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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 "StackAllocator.h"
#include "Simd.h"
#include <foundation/PxVec4.h>
#include <foundation/PxVec3.h>
#include <foundation/PxTransform.h>
namespace nv
{
namespace cloth
{
class SwCloth;
struct SwClothData;
typedef StackAllocator<16> SwKernelAllocator;
typedef bool (*InterCollisionFilter)(void* cloth0, void* cloth1);
struct SwInterCollisionData
{
SwInterCollisionData()
{
}
SwInterCollisionData(physx::PxVec4* particles, physx::PxVec4* prevParticles, uint32_t numParticles, uint32_t* indices,
const physx::PxTransform& globalPose, const physx::PxVec3& boundsCenter, const physx::PxVec3& boundsHalfExtents,
float impulseScale, void* userData)
: mParticles(particles)
, mPrevParticles(prevParticles)
, mNumParticles(numParticles)
, mIndices(indices)
, mGlobalPose(globalPose)
, mBoundsCenter(boundsCenter)
, mBoundsHalfExtent(boundsHalfExtents)
, mImpulseScale(impulseScale)
, mUserData(userData)
{
}
physx::PxVec4* mParticles;
physx::PxVec4* mPrevParticles;
uint32_t mNumParticles;
uint32_t* mIndices;
physx::PxTransform mGlobalPose;
physx::PxVec3 mBoundsCenter;
physx::PxVec3 mBoundsHalfExtent;
float mImpulseScale;
void* mUserData;
};
template <typename T4f>
class SwInterCollision
{
public:
SwInterCollision(const SwInterCollisionData* cloths, uint32_t n, float colDist, float stiffness,
uint32_t iterations, InterCollisionFilter filter, cloth::SwKernelAllocator& alloc);
~SwInterCollision();
void operator()();
static size_t estimateTemporaryMemory(SwInterCollisionData* cloths, uint32_t n);
private:
SwInterCollision& operator = (const SwInterCollision&); // not implemented
static size_t getBufferSize(uint32_t);
void collideParticles(const uint32_t* keys, uint32_t firstColumnSize, const uint32_t* sortedIndices,
uint32_t numParticles, uint32_t collisionDistance);
T4f& getParticle(uint32_t index);
// better wrap these in a struct
void collideParticle(uint32_t index);
T4f mParticle;
T4f mImpulse;
T4f mCollisionDistance;
T4f mCollisionSquareDistance;
T4f mStiffness;
uint16_t mClothIndex;
uint32_t mClothMask;
uint32_t mParticleIndex;
uint32_t mNumIterations;
const SwInterCollisionData* mInstances;
uint32_t mNumInstances;
uint16_t* mClothIndices;
uint32_t* mParticleIndices;
uint32_t mNumParticles;
uint32_t* mOverlapMasks;
uint32_t mTotalParticles;
InterCollisionFilter mFilter;
SwKernelAllocator& mAllocator;
public:
mutable uint32_t mNumTests;
mutable uint32_t mNumCollisions;
};
//explicit template instantiation declaration
#if NV_SIMD_SIMD
extern template class SwInterCollision<Simd4f>;
#endif
#if NV_SIMD_SCALAR
extern template class SwInterCollision<Scalar4f>;
#endif
} // namespace cloth
} // namespace nv
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