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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2016-2020 NVIDIA Corporation. All rights reserved.
#include "NvBlastExtPxStressSolverImpl.h"
#include "NvBlastExtPxAsset.h"
#include "NvBlastExtPxFamily.h"
#include "NvBlastExtPxActor.h"
#include "NvBlastAssert.h"
#include "NvBlastIndexFns.h"
#include "NvBlastTkAsset.h"
#include "NvBlastTkActor.h"
#include "NvBlastTkFamily.h"
#include "NvBlastPxSharedHelpers.h"
#include "PxScene.h"
#include "PxRigidDynamic.h"
#define USE_PHYSX_NODE_INFO 1
namespace Nv
{
namespace Blast
{
using namespace physx;
ExtPxStressSolverImpl::ExtPxStressSolverImpl(ExtPxFamily& family, ExtStressSolverSettings settings)
: m_family(family)
{
NvBlastFamily* familyLL = const_cast<NvBlastFamily*>(family.getTkFamily().getFamilyLL());
NVBLAST_ASSERT(familyLL);
m_solver = ExtStressSolver::create(*familyLL, settings);
const TkAsset* tkAsset = m_family.getTkFamily().getAsset();
const ExtPxAsset& asset = m_family.getPxAsset();
const ExtPxChunk* chunks = asset.getChunks();
const ExtPxSubchunk* subChunks = asset.getSubchunks();
const NvBlastSupportGraph graph = tkAsset->getGraph();
const uint32_t chunkCount = tkAsset->getChunkCount();
TkActor* tkActor;
m_family.getTkFamily().getActors(&tkActor, 1);
const float* bondHealths = tkActor->getBondHealths();
#if USE_PHYSX_NODE_INFO
// traverse graph and fill node info,
// essentially it does the same as m_solver->setAllNodesInfoFromLL() but fills mass, volume, transform from physx
// and it also uses ExtPxChunk isStatic flag in addition to 'world' node in LL
for (uint32_t node0 = 0; node0 < graph.nodeCount; ++node0)
{
uint32_t chunkIndex0 = graph.chunkIndices[node0];
const ExtPxChunk* chunk0 = chunkIndex0 < chunkCount ? &chunks[chunkIndex0] : nullptr;
bool isChunkStatic = true;
if (chunk0)
{
isChunkStatic = chunk0->isStatic;
for (uint32_t adjacencyIndex = graph.adjacencyPartition[node0]; adjacencyIndex < graph.adjacencyPartition[node0 + 1]; adjacencyIndex++)
{
uint32_t bondIndex = graph.adjacentBondIndices[adjacencyIndex];
if (bondHealths[bondIndex] <= 0.0f)
continue;
uint32_t node1 = graph.adjacentNodeIndices[adjacencyIndex];
uint32_t chunkIndex1 = graph.chunkIndices[node1];
if (chunkIndex1 < chunkCount)
{
const ExtPxChunk& chunk1 = chunks[chunkIndex1];
if (chunk1.subchunkCount == 0 || chunk1.isStatic)
{
isChunkStatic |= chunk1.isStatic;
continue;
}
}
else
{
isChunkStatic = true;
break;
}
}
}
// fill node info
float mass;
float volume;
PxVec3 localPos;
if (chunk0 && chunk0->subchunkCount > 0)
{
const ExtPxSubchunk& subChunk = subChunks[chunk0->firstSubchunkIndex];
PxVec3 localCenterOfMass;
PxMat33 intertia;
PxVec3 scale = subChunk.geometry.scale.scale;
subChunk.geometry.convexMesh->getMassInformation(mass, intertia, localCenterOfMass);
mass *= scale.x * scale.y * scale.z;
const PxTransform& chunk0LocalTransform = subChunk.transform;
localPos = chunk0LocalTransform.transform(localCenterOfMass);
volume = mass / 1.0f; // unit density
}
else
{
mass = 0.0f;
volume = 0.0f;
localPos = PxVec3(PxZero);
isChunkStatic = true;
}
m_solver->setNodeInfo(node0, mass, volume, fromPxShared(localPos), isChunkStatic);
}
#else
m_solver->setAllNodesInfoFromLL();
#endif
// notify initial actor's created
InlineArray<ExtPxActor*, 4>::type actors;;
actors.resize(m_family.getActorCount());
m_family.getActors(actors.begin(), actors.size());
for (const auto actor : actors)
{
onActorCreated(m_family, *actor);
}
m_family.subscribe(*this);
}
ExtPxStressSolverImpl::~ExtPxStressSolverImpl()
{
m_family.unsubscribe(*this);
m_solver->release();
}
ExtPxStressSolver* ExtPxStressSolver::create(ExtPxFamily& family, ExtStressSolverSettings settings)
{
return NVBLAST_NEW(ExtPxStressSolverImpl) (family, settings);
}
void ExtPxStressSolverImpl::release()
{
NVBLAST_DELETE(this, ExtPxStressSolverImpl);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Update Wrapper
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void ExtPxStressSolverImpl::update(bool doDamage)
{
for (auto it = m_actors.getIterator(); !it.done(); ++it)
{
const ExtPxActor* actor = *it;
PxRigidDynamic& rigidDynamic = actor->getPhysXActor();
const bool isStatic = rigidDynamic.getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC;
if (isStatic)
{
PxVec3 gravity = rigidDynamic.getScene()->getGravity();
PxVec3 localGravity = rigidDynamic.getGlobalPose().rotateInv(gravity);
m_solver->addGravityForce(*actor->getTkActor().getActorLL(), fromPxShared(localGravity));
}
else
{
PxVec3 localCenterMass = rigidDynamic.getCMassLocalPose().p;
PxVec3 localAngularVelocity = rigidDynamic.getGlobalPose().rotateInv(rigidDynamic.getAngularVelocity());
m_solver->addAngularVelocity(*actor->getTkActor().getActorLL(), fromPxShared(localCenterMass), fromPxShared(localAngularVelocity));
}
}
m_solver->update();
if (doDamage && m_solver->getOverstressedBondCount() > 0)
{
NvBlastFractureBuffers commands;
m_solver->generateFractureCommands(commands);
if (commands.bondFractureCount > 0)
{
m_family.getTkFamily().applyFracture(&commands);
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Actors
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void ExtPxStressSolverImpl::onActorCreated(ExtPxFamily& /*family*/, ExtPxActor& actor)
{
if (m_solver->notifyActorCreated(*actor.getTkActor().getActorLL()))
{
m_actors.insert(&actor);
}
}
void ExtPxStressSolverImpl::onActorDestroyed(ExtPxFamily& /*family*/, ExtPxActor& actor)
{
m_solver->notifyActorDestroyed(*actor.getTkActor().getActorLL());
m_actors.erase(&actor);
}
} // namespace Blast
} // namespace Nv
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