path: root/NvCloth/src/cuda/CuFactory.cpp

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#include "CuFactory.h"
#include "CuFabric.h"
#include "CuCloth.h"
#include "CuSolver.h"
#include "../ClothImpl.h"
#include "CuCheckSuccess.h"
#include "CuContextLock.h"
#include <cuda.h>
#include "CuSolverKernelBlob.h"

#if PX_VC
#pragma warning(disable : 4061 4062) // enumerator 'identifier' in switch of enum 'enumeration' is not handled
#endif

using namespace physx;
using namespace nv;

namespace nv
{
namespace cloth
{
// defined in Factory.cpp
uint32_t getNextFabricId();

typedef Vec4T<uint32_t> Vec4u;
}
}

void cloth::checkSuccessImpl(CUresult err, const char* file, const int line)
{
	if (err != CUDA_SUCCESS)
	{
		const char* code = "Unknown";
		switch(err)
		{
#define ADD_CASE(X)                                                                                                    \
	case X:                                                                                                            \
		code = #X;                                                                                                     \
		break
			ADD_CASE(CUDA_ERROR_INVALID_VALUE);
			ADD_CASE(CUDA_ERROR_OUT_OF_MEMORY);
			ADD_CASE(CUDA_ERROR_NOT_INITIALIZED);
			ADD_CASE(CUDA_ERROR_DEINITIALIZED);
			ADD_CASE(CUDA_ERROR_NO_DEVICE);
			ADD_CASE(CUDA_ERROR_INVALID_DEVICE);
			ADD_CASE(CUDA_ERROR_INVALID_IMAGE);
			ADD_CASE(CUDA_ERROR_INVALID_CONTEXT);
			ADD_CASE(CUDA_ERROR_MAP_FAILED);
			ADD_CASE(CUDA_ERROR_UNMAP_FAILED);
			ADD_CASE(CUDA_ERROR_ARRAY_IS_MAPPED);
			ADD_CASE(CUDA_ERROR_ALREADY_MAPPED);
			ADD_CASE(CUDA_ERROR_NO_BINARY_FOR_GPU);
			ADD_CASE(CUDA_ERROR_ALREADY_ACQUIRED);
			ADD_CASE(CUDA_ERROR_NOT_MAPPED);
			ADD_CASE(CUDA_ERROR_NOT_MAPPED_AS_ARRAY);
			ADD_CASE(CUDA_ERROR_NOT_MAPPED_AS_POINTER);
			ADD_CASE(CUDA_ERROR_ECC_UNCORRECTABLE);
			ADD_CASE(CUDA_ERROR_UNSUPPORTED_LIMIT);
			ADD_CASE(CUDA_ERROR_INVALID_SOURCE);
			ADD_CASE(CUDA_ERROR_FILE_NOT_FOUND);
			ADD_CASE(CUDA_ERROR_SHARED_OBJECT_SYMBOL_NOT_FOUND);
			ADD_CASE(CUDA_ERROR_SHARED_OBJECT_INIT_FAILED);
			ADD_CASE(CUDA_ERROR_OPERATING_SYSTEM);
			ADD_CASE(CUDA_ERROR_INVALID_HANDLE);
			ADD_CASE(CUDA_ERROR_NOT_FOUND);
			ADD_CASE(CUDA_ERROR_NOT_READY);
			ADD_CASE(CUDA_ERROR_LAUNCH_FAILED);
			ADD_CASE(CUDA_ERROR_LAUNCH_OUT_OF_RESOURCES);
			ADD_CASE(CUDA_ERROR_LAUNCH_TIMEOUT);
			ADD_CASE(CUDA_ERROR_LAUNCH_INCOMPATIBLE_TEXTURING);
		default:
			ADD_CASE(CUDA_ERROR_UNKNOWN);
#undef ADD_CASE
		}
		NV_CLOTH_LOG_ERROR("CUDA error: %s at %s:%d", code, file, line);
	}
}

namespace
{
// returns max threads as specified by launch bounds in CuSolverKernel.cu
uint32_t getMaxThreadsPerBlock(CUcontext context)
{
	checkSuccess(cuCtxPushCurrent(context));

