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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
#ifndef PXS_ISLAND_SIM_H
#define PXS_ISLAND_SIM_H
#include "foundation/PxAssert.h"
#include "foundation/PxBitMap.h"
#include "foundation/PxArray.h"
#include "CmPriorityQueue.h"
#include "CmBlockArray.h"
#include "PxNodeIndex.h"
// PT: the original code stores island edges in a linked-list. Use this define to store them in arrays instead.
// The array version has better performance, both because it has less cache misses when enumerating the edges,
// but also because it opens the door to multithreaded loops (iterating a linked list is more tedious to multi-thread).
// However the linked list version uses less memory and has no extra runtime allocations, so it could be better
// for consoles, especially in simple scenes.
#define IG_STORE_ISLAND_EDGES_IN_ARRAYS 1
// PT: with the array version we can also cache contact-manager data to avoid more cache misses.
#if IG_STORE_ISLAND_EDGES_IN_ARRAYS
#define IG_CACHE_CONTACT_MANAGER_DATA 1
#else
#define IG_CACHE_CONTACT_MANAGER_DATA 0
#endif
#if IG_CACHE_CONTACT_MANAGER_DATA
#include "PxsIslandManagerTypes.h"
#endif
namespace physx
{
struct PartitionEdge;
namespace IG
{
#define IG_INVALID_ISLAND 0xFFFFFFFFu
#define IG_INVALID_EDGE 0xFFFFFFFFu
#define IG_LIMIT_DIRTY_NODES 0
#define IG_SANITY_CHECKS 0
// PT: use these macros to enumerate the island edges regardless of how we store them internally.
// Despite their bad rep, in this case the macros offer a true zero-overhead abstraction and they
// make the code clearer - the parsing of edges was previously hidden / merged with the actual work
// done on these edges, and it was unclear what each line was actually for.
#if IG_STORE_ISLAND_EDGES_IN_ARRAYS
#define START_ENUMERATING_ISLAND_EDGES(x) \
const PxArray<IG::IslandEdgesData_Island::EdgeData>& edgeIndices = island.mEdges.mEdges[x]; \
const PxU32 nbToGo = edgeIndices.size(); \
for(PxU32 j=0; j<nbToGo; j++)
#define GET_CURRENT_ISLAND_EDGE const IG::EdgeIndex edgeId = edgeIndices[j].mIndex;
#define GET_NEXT_ISLAND_EDGE
#else
#define START_ENUMERATING_ISLAND_EDGES(x) \
IG::EdgeIndex edgeId = island.mEdges.mFirstEdge[x]; \
while(edgeId != IG_INVALID_EDGE)
#define GET_CURRENT_ISLAND_EDGE const IG::Edge& edge = islandSim.getEdge(edgeId);
#define GET_NEXT_ISLAND_EDGE edgeId = edge.mLinks.mNextIslandEdge;
#endif
typedef PxU32 IslandId;
typedef PxU32 EdgeIndex;
typedef PxU32 EdgeInstanceIndex;
struct IslandEdgesData_Edge
{
IslandEdgesData_Edge()
#if IG_STORE_ISLAND_EDGES_IN_ARRAYS
: mIndex(IG_INVALID_EDGE)
#else
: mNextIslandEdge(IG_INVALID_EDGE), mPrevIslandEdge(IG_INVALID_EDGE)
#endif
{
}
#if IG_STORE_ISLAND_EDGES_IN_ARRAYS
PxU32 mIndex; // PT: index in island's edges array
#else
EdgeIndex mNextIslandEdge, mPrevIslandEdge;
#endif
};
struct Edge
{
//Edge instances can be implicitly calculated based on this edge index, which is an offset into the array of edges.
//From that, the child edge index is simply the
//The constraint or contact referenced by this edge
enum EdgeType
{
eCONTACT_MANAGER,
eCONSTRAINT,
#if PX_SUPPORT_GPU_PHYSX
eSOFT_BODY_CONTACT,
eFEM_CLOTH_CONTACT,
ePARTICLE_SYSTEM_CONTACT,
#endif
eEDGE_TYPE_COUNT
};
enum EdgeState
{
eINSERTED = 1<<0,
ePENDING_DESTROYED = 1<<1,
eACTIVE = 1<<2,
eIN_DIRTY_LIST = 1<<3,
eDESTROYED = 1<<4,
eREPORT_ONLY_DESTROY= 1<<5,
eACTIVATING = 1<<6
};
PxU16 mEdgeType; // PT: EdgeType. Could be PxU8.
PxU16 mEdgeState; // PT: could be PxU8.
