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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 "NvCloth/Range.h"
#include "NvCloth/PhaseConfig.h"
#include "../MovingAverage.h"
#include "../IndexPair.h"
#include "../BoundingBox.h"
#include "../Vec4T.h"
#include "CuPhaseConfig.h"
#include "CuPinnedAllocator.h"
#include "CuContextLock.h"
#include "CuDeviceVector.h"
#include <foundation/PxVec4.h>
#include <foundation/PxVec3.h>
#include <foundation/PxTransform.h>
#include "NvCloth/Allocator.h"
#include "ClothImpl.h"
#include "CuFactory.h"
namespace nv
{
namespace cloth
{
class CuFabric;
struct CuClothData;
struct CuConstraints
{
CuConstraints(CUcontext ctx)
: mStart(ctx), mTarget(ctx), mHostCopy(ctx)
{
}
void pop()
{
if (!mTarget.empty())
{
mStart.swap(mTarget);
mTarget.resize(0);
}
}
CuDeviceVector<physx::PxVec4> mStart;
CuDeviceVector<physx::PxVec4> mTarget;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mHostCopy;
};
class CuCloth;
template<>
class ClothTraits<CuCloth>
{
public:
typedef CuFactory FactoryType;
typedef CuFabric FabricType;
typedef CuContextLock ContextLockType;
};
class CuCloth : protected CuContextLock, public ClothImpl<CuCloth>
{
CuCloth(); // not implemented
public:
CuCloth& operator = (const CuCloth&);
typedef CuFactory FactoryType;
typedef CuFabric FabricType;
typedef CuContextLock ContextLockType;
typedef CuHostVector<physx::PxVec3, CU_MEMHOSTALLOC_DEVICEMAP>::Type& MappedVec3fVectorType;
typedef CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type& MappedVec4fVectorType;
typedef CuHostVector<IndexPair, CU_MEMHOSTALLOC_DEVICEMAP>::Type& MappedIndexVectorType;
typedef CuHostVector<uint32_t, CU_MEMHOSTALLOC_DEVICEMAP>::Type& MappedMaskVectorType;
CuCloth(CuFactory&, CuFabric&, Range<const physx::PxVec4>);
CuCloth(CuFactory&, const CuCloth&);
~CuCloth(); // not virtual on purpose
public:
virtual Cloth* clone(Factory& factory) const;
uint32_t getNumParticles() const;
void lockParticles() const;
void unlockParticles() const;
MappedRange<physx::PxVec4> getCurrentParticles();
MappedRange<const physx::PxVec4> getCurrentParticles() const;
MappedRange<physx::PxVec4> getPreviousParticles();
MappedRange<const physx::PxVec4> getPreviousParticles() const;
GpuParticles getGpuParticles();
void setPhaseConfig(Range<const PhaseConfig> configs);
void setSelfCollisionIndices(Range<const uint32_t> indices);
uint32_t getNumVirtualParticles() const;
Range<physx::PxVec4> getParticleAccelerations();
void clearParticleAccelerations();
void setVirtualParticles(Range<const uint32_t[4]> indices, Range<const physx::PxVec3> weights);
void notifyChanged();
bool updateClothData(CuClothData&); // expects acquired context
uint32_t getSharedMemorySize() const; // without particle data
// expects transformed configs, doesn't call notifyChanged()
void setPhaseConfigInternal(Range<const PhaseConfig> configs);
Range<physx::PxVec4> push(CuConstraints&);
void clear(CuConstraints&);
void syncDeviceParticles();
void syncHostParticles();
Range<const physx::PxVec3> clampTriangleCount(Range<const physx::PxVec3>, uint32_t);
public:
CuFactory& mFactory;
CuFabric& mFabric;
bool mClothDataDirty;
bool mClothCostDirty;
// particle data
uint32_t mNumParticles;
CuDeviceVector<physx::PxVec4> mParticles; // cur, prev
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mParticlesHostCopy;
bool mDeviceParticlesDirty;
bool mHostParticlesDirty;
CuDeviceVector<CuPhaseConfig> mPhaseConfigs; // transformed!
Vector<PhaseConfig>::Type mHostPhaseConfigs; // transformed!
// tether constraints stuff
float mTetherConstraintLogStiffness;
float mTetherConstraintScale;
// motion constraints stuff
CuConstraints mMotionConstraints;
float mMotionConstraintScale;
float mMotionConstraintBias;
float mMotionConstraintLogStiffness;
// separation constraints stuff
CuConstraints mSeparationConstraints;
// particle acceleration stuff
CuDeviceVector<physx::PxVec4> mParticleAccelerations;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mParticleAccelerationsHostCopy;
// collision stuff
CuHostVector<IndexPair, CU_MEMHOSTALLOC_DEVICEMAP>::Type mCapsuleIndices;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mStartCollisionSpheres;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mTargetCollisionSpheres;
CuHostVector<uint32_t, CU_MEMHOSTALLOC_DEVICEMAP>::Type mConvexMasks;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mStartCollisionPlanes;
CuHostVector<physx::PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type mTargetCollisionPlanes;
CuHostVector<physx::PxVec3, CU_MEMHOSTALLOC_DEVICEMAP>::Type mStartCollisionTriangles;
CuHostVector<physx::PxVec3, CU_MEMHOSTALLOC_DEVICEMAP>::Type mTargetCollisionTriangles;
bool mEnableContinuousCollision;
float mCollisionMassScale;
float mFriction;
// virtual particles
CuDeviceVector<uint32_t> mVirtualParticleSetSizes;
CuDeviceVector<Vec4us> mVirtualParticleIndices;
CuDeviceVector<physx::PxVec4> mVirtualParticleWeights;
// self collision
float mSelfCollisionDistance;
float mSelfCollisionLogStiffness;
CuDeviceVector<physx::PxVec4> mRestPositions;
CuDeviceVector<uint32_t> mSelfCollisionIndices;
Vector<uint32_t>::Type mSelfCollisionIndicesHost;
// 4 (position) + 2 (key) per particle + cellStart (8322)
CuDeviceVector<float> mSelfCollisionData;
uint32_t mSharedMemorySize;
void* mUserData;
};
}
}
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