PhysX 3.4 / APEX 1.4 release candidate @21506124

1 files changed, 0 insertions, 802 deletions

diff --git a/APEX_1.4/module/basicios/src/BasicIosActorGPU.cpp b/APEX_1.4/module/basicios/src/BasicIosActorGPU.cpp
deleted file mode 100644
index 0a4ef4ca..00000000
--- a/APEX_1.4/module/basicios/src/BasicIosActorGPU.cpp
+++ /dev/null
@@ -1,802 +0,0 @@
-/*
- * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
-
-
-#include "ApexDefs.h"
-#if APEX_CUDA_SUPPORT
-
-#include "Apex.h"
-#include "SceneIntl.h"
-#include "ApexSDKIntl.h"
-
-#include "BasicIosActor.h"
-#include "BasicIosActorGPU.h"
-#include "BasicIosAssetImpl.h"
-#include "IofxAsset.h"
-#include "IofxActor.h"
-#include "ModuleBasicIosImpl.h"
-#include "BasicIosSceneGPU.h"
-#include "RenderDebugInterface.h"
-#include "AuthorableObjectIntl.h"
-
-#include "PxMath.h"
-
-//CUDA
-#include "PxGpuTask.h"
-#include "ApexCutil.h"
-
-#define CUDA_OBJ(name) SCENE_CUDA_OBJ(*mBasicIosScene, name)
-
-namespace nvidia
-{
-namespace basicios
-{
-
-#pragma warning(disable: 4355) // 'this' : used in base member initializer list
-
-BasicIosActorGPU::BasicIosActorGPU(
-    ResourceList& list,
-    BasicIosAssetImpl& asset,
-    BasicIosScene& scene,
-    nvidia::apex::IofxAsset& iofxAsset,
-	const ApexMirroredPlace::Enum defaultPlace)
-	: BASIC_IOS_ACTOR(list, asset, scene, iofxAsset, true)
-	, mCopyQueue(*scene.getApexScene().getTaskManager()->getGpuDispatcher())
-	, mHoleScanSum(scene.getApexScene())
-	, mMoveIndices(scene.getApexScene())
-	, mTmpReduce(scene.getApexScene())
-	, mTmpHistogram(scene.getApexScene())
-	, mTmpScan(scene.getApexScene())
-	, mTmpScan1(scene.getApexScene())
-	, mTmpOutput(scene.getApexScene())
-	, mTmpOutput1(scene.getApexScene())
-	, mLaunchTask(*this)
-{
-	initStorageGroups(CUDA_OBJ(simulateStorage));
-
-	//CUDA
-	mTmpOutput.setSize(4, ApexMirroredPlace::CPU_GPU);
-	mTmpOutput1.setSize(2, ApexMirroredPlace::CPU_GPU);
-
-	const unsigned int ScanWarpsPerBlock = MAX_WARPS_PER_BLOCK; //CUDA_OBJ(scanKernel).getBlockDim().x / WARP_SIZE;
-	mTmpReduce.reserve(MAX_BOUND_BLOCKS * 4, defaultPlace);
-	mTmpHistogram.reserve(MAX_BOUND_BLOCKS * HISTOGRAM_SIMULATE_BIN_COUNT, defaultPlace);
-	mTmpScan.reserve(MAX_BOUND_BLOCKS * ScanWarpsPerBlock, defaultPlace);
-	mTmpScan1.reserve(MAX_BOUND_BLOCKS * ScanWarpsPerBlock, defaultPlace);
-
-	mLifeTime.reserve(mMaxParticleCount, defaultPlace);
-
-	mLifeSpan.reserve(mMaxTotalParticleCount, ApexMirroredPlace::CPU_GPU);
-	mInjector.reserve(mMaxTotalParticleCount, ApexMirroredPlace::CPU_GPU);
-	mBenefit.reserve(mMaxTotalParticleCount, ApexMirroredPlace::CPU_GPU);
-
-	{
-		uint32_t size = mGridDensityParams.GridResolution;
-		if(size > 0)
-		{
-			mGridDensityGrid.setSize(size*size*size,ApexMirroredPlace::GPU);