IslandEdgesData_Edge mLinks;
PX_FORCE_INLINE void setInserted() { mEdgeState |= eINSERTED; }
PX_FORCE_INLINE void clearInserted() { mEdgeState &= ~eINSERTED; }
PX_FORCE_INLINE void clearDestroyed() { mEdgeState &= ~eDESTROYED; }
PX_FORCE_INLINE void setPendingDestroyed() { mEdgeState |= ePENDING_DESTROYED; }
PX_FORCE_INLINE void clearPendingDestroyed() { mEdgeState &= ~ePENDING_DESTROYED; }
PX_FORCE_INLINE void activateEdge() { mEdgeState |= eACTIVE; }
PX_FORCE_INLINE void deactivateEdge() { mEdgeState &= ~eACTIVE; }
PX_FORCE_INLINE void markInDirtyList() { mEdgeState |= eIN_DIRTY_LIST; }
PX_FORCE_INLINE void clearInDirtyList() { mEdgeState &= ~eIN_DIRTY_LIST; }
PX_FORCE_INLINE void setReportOnlyDestroy() { mEdgeState |= eREPORT_ONLY_DESTROY; }
public:
Edge() : mEdgeType(Edge::eCONTACT_MANAGER), mEdgeState(eDESTROYED)
{
}
PX_FORCE_INLINE PxIntBool isInserted() const { return PxIntBool(mEdgeState & eINSERTED); }
PX_FORCE_INLINE PxIntBool isDestroyed() const { return PxIntBool(mEdgeState & eDESTROYED); }
PX_FORCE_INLINE PxIntBool isPendingDestroyed() const { return PxIntBool(mEdgeState & ePENDING_DESTROYED); }
PX_FORCE_INLINE PxIntBool isActive() const { return PxIntBool(mEdgeState & eACTIVE); }
PX_FORCE_INLINE PxIntBool isInDirtyList() const { return PxIntBool(mEdgeState & eIN_DIRTY_LIST); }
PX_FORCE_INLINE PxIntBool isReportOnlyDestroy() const { return PxIntBool(mEdgeState & eREPORT_ONLY_DESTROY); }
PX_FORCE_INLINE EdgeType getEdgeType() const { return EdgeType(mEdgeType); }
};
struct EdgeInstance
{
EdgeInstanceIndex mNextEdge, mPrevEdge; //The next edge instance in this node's list of edge instances
EdgeInstance() : mNextEdge(IG_INVALID_EDGE), mPrevEdge(IG_INVALID_EDGE)
{
}
};
template<typename Handle>
class HandleManager
{
PxArray<Handle> mFreeHandles;
Handle mCurrentHandle;
public:
HandleManager() : mFreeHandles("FreeHandles"), mCurrentHandle(0)
{
}
~HandleManager(){}
Handle getHandle()
{
if(mFreeHandles.size())
{
Handle handle = mFreeHandles.popBack();
PX_ASSERT(isValidHandle(handle));
return handle;
}
return mCurrentHandle++;
}
bool isNotFreeHandle(Handle handle) const
{
for(PxU32 a = 0; a < mFreeHandles.size(); ++a)
{
if(mFreeHandles[a] == handle)
return false;
}
return true;
}
void freeHandle(Handle handle)
{
PX_ASSERT(isValidHandle(handle));
PX_ASSERT(isNotFreeHandle(handle));
if(handle == mCurrentHandle)
mCurrentHandle--;
else
mFreeHandles.pushBack(handle);
}
bool isValidHandle(Handle handle) const
{
return handle < mCurrentHandle;
}
PX_FORCE_INLINE PxU32 getTotalHandles() const { return mCurrentHandle; }
};
class Node
{
public:
enum NodeType
{
eRIGID_BODY_TYPE,
eARTICULATION_TYPE,
#if PX_SUPPORT_GPU_PHYSX
eDEFORMABLE_SURFACE_TYPE,
eDEFORMABLE_VOLUME_TYPE,
ePARTICLESYSTEM_TYPE,
#endif
eTYPE_COUNT
};
enum State
{
eREADY_FOR_SLEEPING = 1u << 0, //! Ready to go to sleep
eACTIVE = 1u << 1, //! Active
eKINEMATIC = 1u << 2, //! Kinematic
eDELETED = 1u << 3, //! Is pending deletion
eDIRTY = 1u << 4, //! Is dirty (i.e. lost a connection)
eACTIVATING = 1u << 5 //! Is in the activating list
};
EdgeInstanceIndex mFirstEdgeIndex;
PxU8 mFlags;
PxU8 mType;
PxU16 mStaticTouchCount;
//PxU32 mActiveNodeIndex; //! Look-up for this node in the active nodes list, activating list or deactivating list...
PxNodeIndex mNextNode, mPrevNode;
//A counter for the number of active references to this body. Whenever an edge is activated, this is incremented.
//Whenver an edge is deactivated, this is decremented. This is used for kinematic bodies to determine if they need
//to be in the active kinematics list
PxU32 mActiveRefCount;
//A node can correspond with one kind of user-defined object
void* mObject;
PX_FORCE_INLINE Node() : mType(eRIGID_BODY_TYPE) { reset(); }
PX_FORCE_INLINE ~Node() { }
PX_FORCE_INLINE void reset()
{
mFirstEdgeIndex = IG_INVALID_EDGE;
mFlags = eDELETED;
mObject = NULL;
mActiveRefCount = 0;
mStaticTouchCount = 0;
}
PX_FORCE_INLINE void setActive() { mFlags |= eACTIVE; }
PX_FORCE_INLINE void clearActive() { mFlags &= ~eACTIVE; }
PX_FORCE_INLINE void setActivating() { mFlags |= eACTIVATING; }
PX_FORCE_INLINE void clearActivating() { mFlags &= ~eACTIVATING; }
//Activates a body/node.