	CUdevice device;
	checkSuccess(cuCtxGetDevice(&device));

	int major = 0;
	checkSuccess(cuDeviceGetAttribute(&major, CU_DEVICE_ATTRIBUTE_COMPUTE_CAPABILITY_MAJOR, device));

	checkSuccess(cuCtxPopCurrent(nullptr));

	if (major >= 3)
		return 1024;
	if (major >= 2)
		return 512;
	return 192; // Should be the same logic as APEX used
}
}

cloth::CuFactory::CuFactory(CUcontext context)
: mContext(context)
, mNumThreadsPerBlock(getMaxThreadsPerBlock(context))
, mMaxThreadsPerBlock(mNumThreadsPerBlock)
, mSolverCount(0)
{
	checkSuccess(cuModuleLoadFatBinary(&mKernelModule, kCuSolverKernel));
}

cloth::CuFactory::~CuFactory()
{
	NV_CLOTH_ASSERT(("All fabrics created by this factory need to be deleted before this factory is destroyed.", mFabrics.size() == 0));
	NV_CLOTH_ASSERT(("All solvers created by this factory need to be deleted before this factory is destroyed.", mSolverCount == 0));
}

cloth::Fabric* cloth::CuFactory::createFabric(uint32_t numParticles, Range<const uint32_t> phaseIndices,
                                              Range<const uint32_t> sets, Range<const float> restvalues, Range<const float> stiffnessValues,
                                              Range<const uint32_t> indices, Range<const uint32_t> anchors,
                                              Range<const float> tetherLengths, Range<const uint32_t> triangles)
{
	return NV_CLOTH_NEW(CuFabric)(*this, numParticles, phaseIndices, sets, restvalues, stiffnessValues, indices, anchors, tetherLengths, triangles,
	                    getNextFabricId());
}

cloth::Cloth* cloth::CuFactory::createCloth(Range<const PxVec4> particles, Fabric& fabric)
{
	return NV_CLOTH_NEW(CuCloth)(*this, static_cast<CuFabric&>(fabric), particles);
}

cloth::Solver* cloth::CuFactory::createSolver()
{
	CuSolver* solver = NV_CLOTH_NEW(CuSolver)(*this);

	if (solver->hasError())
	{
		NV_CLOTH_DELETE(solver);
		return NULL;
	}

	return solver;
}

// CuFactory::clone() implemented in CuClothClone.cpp

void cloth::CuFactory::copyToHost(const void* srcIt, const void* srcEnd, void* dstIt) const
{
	CuContextLock contextLock(*this);

	checkSuccess(cuMemcpyDtoH(dstIt, CUdeviceptr(srcIt), size_t(intptr_t(srcEnd) - intptr_t(srcIt))));
}

void cloth::CuFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> phaseIndices, Range<uint32_t> sets,
                                         Range<float> restvalues, Range<float> stiffnessValues, Range<uint32_t> indices, Range<uint32_t> anchors,
                                         Range<float> tetherLengths, Range<uint32_t> triangles) const
{
	CuContextLock contextLock(*this);

	const CuFabric& cuFabric = static_cast<const CuFabric&>(fabric);

	if (!phaseIndices.empty())
	{
		NV_CLOTH_ASSERT(phaseIndices.size() == cuFabric.mPhases.size());
		const uint32_t* devicePhases = cuFabric.mPhases.begin().get();
		copyToHost(devicePhases, devicePhases + cuFabric.mPhases.size(), phaseIndices.begin());
	}

	if (!restvalues.empty())
	{
		NV_CLOTH_ASSERT(restvalues.size() == cuFabric.mRestvalues.size());
		const float* deviceRestvalues = cuFabric.mRestvalues.begin().get();
		copyToHost(deviceRestvalues, deviceRestvalues + cuFabric.mRestvalues.size(), restvalues.begin());
	}

	if (!stiffnessValues.empty())
	{
		NV_CLOTH_ASSERT(stiffnessValues.size() == cuFabric.mStiffnessValues.size());
		const float* deviceStiffnessValues = cuFabric.mStiffnessValues.begin().get();
		copyToHost(deviceStiffnessValues, deviceStiffnessValues + cuFabric.mStiffnessValues.size(), stiffnessValues.begin());
	}

	if (!sets.empty())
	{
		NV_CLOTH_ASSERT(sets.size() == cuFabric.mSets.size() - 1);
		const uint32_t* deviceSets = cuFabric.mSets.begin().get();
		copyToHost(deviceSets + 1, deviceSets + cuFabric.mSets.size(), sets.begin());
	}

	if (!indices.empty())
	{
		NV_CLOTH_ASSERT(indices.size() == cuFabric.mIndices.size());
		const uint16_t* deviceIndices = cuFabric.mIndices.begin().get();
		uint16_t* hostIndices = reinterpret_cast<uint16_t*>(indices.begin());
		copyToHost(deviceIndices, deviceIndices + cuFabric.mIndices.size(), hostIndices);

