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- // from this software without specific prior written permission.
- //
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- //
- // Copyright (c) 2008-2021 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_PHYSX_GPU_H
- #define PX_PHYSX_GPU_H
-
- #include "task/PxTask.h"
-
- #include "Ps.h"
- #include "PsArray.h"
- #include "foundation/PxBounds3.h"
- #include "common/PxPhysXCommonConfig.h"
- #include "CmPhysXCommon.h"
- #include "PxSceneDesc.h"
-
-
- namespace physx
- {
-
- class PxFoundation;
- class PxCudaContextManagerDesc;
- class PxvNphaseImplementationContext;
- class PxsContext;
- class PxsKernelWranglerManager;
- class PxvNphaseImplementationFallback;
- struct PxgDynamicsMemoryConfig;
- class PxsMemoryManager;
- class PxsHeapMemoryAllocatorManager;
- class PxsSimulationController;
- class PxsSimulationControllerCallback;
- class PxDelayLoadHook;
-
- struct PxvSimStats;
-
- namespace Bp
- {
- class BroadPhase;
- }
-
- namespace Dy
- {
- class Context;
- }
-
- namespace IG
- {
- class IslandSim;
- class SimpleIslandManager;
- }
-
- namespace Cm
- {
- class FlushPool;
- }
-
- /**
- \brief Interface to create and run CUDA enabled PhysX features.
-
- The methods of this interface are expected not to be called concurrently.
- Also they are expected to not be called concurrently with any tasks spawned before the end pipeline ... TODO make clear.
- */
- class PxPhysXGpu
- {
- public:
- /**
- \brief Closes this instance of the interface.
- */
- virtual void release() = 0;
-
- /**
- Create GPU memory manager.
- */
- virtual PxsMemoryManager* createGpuMemoryManager(PxCudaContextManager* cudaContextManager, class PxGraphicsContextManager* graphicsContextManager) = 0;
-
- virtual PxsHeapMemoryAllocatorManager* createGpuHeapMemoryAllocatorManager(
- const PxU32 heapCapacity,
- PxsMemoryManager* memoryManager,
- const PxU32 gpuComputeVersion) = 0;
-
- /**
- Create GPU kernel wrangler manager.
- */
- virtual PxsKernelWranglerManager* createGpuKernelWranglerManager(
- PxCudaContextManager* cudaContextManager,
- PxErrorCallback& errorCallback,
- const PxU32 gpuComputeVersion) = 0;
-
- /**
- Create GPU broadphase.
- */
- virtual Bp::BroadPhase* createGpuBroadPhase(
- PxsKernelWranglerManager* gpuKernelWrangler,
- PxCudaContextManager* cudaContextManager,
- PxGraphicsContextManager* graphicsContext,
- const PxU32 gpuComputeVersion,
- const PxgDynamicsMemoryConfig& config,
- PxsHeapMemoryAllocatorManager* heapMemoryManager) = 0;
-
- /**
- Create GPU narrow phase context.
- */
- virtual PxvNphaseImplementationContext* createGpuNphaseImplementationContext(PxsContext& context,
- PxsKernelWranglerManager* gpuKernelWrangler,
- PxvNphaseImplementationFallback* fallbackForUnsupportedCMs,
- const PxgDynamicsMemoryConfig& gpuDynamicsConfig, void* contactStreamBase, void* patchStreamBase, void* forceAndIndiceStreamBase,
- Ps::Array<PxBounds3, Ps::VirtualAllocator>& bounds, IG::IslandSim* islandSim,
- physx::Dy::Context* dynamicsContext, const PxU32 gpuComputeVersion, PxsHeapMemoryAllocatorManager* heapMemoryManager) = 0;
-
- /**
- Create GPU simulation controller.
- */
- virtual PxsSimulationController* createGpuSimulationController(PxsKernelWranglerManager* gpuWranglerManagers,
- PxCudaContextManager* cudaContextManager, PxGraphicsContextManager* graphicsContextManager,
- Dy::Context* dynamicContext, PxvNphaseImplementationContext* npContext, Bp::BroadPhase* bp,
- const bool useGpuBroadphase, IG::SimpleIslandManager* simpleIslandSim,
- PxsSimulationControllerCallback* callback, const PxU32 gpuComputeVersion, PxsHeapMemoryAllocatorManager* heapMemoryManager) = 0;
-
- /**
- Create GPU dynamics context.
- */
- virtual Dy::Context* createGpuDynamicsContext(Cm::FlushPool& taskPool, PxsKernelWranglerManager* gpuKernelWragler,
- PxCudaContextManager* cudaContextManager, PxGraphicsContextManager* graphicsContextManager,
- const PxgDynamicsMemoryConfig& config, IG::IslandSim* accurateIslandSim, const PxU32 maxNumPartitions,
- const bool enableStabilization, const bool useEnhancedDeterminism, const bool useAdaptiveForce, const PxReal maxBiasCoefficient,
- const PxU32 gpuComputeVersion, PxvSimStats& simStats, PxsHeapMemoryAllocatorManager* heapMemoryManager,
- const bool frictionEveryIteration, PxSolverType::Enum solverType) = 0;
-
- };
-
- }
-
- /**
- Create PxPhysXGpu interface class.
- */
- PX_C_EXPORT PX_PHYSX_GPU_API physx::PxPhysXGpu* PX_CALL_CONV PxCreatePhysXGpu();
-
- /**
- Create a cuda context manager.
- */
- PX_C_EXPORT PX_PHYSX_GPU_API physx::PxCudaContextManager* PX_CALL_CONV PxCreateCudaContextManager(physx::PxFoundation& foundation, const physx::PxCudaContextManagerDesc& desc, physx::PxProfilerCallback* profilerCallback = NULL);
-
- /**
- Query the device ordinal - depends on control panel settings.
- */
- PX_C_EXPORT PX_PHYSX_GPU_API int PX_CALL_CONV PxGetSuggestedCudaDeviceOrdinal(physx::PxErrorCallback& errc);
-
- namespace grid
- {
- class ServerImpl;
- class ClientContextPredictionManager;
- }
-
- PX_C_EXPORT PX_PHYSX_GPU_API grid::ClientContextPredictionManager* PX_CALL_CONV PxCreateCudaClientContextManager(grid::ServerImpl* server, physx::PxU32 maxNbSleepMsg);
-
- #endif // PX_PHYSX_GPU_H