PX_FORCE_INLINE void setIsReadyForSleeping() { mFlags |= eREADY_FOR_SLEEPING; }
PX_FORCE_INLINE void clearIsReadyForSleeping() { mFlags &= (~eREADY_FOR_SLEEPING); }
PX_FORCE_INLINE void setIsDeleted() { mFlags |= eDELETED; }
PX_FORCE_INLINE void setKinematicFlag() { PX_ASSERT(!isKinematic()); mFlags |= eKINEMATIC; }
PX_FORCE_INLINE void clearKinematicFlag() { PX_ASSERT(isKinematic()); mFlags &= (~eKINEMATIC); }
PX_FORCE_INLINE void markDirty() { mFlags |= eDIRTY; }
PX_FORCE_INLINE void clearDirty() { mFlags &= (~eDIRTY); }
public:
PX_FORCE_INLINE PxIntBool isActive() const { return PxIntBool(mFlags & eACTIVE); }
PX_FORCE_INLINE PxIntBool isActiveOrActivating() const { return PxIntBool(mFlags & (eACTIVE | eACTIVATING)); }
PX_FORCE_INLINE PxIntBool isActivating() const { return PxIntBool(mFlags & eACTIVATING); }
PX_FORCE_INLINE PxIntBool isKinematic() const { return PxIntBool(mFlags & eKINEMATIC); }
PX_FORCE_INLINE PxIntBool isDeleted() const { return PxIntBool(mFlags & eDELETED); }
PX_FORCE_INLINE PxIntBool isDirty() const { return PxIntBool(mFlags & eDIRTY); }
PX_FORCE_INLINE PxIntBool isReadyForSleeping() const { return PxIntBool(mFlags & eREADY_FOR_SLEEPING); }
PX_FORCE_INLINE NodeType getNodeType() const { return NodeType(mType); }
};
struct IslandEdgesData_Island
{
IslandEdgesData_Island()
{
#if !IG_STORE_ISLAND_EDGES_IN_ARRAYS
for(PxU32 a = 0; a < Edge::eEDGE_TYPE_COUNT; ++a)
{
mFirstEdge[a] = IG_INVALID_EDGE;
mLastEdge[a] = IG_INVALID_EDGE;
mEdgeCount[a] = 0;
}
#endif
}
#if IG_STORE_ISLAND_EDGES_IN_ARRAYS
struct EdgeData
{
EdgeIndex mIndex;
#if IG_CACHE_CONTACT_MANAGER_DATA
// PT: individual components of a PxNodeIndex, stored as PxU32s to avoid bloating the struct size due to padding.
// Additionally the PxU8 indexType of each node is encoded in the top bits of the link IDs.
PxU32 mID0;
PxU32 mLinkID0;
PxU32 mID1;
PxU32 mLinkID1;
PX_FORCE_INLINE void setData0(PxNodeIndex nodeIndex, PxU8 indexType)
{
mID0 = nodeIndex.index();
PX_ASSERT(!(nodeIndex.linkData() & 0xc0000000));
mLinkID0 = nodeIndex.linkData() | (PxU32(indexType) << 30);
}
PX_FORCE_INLINE void setData1(PxNodeIndex nodeIndex, PxU8 indexType)
{
mID1 = nodeIndex.index();
PX_ASSERT(!(nodeIndex.linkData() & 0xc0000000));
mLinkID1 = nodeIndex.linkData() | (PxU32(indexType) << 30);
}
PX_FORCE_INLINE PxNodeIndex getNodeIndex0() const
{
return PxNodeIndex(mID0, mLinkID0 & 0x3fffffff, true);
}
PX_FORCE_INLINE PxNodeIndex getNodeIndex1() const
{
return PxNodeIndex(mID1, mLinkID1 & 0x3fffffff, true);
}
PX_FORCE_INLINE PxU8 getType0() const { return PxU8(mLinkID0 >> 30); }
PX_FORCE_INLINE PxU8 getType1() const { return PxU8(mLinkID1 >> 30); }
#endif
};
PxArray<EdgeData> mEdges[Edge::eEDGE_TYPE_COUNT];
PX_FORCE_INLINE PxU32 getCount(EdgeType type) const { return mEdges[type].size(); }
#else
EdgeIndex mFirstEdge[Edge::eEDGE_TYPE_COUNT], mLastEdge[Edge::eEDGE_TYPE_COUNT];
PxU32 mEdgeCount[Edge::eEDGE_TYPE_COUNT];
PX_FORCE_INLINE PxU32 getCount(Edge::EdgeType type) const { return mEdgeCount[type]; }
#endif
};
struct Island
{
PxNodeIndex mRootNode;
PxNodeIndex mLastNode;
PxU32 mNodeCount[Node::eTYPE_COUNT];
PxU32 mActiveIndex;
IslandEdgesData_Island mEdges;
Island() : mActiveIndex(IG_INVALID_ISLAND)
{
for(PxU32 a = 0; a < Node::eTYPE_COUNT; ++a)
mNodeCount[a] = 0;
}
};
struct TraversalState
{
PxNodeIndex mNodeIndex;
PxU32 mCurrentIndex;
PxU32 mPrevIndex;
PxU32 mDepth;
TraversalState()
{
}
TraversalState( PxNodeIndex nodeIndex, PxU32 currentIndex, PxU32 prevIndex, PxU32 depth) :
mNodeIndex(nodeIndex), mCurrentIndex(currentIndex), mPrevIndex(prevIndex), mDepth(depth)
{
}
};
struct QueueElement
{
TraversalState* mState;
PxU32 mHopCount;
QueueElement()
{
}
QueueElement(TraversalState* state, PxU32 hopCount) : mState(state), mHopCount(hopCount)
{
}
};
struct NodeComparator
{
NodeComparator()
{
}
bool operator() (const QueueElement& node0, const QueueElement& node1) const
{
return node0.mHopCount < node1.mHopCount;
}
private:
NodeComparator& operator = (const NodeComparator&);
};
// PT: island-manager data used by both CPU & GPU code.