-			mGridDensityGridLowPass.setSize(size*size*size,ApexMirroredPlace::GPU);
-		}
-	}
-
-	if (mAsset->mParams->collisionWithConvex)
-	{
-		mConvexPlanes.reserve(MAX_CONVEX_PLANES_COUNT, ApexMirroredPlace::CPU_GPU);
-		mConvexVerts.reserve(MAX_CONVEX_VERTS_COUNT, ApexMirroredPlace::CPU_GPU);
-		mConvexPolygonsData.reserve(MAX_CONVEX_POLYGONS_DATA_SIZE, ApexMirroredPlace::CPU_GPU);
-	}
-	if (mAsset->mParams->collisionWithTriangleMesh)
-	{
-		mTrimeshVerts.reserve(MAX_TRIMESH_VERTS_COUNT, ApexMirroredPlace::CPU_GPU);
-		mTrimeshIndices.reserve(MAX_TRIMESH_INDICES_COUNT, ApexMirroredPlace::CPU_GPU);
-	}
-
-	mHoleScanSum.reserve(mMaxTotalParticleCount, defaultPlace);
-	mMoveIndices.reserve(mMaxTotalParticleCount, defaultPlace);
-}
-
-BasicIosActorGPU::~BasicIosActorGPU()
-{
-}
-
-void BasicIosActorGPU::submitTasks()
-{
-	BasicIosActorImpl::submitTasks();
-
-	mInjectorsCounters.setSize(mInjectorList.getSize(), ApexMirroredPlace::CPU_GPU); 
-	PxTaskManager* tm = mBasicIosScene->getApexScene().getTaskManager();
-	tm->submitUnnamedTask(mLaunchTask, PxTaskType::TT_GPU);
-}
-
-void BasicIosActorGPU::setTaskDependencies()
-{
-	BasicIosActorImpl::setTaskDependencies(&mLaunchTask, true);
-
-	PxTaskManager* tm = mBasicIosScene->getApexScene().getTaskManager();
-	if (tm->getGpuDispatcher()->getCudaContextManager()->supportsArchSM20())
-	{
-		/* For Fermi devices, it pays to launch all IOS together.  This also forces
-		 * The IOFX managers to step at the same time.
-		 */
-		PxTaskID interlock = tm->getNamedTask("IOS::StepInterlock");
-		mLaunchTask.startAfter(interlock);
-	}
-}
-
-bool BasicIosActorGPU::launch(CUstream stream, int kernelIndex)
-{
-	float deltaTime = mBasicIosScene->getApexScene().getPhysXSimulateTime();
-
-	uint32_t activeCount = mLastActiveCount + mInjectedCount;
-	mParticleBudget = mMaxParticleCount;
-	if (mParticleBudget > activeCount)
-	{
-		mParticleBudget = activeCount;
-	}
-	uint32_t targetCount = mParticleBudget;
-
-	if (targetCount == 0)
-	{
-		//reset output
-		float* pTmpOutput = (float*)mTmpOutput.getPtr();
-		mTmpOutput[STATUS_LAST_ACTIVE_COUNT] = 0;
-		pTmpOutput[STATUS_LAST_BENEFIT_SUM]  = 0.0f;
-		pTmpOutput[STATUS_LAST_BENEFIT_MIN]  = +FLT_MAX;
-		pTmpOutput[STATUS_LAST_BENEFIT_MAX]  = -FLT_MAX;
-
-		for(uint32_t i = 0; i < mInjectorsCounters.getSize(); ++i)
-		{
-			mInjectorsCounters[i] = 0; 
-		}
-
-		//skip simulation & just call IofxManager
-		mIofxMgr->updateEffectsData(deltaTime, 0, 0, 0, stream);
-		return false;
-	}
-
-	uint32_t lastCount = mParticleCount;
-	uint32_t injectCount = mInjectedCount;
-	uint32_t totalCount = lastCount + injectCount;
-	PX_ASSERT(targetCount <= totalCount);
-	uint32_t boundCount = 0;
-	if (activeCount > targetCount)
-	{
-		boundCount = activeCount - targetCount;
-	}
-
