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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) 2008-2020 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include <foundation/Px.h>
#include "StackAllocator.h"
#include "Simd.h"
namespace nv
{
namespace cloth
{
class SwCloth;
struct SwClothData;
template <typename>
struct IterationState;
struct IndexPair;
struct SphereData;
struct ConeData;
struct TriangleData;
typedef StackAllocator<16> SwKernelAllocator;
/**
Collision handler for SwSolver.
*/
template <typename T4f>
class SwCollision
{
typedef typename Simd4fToSimd4i<T4f>::Type T4i;
public:
struct ShapeMask
{
T4i mCones;
T4i mSpheres;
ShapeMask& operator = (const ShapeMask&);
ShapeMask& operator &= (const ShapeMask&);
};
struct CollisionData
{
CollisionData();
SphereData* mSpheres;
ConeData* mCones;
};
struct ImpulseAccumulator;
public:
SwCollision(SwClothData& clothData, SwKernelAllocator& alloc);
~SwCollision();
void operator()(const IterationState<T4f>& state);
static size_t estimateTemporaryMemory(const SwCloth& cloth);
static size_t estimatePersistentMemory(const SwCloth& cloth);
private:
SwCollision& operator = (const SwCollision&); // not implemented
void allocate(CollisionData&);
void deallocate(const CollisionData&);
void computeBounds();
void buildSphereAcceleration(const SphereData*);
void buildConeAcceleration();
static void mergeAcceleration(uint32_t*);
bool buildAcceleration();
static ShapeMask getShapeMask(const T4f&, const T4i*, const T4i*);
ShapeMask getShapeMask(const T4f*) const;
ShapeMask getShapeMask(const T4f*, const T4f*) const;
void collideSpheres(const T4i&, const T4f*, ImpulseAccumulator&) const;
T4i collideCones(const T4f*, ImpulseAccumulator&) const;
void collideSpheres(const T4i&, const T4f*, T4f*, ImpulseAccumulator&) const;
T4i collideCones(const T4f*, T4f*, ImpulseAccumulator&) const;
void collideParticles();
void collideVirtualParticles();
void collideContinuousParticles();
void collideConvexes(const IterationState<T4f>&);
void collideConvexes(const T4f*, T4f*, ImpulseAccumulator&);
void collideTriangles(const IterationState<T4f>&);
void collideTriangles(const TriangleData*, T4f*, ImpulseAccumulator&);
public:
// acceleration structure
static const uint32_t sGridSize = 8;
T4i mSphereGrid[6 * sGridSize / 4];
T4i mConeGrid[6 * sGridSize / 4];
T4f mGridScale, mGridBias;
CollisionData mPrevData;
CollisionData mCurData;
SwClothData& mClothData;
SwKernelAllocator& mAllocator;
uint32_t mNumCollisions;
static const T4f sSkeletonWidth;
};
//explicit template instantiation declaration
#if NV_SIMD_SIMD
extern template class SwCollision<Simd4f>;
#endif
#if NV_SIMD_SCALAR
extern template class SwCollision<Scalar4f>;
#endif
} // namespace cloth
} // namespace nv
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