// This is managed by external code (e.g. SimpleIslandManager) and passed as const data to IslandSim.
class CPUExternalData
{
public:
PX_FORCE_INLINE PxNodeIndex getNodeIndex1(IG::EdgeIndex index) const { return mEdgeNodeIndices[2 * index]; }
PX_FORCE_INLINE PxNodeIndex getNodeIndex2(IG::EdgeIndex index) const { return mEdgeNodeIndices[2 * index + 1]; }
//KS - stores node indices for a given edge. Node index 0 is at 2* edgeId and NodeIndex1 is at 2*edgeId + 1
//can also be used for edgeInstance indexing so there's no need to figure out outboundNode ID either!
Cm::BlockArray<PxNodeIndex> mEdgeNodeIndices;
};
// PT: island-manager data only needed for the GPU version, but stored in CPU code.
// This is managed by external code (e.g. SimpleIslandManager) and passed as non-const data to only one of the IslandSims.
// (It is otherwise optional). IslandSim will create/update this data during island gen.
class GPUExternalData
{
public:
GPUExternalData() :
mFirstPartitionEdges ("mFirstPartitionEdges"),
mDestroyedPartitionEdges ("mDestroyedPartitionEdges"),
mNpIndexPtr (NULL)
{
}
///////////////////////////////////////////////////////////////////////////
PX_FORCE_INLINE PartitionEdge* getFirstPartitionEdge(IG::EdgeIndex edgeIndex) const { return mFirstPartitionEdges[edgeIndex]; }
PX_FORCE_INLINE void setFirstPartitionEdge(IG::EdgeIndex edgeIndex, PartitionEdge* partitionEdge) { mFirstPartitionEdges[edgeIndex] = partitionEdge; }
PxArray<PartitionEdge*> mFirstPartitionEdges;
///////////////////////////////////////////////////////////////////////////
PX_FORCE_INLINE PxU32 getNbDestroyedPartitionEdges() const { return mDestroyedPartitionEdges.size(); }
PX_FORCE_INLINE const PartitionEdge*const* getDestroyedPartitionEdges() const { return mDestroyedPartitionEdges.begin(); }
PX_FORCE_INLINE PartitionEdge** getDestroyedPartitionEdges() { return mDestroyedPartitionEdges.begin(); }
PX_FORCE_INLINE void clearDestroyedPartitionEdges() { mDestroyedPartitionEdges.forceSize_Unsafe(0); }
PxArray<PartitionEdge*> mDestroyedPartitionEdges;
///////////////////////////////////////////////////////////////////////////
PX_FORCE_INLINE const PxBitMap& getActiveContactManagerBitmap() const { return mActiveContactEdges; }
PxBitMap mActiveContactEdges;
///////////////////////////////////////////////////////////////////////////
// PT: these ones are strange, used to store an unrelated ptr from the outside, and only for GPU
PX_FORCE_INLINE void setEdgeNodeIndexPtr(PxU32* ptr) { mNpIndexPtr = ptr; }
PX_FORCE_INLINE PxU32* getEdgeNodeIndexPtr() const { return mNpIndexPtr; }
PxU32* mNpIndexPtr;
};
class IslandSim
{
PX_NOCOPY(IslandSim)
HandleManager<IslandId> mIslandHandles; //! Handle manager for islands
// PT: these arrays are parallel, all indexed by PxNodeIndex::index()
PxArray<Node> mNodes; //! The nodes used in the constraint graph
PxArray<PxU32> mActiveNodeIndex; //! The active node index for each node
PxArray<PxU32> mHopCounts; //! The observed number of "hops" from a given node to its root node. May be inaccurate but used to accelerate searches.
PxArray<PxNodeIndex> mFastRoute; //! The observed last route from a given node to the root node. We try the fast route (unless its broken) before trying others.
