray (NULL),
+ #if PGS_SUPPORT_COMPOUND_CONSTRAINTS
+ compoundConstraints ("ThreadContext::compoundConstraints"),
+ orderedContactList ("ThreadContext::orderedContactList"),
+ tempContactList ("ThreadContext::tempContactList"),
+ sortIndexArray ("ThreadContext::sortIndexArray"),
+ #endif
+ mOrderedContactDescCount (0),
+ mOrderedFrictionDescCount (0),
+ mConstraintSize (0),
+ mAxisConstraintCount (0),
+ mMaxPartitions (0),
+ mMaxFrictionPartitions (0),
+ mMaxSolverPositionIterations (0),
+ mMaxSolverVelocityIterations (0),
+ mMaxArticulationLinks (0),
+ mContactDescPtr (NULL)
{
#if PX_ENABLE_SIM_STATS
mThreadSimStats.clear();
+ #else
+ PX_CATCH_UNDEFINED_ENABLE_SIM_STATS
#endif
//Defaulted to have space for 16384 bodies
- mPartitionNormalizationBitmap.reserve(512);
+ //mPartitionNormalizationBitmap.reserve(512);
//Defaulted to have space for 128 partitions (should be more-than-enough)
mConstraintsPerPartition.reserve(128);
}
- void ThreadContext::resizeArrays(PxU32 frictionConstraintDescCount, PxU32 articulationCount)
+ void ThreadContext::resizeArrays(PxU32 articulationCount)
{
- // resize resizes smaller arrays to the exact target size, which can generate a lot of churn
- frictionConstraintDescArray.forceSize_Unsafe(0);
- frictionConstraintDescArray.reserve((frictionConstraintDescCount+63)&~63);
-
- mArticulations.forceSize_Unsafe(0);
- mArticulations.reserve(PxMax<PxU32>(Ps::nextPowerOfTwo(articulationCount), 16));
- mArticulations.forceSize_Unsafe(articulationCount);
+ mNbArticulations = articulationCount;
mContactDescPtr = contactConstraintDescArray;
- mFrictionDescPtr = frictionConstraintDescArray.begin();
}
void ThreadContext::reset()
{
// TODO: move these to the PxcNpThreadContext
mFrictionPatchStreamPair.reset();
mConstraintBlockStream.reset();
mContactDescPtr = contactConstraintDescArray;
- mFrictionDescPtr = frictionConstraintDescArray.begin();
mAxisConstraintCount = 0;
mMaxSolverPositionIterations = 0;
mMaxSolverVelocityIterations = 0;
mNumDifferentBodyConstraints = 0;
- mNumSelfConstraints = 0;
mNumStaticConstraints = 0;
- mSelfConstraintBlocks = NULL;
mConstraintSize = 0;
}
}
}