		// convert from 16bit to 32bit indices
		for (uint32_t i = indices.size(); 0 < i--;)
			indices[i] = hostIndices[i];
	}

	if (!anchors.empty() || !tetherLengths.empty())
	{
		uint32_t numTethers = uint32_t(cuFabric.mTethers.size());
		Vector<CuTether>::Type tethers(numTethers, CuTether(0, 0));
		const CuTether* deviceTethers = cuFabric.mTethers.begin().get();
		copyToHost(deviceTethers, deviceTethers + numTethers, tethers.begin());

		NV_CLOTH_ASSERT(anchors.empty() || anchors.size() == tethers.size());
		for (uint32_t i = 0; !anchors.empty(); ++i, anchors.popFront())
			anchors.front() = tethers[i].mAnchor;

		NV_CLOTH_ASSERT(tetherLengths.empty() || tetherLengths.size() == tethers.size());
		for (uint32_t i = 0; !tetherLengths.empty(); ++i, tetherLengths.popFront())
			tetherLengths.front() = tethers[i].mLength * cuFabric.mTetherLengthScale;
	}

	if (!triangles.empty())
	{
		// todo triangles
	}
}

void cloth::CuFactory::extractCollisionData(const Cloth& cloth, Range<PxVec4> spheres, Range<uint32_t> capsules,
                                            Range<PxVec4> planes, Range<uint32_t> convexes, Range<PxVec3> triangles) const
{
	NV_CLOTH_ASSERT(&cloth.getFactory() == this);

	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);

	NV_CLOTH_ASSERT(spheres.empty() || spheres.size() == cuCloth.mStartCollisionSpheres.size());
	NV_CLOTH_ASSERT(capsules.empty() || capsules.size() == cuCloth.mCapsuleIndices.size() * 2);
	NV_CLOTH_ASSERT(planes.empty() || planes.size() == cuCloth.mStartCollisionPlanes.size());
	NV_CLOTH_ASSERT(convexes.empty() || convexes.size() == cuCloth.mConvexMasks.size());
	NV_CLOTH_ASSERT(triangles.empty() || triangles.size() == cuCloth.mStartCollisionTriangles.size());

	// collision spheres are in pinned memory, so memcpy directly
	if (!cuCloth.mStartCollisionSpheres.empty() && !spheres.empty())
		memcpy(spheres.begin(), &cuCloth.mStartCollisionSpheres.front(),
		       cuCloth.mStartCollisionSpheres.size() * sizeof(PxVec4));

	if (!cuCloth.mCapsuleIndices.empty() && !capsules.empty())
		memcpy(capsules.begin(), &cuCloth.mCapsuleIndices.front(), cuCloth.mCapsuleIndices.size() * sizeof(IndexPair));

	if (!cuCloth.mStartCollisionPlanes.empty() && !planes.empty())
		memcpy(planes.begin(), &cuCloth.mStartCollisionPlanes.front(),
		       cuCloth.mStartCollisionPlanes.size() * sizeof(PxVec4));

	if (!cuCloth.mConvexMasks.empty() && !convexes.empty())
		memcpy(convexes.begin(), &cuCloth.mConvexMasks.front(), cuCloth.mConvexMasks.size() * sizeof(uint32_t));

	if (!cuCloth.mStartCollisionTriangles.empty() && !triangles.empty())
		memcpy(triangles.begin(), &cuCloth.mStartCollisionTriangles.front(),
		       cuCloth.mStartCollisionTriangles.size() * sizeof(PxVec3));
}

void cloth::CuFactory::extractMotionConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const
{
	NV_CLOTH_ASSERT(&cloth.getFactory() == this);

	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);

	if (cuCloth.mMotionConstraints.mHostCopy.size())
	{
		NV_CLOTH_ASSERT(destConstraints.size() == cuCloth.mMotionConstraints.mHostCopy.size());

		memcpy(destConstraints.begin(), cuCloth.mMotionConstraints.mHostCopy.begin(),
		          sizeof(PxVec4) * cuCloth.mMotionConstraints.mHostCopy.size());
	}
	else
	{
		CuContextLock contextLock(*this);

		CuDeviceVector<PxVec4> const& srcConstraints = !cuCloth.mMotionConstraints.mTarget.empty()
		                                                   ? cuCloth.mMotionConstraints.mTarget
		                                                   : cuCloth.mMotionConstraints.mStart;

		NV_CLOTH_ASSERT(destConstraints.size() == srcConstraints.size());

		copyToHost(srcConstraints.begin().get(), srcConstraints.end().get(), destConstraints.begin());
	}
}

void cloth::CuFactory::extractSeparationConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const
{
	NV_CLOTH_ASSERT(&cloth.getFactory() == this);