PxArray<IslandId> mIslandIds; //! The array of per-node island ids
//
Cm::BlockArray<Edge> mEdges;
Cm::BlockArray<EdgeInstance> mEdgeInstances; //! Edges used to connect nodes in the constraint graph
PxArray<Island> mIslands; //! The array of islands
PxArray<PxU32> mIslandStaticTouchCount; //! Array of static touch counts per-island
PxArray<PxNodeIndex> mActiveNodes[Node::eTYPE_COUNT]; //! An array of active nodes
PxArray<PxNodeIndex> mActiveKinematicNodes; //! An array of active or referenced kinematic nodes
PxArray<EdgeIndex> mActivatedEdges[Edge::eEDGE_TYPE_COUNT]; //! An array of active edges
PxU32 mActiveEdgeCount[Edge::eEDGE_TYPE_COUNT];
PxBitMap mIslandAwake; //! Indicates whether an island is awake or not
//An array of active islands
PxArray<IslandId> mActiveIslands;
PxU32 mInitialActiveNodeCount[Node::eTYPE_COUNT];
PxArray<PxNodeIndex> mNodesToPutToSleep[Node::eTYPE_COUNT];
//Input to this frame's island management (changed nodes/edges)
//Input list of changes observed this frame. If there no changes, no work to be done.
PxArray<EdgeIndex> mDirtyEdges[Edge::eEDGE_TYPE_COUNT];
//Dirty nodes. These nodes lost at least one connection so we need to recompute islands from these nodes
//PxArray<NodeIndex> mDirtyNodes;
PxBitMap mDirtyMap;
#if IG_LIMIT_DIRTY_NODES
PxU32 mLastMapIndex;
#endif
//An array of nodes to activate
PxArray<PxNodeIndex> mActivatingNodes;
PxArray<EdgeIndex> mDestroyedEdges;
//Temporary, transient data used for traversals. TODO - move to PxsSimpleIslandManager. Or if we keep it here, we can
//process multiple island simulations in parallel
Cm::PriorityQueue<QueueElement, NodeComparator> mPriorityQueue; //! Priority queue used for graph traversal
PxArray<TraversalState> mVisitedNodes; //! The list of nodes visited in the current traversal
PxBitMap mVisitedState; //! Indicates whether a node has been visited
PxArray<EdgeIndex> mIslandSplitEdges[Edge::eEDGE_TYPE_COUNT];
PxArray<EdgeIndex> mDeactivatingEdges[Edge::eEDGE_TYPE_COUNT];
public:
// PT: we could perhaps instead pass these as param whenever needed. The coupling otherwise makes it more difficult to unit-test IslandSim in isolation.
const CPUExternalData& mCpuData; // PT: from the simple island manager, shared between accurate/speculative island sim
GPUExternalData* mGpuData; // PT: from the simple island manager, for accurate island sim (null otherwise) and only needed for the GPU version.
protected:
const PxU64 mContextId;
public:
IslandSim(const CPUExternalData& cpuData, GPUExternalData* gpuData, PxU64 contextID);
~IslandSim() {}
void addNode(bool isActive, bool isKinematic, Node::NodeType type, PxNodeIndex nodeIndex, void* object);
void activateNode(PxNodeIndex index);
void deactivateNode(PxNodeIndex index);
void putNodeToSleep(PxNodeIndex index);
void removeConnection(EdgeIndex edgeIndex);
PX_FORCE_INLINE PxU32 getNbActiveNodes(Node::NodeType type) const { return mActiveNodes[type].size(); }
PX_FORCE_INLINE const PxNodeIndex* getActiveNodes(Node::NodeType type) const { return mActiveNodes[type].begin(); }
PX_FORCE_INLINE PxU32 getNbActiveKinematics() const { return mActiveKinematicNodes.size(); }
PX_FORCE_INLINE const PxNodeIndex* getActiveKinematics() const { return mActiveKinematicNodes.begin(); }
PX_FORCE_INLINE PxU32 getNbNodesToActivate(Node::NodeType type) const { return mActiveNodes[type].size() - mInitialActiveNodeCount[type]; }
PX_FORCE_INLINE const PxNodeIndex* getNodesToActivate(Node::NodeType type) const { return mActiveNodes[type].begin() + mInitialActiveNodeCount[type]; }
PX_FORCE_INLINE PxU32 getNbNodesToDeactivate(Node::NodeType type) const { return mNodesToPutToSleep[type].size(); }
PX_FORCE_INLINE const PxNodeIndex* getNodesToDeactivate(Node::NodeType type) const { return mNodesToPutToSleep[type].begin(); }
PX_FORCE_INLINE PxU32 getNbActivatedEdges(Edge::EdgeType type) const { return mActivatedEdges[type].size(); }
PX_FORCE_INLINE const EdgeIndex* getActivatedEdges(Edge::EdgeType type) const { return mActivatedEdges[type].begin(); }
PX_FORCE_INLINE PxU32 getNbActiveEdges(Edge::EdgeType type) const { return mActiveEdgeCount[type]; }
PX_FORCE_INLINE void* getObject(PxNodeIndex nodeIndex, Node::NodeType type) const
{
const Node& node = mNodes[nodeIndex.index()];
PX_ASSERT(node.mType == type);
PX_UNUSED(type);
return node.mObject;
}
PX_FORCE_INLINE void clearDeactivations()
{
for (PxU32 i = 0; i < Node::eTYPE_COUNT; ++i)
mNodesToPutToSleep[i].forceSize_Unsafe(0);
for (PxU32 i = 0; i < Edge::eEDGE_TYPE_COUNT; ++i)
mDeactivatingEdges[i].forceSize_Unsafe(0);
}
PX_FORCE_INLINE const Island& getIsland(IG::IslandId islandIndex) const { return mIslands[islandIndex]; }
PX_FORCE_INLINE const Island& getIsland(const PxNodeIndex& nodeIndex) const { PX_ASSERT(mIslandIds[nodeIndex.index()] != IG_INVALID_ISLAND); return mIslands[mIslandIds[nodeIndex.index()]]; }
PX_FORCE_INLINE PxU32 getNbActiveIslands() const { return mActiveIslands.size(); }
PX_FORCE_INLINE const IslandId* getActiveIslands() const { return mActiveIslands.begin(); }
PX_FORCE_INLINE PxU32 getNbDeactivatingEdges(const IG::Edge::EdgeType edgeType) const { return mDeactivatingEdges[edgeType].size(); }
PX_FORCE_INLINE const EdgeIndex* getDeactivatingEdges(const IG::Edge::EdgeType edgeType) const { return mDeactivatingEdges[edgeType].begin(); }
// PT: this is not actually used externally
//PX_FORCE_INLINE PxU32 getNbDestroyedEdges() const { return mDestroyedEdges.size(); }
//PX_FORCE_INLINE const EdgeIndex* getDestroyedEdges() const { return mDestroyedEdges.begin(); }
// PT: this is not actually used externally. Still used internally in IslandSim.
//PX_FORCE_INLINE PxU32 getNbDirtyEdges(IG::Edge::EdgeType type) const { return mDirtyEdges[type].size(); }
//PX_FORCE_INLINE const EdgeIndex* getDirtyEdges(IG::Edge::EdgeType type) const { return mDirtyEdges[type].begin(); }
PX_FORCE_INLINE PxU32 getNbEdges() const { return mEdges.size(); }
PX_FORCE_INLINE const Edge& getEdge(EdgeIndex edgeIndex) const { return mEdges[edgeIndex]; }
PX_FORCE_INLINE Edge& getEdge(EdgeIndex edgeIndex) { return mEdges[edgeIndex]; }
PX_FORCE_INLINE PxU32 getNbNodes() const { return mNodes.size(); }
PX_FORCE_INLINE const Node& getNode(const PxNodeIndex& nodeIndex) const { return mNodes[nodeIndex.index()]; }
PX_FORCE_INLINE PxU32 getActiveNodeIndex(const PxNodeIndex& nodeIndex) const { return mActiveNodeIndex[nodeIndex.index()]; }
PX_FORCE_INLINE const PxU32* getActiveNodeIndex() const { return mActiveNodeIndex.begin(); }
//PX_FORCE_INLINE PxU32 getNbActiveNodeIndex() const { return mActiveNodeIndex.size(); }
PX_FORCE_INLINE PxU32 getNbIslands() const { return mIslandStaticTouchCount.size(); }
PX_FORCE_INLINE const PxU32* getIslandStaticTouchCount() const { return mIslandStaticTouchCount.begin(); }
PX_FORCE_INLINE PxU32 getIslandStaticTouchCount(const PxNodeIndex& nodeIndex) const
{
PX_ASSERT(mIslandIds[nodeIndex.index()] != IG_INVALID_ISLAND);
return mIslandStaticTouchCount[mIslandIds[nodeIndex.index()]];
}
PX_FORCE_INLINE const IG::IslandId* getIslandIds() const { return mIslandIds.begin(); }
PX_FORCE_INLINE PxU64 getContextId() const { return mContextId; }
void setKinematic(PxNodeIndex nodeIndex);
void setDynamic(PxNodeIndex nodeIndex);
bool checkInternalConsistency() const;
PX_INLINE void activateNode_ForGPUSolver(PxNodeIndex index)
{
IG::Node& node = mNodes[index.index()];
node.clearIsReadyForSleeping(); //Clear the "isReadyForSleeping" flag. Just in case it was set
}
PX_INLINE void deactivateNode_ForGPUSolver(PxNodeIndex index)
{
IG::Node& node = mNodes[index.index()];
node.setIsReadyForSleeping();
}
// PT: these three functions added for multithreaded implementation of Sc::Scene::islandInsertion
void preallocateConnections(EdgeIndex handle);
bool addConnectionPreallocated(PxNodeIndex nodeHandle1, PxNodeIndex nodeHandle2, Edge::EdgeType edgeType, EdgeIndex handle);
void addDelayedDirtyEdges(PxU32 nbHandles, const EdgeIndex* handles);
// PT: called by SimpleIslandManager. Made public to remove friendship, make the API clearer, and unit-testable.
void addConnection(PxNodeIndex nodeHandle1, PxNodeIndex nodeHandle2, Edge::EdgeType edgeType, EdgeIndex handle);
void wakeIslands(); // PT: this is always followed by a call to processNewEdges(). Merge the two?