	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);

	if (cuCloth.mSeparationConstraints.mHostCopy.size())
	{
		NV_CLOTH_ASSERT(destConstraints.size() == cuCloth.mSeparationConstraints.mHostCopy.size());

		memcpy(destConstraints.begin(), cuCloth.mSeparationConstraints.mHostCopy.begin(),
		          sizeof(PxVec4) * cuCloth.mSeparationConstraints.mHostCopy.size());
	}
	else
	{
		CuContextLock contextLock(*this);

		CuDeviceVector<PxVec4> const& srcConstraints = !cuCloth.mSeparationConstraints.mTarget.empty()
		                                                   ? cuCloth.mSeparationConstraints.mTarget
		                                                   : cuCloth.mSeparationConstraints.mStart;

		NV_CLOTH_ASSERT(destConstraints.size() == srcConstraints.size());

		copyToHost(srcConstraints.begin().get(), srcConstraints.end().get(), destConstraints.begin());
	}
}

void cloth::CuFactory::extractParticleAccelerations(const Cloth& cloth, Range<PxVec4> destAccelerations) const
{
	NV_CLOTH_ASSERT(&cloth.getFactory() == this);

	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);

	if (cuCloth.mParticleAccelerationsHostCopy.size())
	{
		NV_CLOTH_ASSERT(destAccelerations.size() == cuCloth.mParticleAccelerationsHostCopy.size());

		memcpy(destAccelerations.begin(), cuCloth.mParticleAccelerationsHostCopy.begin(),
		          sizeof(PxVec4) * cuCloth.mParticleAccelerationsHostCopy.size());
	}
}

void cloth::CuFactory::extractVirtualParticles(const Cloth& cloth, Range<uint32_t[4]> destIndices,
                                               Range<PxVec3> destWeights) const
{
	NV_CLOTH_ASSERT(&cloth.getFactory() == this);

	CuContextLock contextLock(*this);

	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);

	if (destWeights.size() > 0)
	{
		uint32_t numWeights = cloth.getNumVirtualParticleWeights();

		Vector<PxVec4>::Type hostWeights(numWeights, PxVec4(0.0f));
		copyToHost(cuCloth.mVirtualParticleWeights.begin().get(), cuCloth.mVirtualParticleWeights.end().get(),
		           &hostWeights.front());

		// convert weights to Vec3
		PxVec3* destIt = reinterpret_cast<PxVec3*>(destWeights.begin());
		Vector<PxVec4>::Type::ConstIterator srcIt = hostWeights.begin();
		Vector<PxVec4>::Type::ConstIterator srcEnd = srcIt + numWeights;
		for (; srcIt != srcEnd; ++srcIt, ++destIt)
			*destIt = reinterpret_cast<const PxVec3&>(*srcIt);

		NV_CLOTH_ASSERT(destIt <= destWeights.end());
	}

	if (destIndices.size() > 0)
	{
		uint32_t numIndices = cloth.getNumVirtualParticles();

		Vector<Vec4us>::Type hostIndices(numIndices);
		copyToHost(cuCloth.mVirtualParticleIndices.begin().get(), cuCloth.mVirtualParticleIndices.end().get(),
		           &hostIndices.front());

		// convert indices to 32 bit
		Vec4u* destIt = reinterpret_cast<Vec4u*>(destIndices.begin());
		Vector<Vec4us>::Type::ConstIterator srcIt = hostIndices.begin();
		Vector<Vec4us>::Type::ConstIterator srcEnd = srcIt + numIndices;
		for (; srcIt != srcEnd; ++srcIt, ++destIt)
			*destIt = Vec4u(*srcIt);

		NV_CLOTH_ASSERT(&array(*destIt) <= destIndices.end());
	}
}

void cloth::CuFactory::extractSelfCollisionIndices(const Cloth& cloth, Range<uint32_t> destIndices) const
{
	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);
	NV_CLOTH_ASSERT(destIndices.size() == cuCloth.mSelfCollisionIndices.size());
	copyToHost(cuCloth.mSelfCollisionIndices.begin().get(), cuCloth.mSelfCollisionIndices.end().get(),
	           destIndices.begin());
}

void cloth::CuFactory::extractRestPositions(const Cloth& cloth, Range<PxVec4> destRestPositions) const
{
	const CuCloth& cuCloth = static_cast<const CuCloth&>(cloth);
	NV_CLOTH_ASSERT(destRestPositions.size() == cuCloth.mRestPositions.size());
	copyToHost(cuCloth.mRestPositions.begin().get(), cuCloth.mRestPositions.end().get(), destRestPositions.begin());
}