void wakeIslands2();
void processNewEdges();
// PT: called by ThirdPassTask::runInternal. Made public to remove friendship, make the API clearer, and unit-testable.
void removeDestroyedEdges(); // PT: this is always followed by a call to processLostEdges(). Merge the two?
void processLostEdges(const PxArray<PxNodeIndex>& destroyedNodes, bool allowDeactivation, bool permitKinematicDeactivation, PxU32 dirtyNodeLimit);
private:
void wakeIslandsInternal(bool flag);
void insertNewEdges();
void removeConnectionInternal(EdgeIndex edgeIndex);
void addConnectionToGraph(EdgeIndex index);
void removeConnectionFromGraph(EdgeIndex edgeIndex);
//Merges 2 islands together. The returned id is the id of the merged island
IslandId mergeIslands(IslandId island0, IslandId island1, PxNodeIndex node0, PxNodeIndex node1);
void mergeIslandsInternal(Island& island0, Island& island1, IslandId islandId0, IslandId islandId1, PxNodeIndex node0, PxNodeIndex node1);
void unwindRoute(PxU32 traversalIndex, PxNodeIndex lastNode, PxU32 hopCount, IslandId id);
void activateIslandInternal(const Island& island);
void activateIsland(IslandId island);
void deactivateIsland(IslandId island);
#if IG_SANITY_CHECKS
bool canFindRoot(PxNodeIndex startNode, PxNodeIndex targetNode, PxArray<PxNodeIndex>* visitedNodes);
#endif
bool tryFastPath(PxNodeIndex startNode, PxNodeIndex targetNode, IslandId islandId);
bool findRoute(PxNodeIndex startNode, PxNodeIndex targetNode, IslandId islandId);
#if PX_DEBUG
bool isPathTo(PxNodeIndex startNode, PxNodeIndex targetNode) const;
#endif
void activateNodeInternal(PxNodeIndex index);
void deactivateNodeInternal(PxNodeIndex index);
PX_FORCE_INLINE void makeEdgeActive(EdgeInstanceIndex index, bool testEdgeType);
IslandId addNodeToIsland(PxNodeIndex nodeIndex1, PxNodeIndex nodeIndex2, IslandId islandId2, bool active1, bool active2);
PX_FORCE_INLINE void removeNodeFromIsland(Island& island, PxNodeIndex nodeIndex);
/* PX_FORCE_INLINE void notifyReadyForSleeping(const PxNodeIndex nodeIndex)
{
Node& node = mNodes[nodeIndex.index()];
//PX_ASSERT(node.isActive());
node.setIsReadyForSleeping();
}
PX_FORCE_INLINE void notifyNotReadyForSleeping(const PxNodeIndex nodeIndex)
{
Node& node = mNodes[nodeIndex.index()];
PX_ASSERT(node.isActive() || node.isActivating());
node.clearIsReadyForSleeping();
}*/
PX_FORCE_INLINE void markIslandActive(IslandId islandId)
{
Island& island = mIslands[islandId];
PX_ASSERT(!mIslandAwake.test(islandId));
PX_ASSERT(island.mActiveIndex == IG_INVALID_ISLAND);
mIslandAwake.set(islandId);
island.mActiveIndex = mActiveIslands.size();
mActiveIslands.pushBack(islandId);
}
PX_FORCE_INLINE void markIslandInactive(IslandId islandId)
{
Island& island = mIslands[islandId];
PX_ASSERT(mIslandAwake.test(islandId));
PX_ASSERT(island.mActiveIndex != IG_INVALID_ISLAND);
PX_ASSERT(mActiveIslands[island.mActiveIndex] == islandId);
IslandId replaceId = mActiveIslands[mActiveIslands.size()-1];
PX_ASSERT(mIslandAwake.test(replaceId));
Island& replaceIsland = mIslands[replaceId];
replaceIsland.mActiveIndex = island.mActiveIndex;
mActiveIslands[island.mActiveIndex] = replaceId;
mActiveIslands.forceSize_Unsafe(mActiveIslands.size()-1);
island.mActiveIndex = IG_INVALID_ISLAND;
mIslandAwake.reset(islandId);
}
PX_FORCE_INLINE void markKinematicActive(PxNodeIndex nodeIndex)
{
const PxU32 index = nodeIndex.index();
const Node& node = mNodes[index];
PX_ASSERT(node.isKinematic());
if(node.mActiveRefCount == 0 && mActiveNodeIndex[index] == PX_INVALID_NODE)
{
//PX_ASSERT(mActiveNodeIndex[index] == PX_INVALID_NODE);
//node.mActiveNodeIndex = mActiveKinematicNodes.size();
mActiveNodeIndex[index] = mActiveKinematicNodes.size();
mActiveKinematicNodes.pushBack(nodeIndex);
}
}
PX_FORCE_INLINE void markKinematicInactive(PxNodeIndex nodeIndex)
{
const PxU32 index = nodeIndex.index();
const Node& node = mNodes[index];
PX_ASSERT(node.isKinematic());
PX_ASSERT(mActiveNodeIndex[index] != PX_INVALID_NODE);
PX_ASSERT(mActiveKinematicNodes[mActiveNodeIndex[index]].index() == index);
if(node.mActiveRefCount == 0)
{
//Only remove from active kinematic list if it has no active contacts referencing it *and* it is asleep
if(mActiveNodeIndex[index] != PX_INVALID_NODE)
{
//Need to verify active node index because there is an edge case where a node could be woken, then put to
//sleep in the same frame. This would mean that it would not have an active index at this stage.
PxNodeIndex replaceIndex = mActiveKinematicNodes.back();
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == mActiveKinematicNodes.size() - 1);
mActiveNodeIndex[replaceIndex.index()] = mActiveNodeIndex[index];
mActiveKinematicNodes[mActiveNodeIndex[index]] = replaceIndex;
mActiveKinematicNodes.forceSize_Unsafe(mActiveKinematicNodes.size() - 1);
mActiveNodeIndex[index] = PX_INVALID_NODE;
}
}
}
PX_FORCE_INLINE void markActive(PxNodeIndex nodeIndex)
{
const PxU32 index = nodeIndex.index();
const Node& node = mNodes[index];
PX_ASSERT(!node.isKinematic());
PX_ASSERT(mActiveNodeIndex[index] == PX_INVALID_NODE);
mActiveNodeIndex[index] = mActiveNodes[node.mType].size();
mActiveNodes[node.mType].pushBack(nodeIndex);
}
PX_FORCE_INLINE void markInactive(PxNodeIndex nodeIndex)
{
const PxU32 index = nodeIndex.index();
const Node& node = mNodes[index];
PX_ASSERT(!node.isKinematic());
PX_ASSERT(mActiveNodeIndex[index] != PX_INVALID_NODE);
PxArray<PxNodeIndex>& activeNodes = mActiveNodes[node.mType];
PX_ASSERT(activeNodes[mActiveNodeIndex[index]].index() == index);
const PxU32 initialActiveNodeCount = mInitialActiveNodeCount[node.mType];
if(mActiveNodeIndex[index] < initialActiveNodeCount)
{
//It's in the initial active node set. We retain a list of active nodes, where the existing active nodes
//are at the beginning of the array and the newly activated nodes are at the end of the array...
//The solution is to move the node to the end of the initial active node list in this case
PxU32 activeNodeIndex = mActiveNodeIndex[index];
PxNodeIndex replaceIndex = activeNodes[initialActiveNodeCount - 1];
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == initialActiveNodeCount - 1);
mActiveNodeIndex[index] = mActiveNodeIndex[replaceIndex.index()];
mActiveNodeIndex[replaceIndex.index()] = activeNodeIndex;
activeNodes[activeNodeIndex] = replaceIndex;
activeNodes[mActiveNodeIndex[index]] = nodeIndex;
mInitialActiveNodeCount[node.mType]--;
}
PX_ASSERT(!node.isKinematic());
PX_ASSERT(mActiveNodeIndex[index] != PX_INVALID_NODE);
PX_ASSERT(activeNodes[mActiveNodeIndex[index]].index() == index);
PxNodeIndex replaceIndex = activeNodes.back();
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == activeNodes.size() - 1);
mActiveNodeIndex[replaceIndex.index()] = mActiveNodeIndex[index];
activeNodes[mActiveNodeIndex[index]] = replaceIndex;
activeNodes.forceSize_Unsafe(activeNodes.size() - 1);
mActiveNodeIndex[index] = PX_INVALID_NODE;
}
PX_FORCE_INLINE void markEdgeActive(EdgeIndex index, PxNodeIndex nodeIndex1, PxNodeIndex nodeIndex2)
{
Edge& edge = mEdges[index];
PX_ASSERT((edge.mEdgeState & Edge::eACTIVATING) == 0);
edge.mEdgeState |= Edge::eACTIVATING;
mActivatedEdges[edge.mEdgeType].pushBack(index);
mActiveEdgeCount[edge.mEdgeType]++;
//Set the active bit...
if(mGpuData && edge.mEdgeType == Edge::eCONTACT_MANAGER)
mGpuData->mActiveContactEdges.set(index);
const PxU32 index1 = nodeIndex1.index();
const PxU32 index2 = nodeIndex2.index();
if (index1 != PX_INVALID_NODE && index2 != PX_INVALID_NODE)
{
PX_ASSERT((!mNodes[index1].isKinematic()) || (!mNodes[index2].isKinematic()) || edge.getEdgeType() == IG::Edge::eCONTACT_MANAGER);
{
Node& node = mNodes[index1];
if(node.mActiveRefCount == 0 && node.isKinematic() && !node.isActiveOrActivating())
markKinematicActive(nodeIndex1); //Add to active kinematic list
node.mActiveRefCount++;
}
{
Node& node = mNodes[index2];
if(node.mActiveRefCount == 0 && node.isKinematic() && !node.isActiveOrActivating())
markKinematicActive(nodeIndex2); //Add to active kinematic list
node.mActiveRefCount++;
}
}
}
void removeEdgeFromActivatingList(EdgeIndex index);
};
}
}
#endif