-	BasicIosSceneGPU* sceneGPU = static_cast<BasicIosSceneGPU*>(mBasicIosScene);
-	bool useSyncKernels = !sceneGPU->getGpuDispatcher()->getCudaContextManager()->supportsArchSM20();
-
-	switch (kernelIndex)
-	{
-	case 0:
-		if (!mFieldSamplerQuery && mOnStartCallback)
-		{
-			(*mOnStartCallback)(stream);
-		}
-
-		mCopyQueue.reset(stream, 24);
-		mIofxMgr->outputHostToDevice(mCopyQueue);
-		if (mInjectedCount > 0)
-		{
-			mBufDesc.pmaPositionMass->copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mBufDesc.pmaVelocityLife->copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mBufDesc.pmaActorIdentifiers->copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mLifeSpan.copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mInjector.copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mBenefit.copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-			mBufDesc.pmaUserData->copyHostToDeviceQ(mCopyQueue, mInjectedCount, mParticleCount);
-		}
-		if (mAsset->mParams->collisionWithConvex)
-		{
-			mConvexPlanes.copyHostToDeviceQ(mCopyQueue);
-			mConvexVerts.copyHostToDeviceQ(mCopyQueue);
-			mConvexPolygonsData.copyHostToDeviceQ(mCopyQueue);
-		}
-		if (mAsset->mParams->collisionWithTriangleMesh)
-		{
-			mTrimeshVerts.copyHostToDeviceQ(mCopyQueue);
-			mTrimeshIndices.copyHostToDeviceQ(mCopyQueue);
-		}
-		mCopyQueue.flushEnqueued();
-		return true;
-
-	case 1:
-		if (totalCount > 0)
-		{
-			float benefitMin = PxMin(mLastBenefitMin, mInjectedBenefitMin);
-			float benefitMax = PxMax(mLastBenefitMax, mInjectedBenefitMax);
-			PX_ASSERT(benefitMin <= benefitMax);
-			benefitMax *= 1.00001f;
-
-			if (useSyncKernels)
-			{
-				CUDA_OBJ(histogramSyncKernel)(
-					stream, totalCount,
-					mBenefit.getGpuPtr(), boundCount,
-					benefitMin, benefitMax,
-					mTmpOutput1.getGpuPtr(),
-					mTmpHistogram.getGpuPtr()
-				);
-			}
-			else
-			{
-				uint32_t histogramGridSize =
-					CUDA_OBJ(histogramKernel)(
-						stream, totalCount,
-						createApexCudaMemRef(mBenefit, totalCount, ApexCudaMemFlags::IN), 
-						boundCount,	benefitMin, benefitMax,
-						createApexCudaMemRef(mTmpOutput1, ApexCudaMemFlags::IN),						
-						createApexCudaMemRef(mTmpHistogram, ApexCudaMemFlags::OUT),
-						1, 0
-					);
-
-				//launch just 1 block
-				CUDA_OBJ(histogramKernel)(
-					stream, APEX_CUDA_SINGLE_BLOCK_LAUNCH,
-					createApexCudaMemRef(mBenefit, totalCount, ApexCudaMemFlags::IN),
-					boundCount, benefitMin, benefitMax,
-					createApexCudaMemRef(mTmpOutput1, ApexCudaMemFlags::OUT),
-					createApexCudaMemRef(mTmpHistogram, ApexCudaMemFlags::IN_OUT),
-					2, histogramGridSize
-				);
-			}
-		}
-		return true;
-
-	case 2:
-		if (totalCount > 0)
-		{
-			float benefitMin = PxMin(mLastBenefitMin, mInjectedBenefitMin);
-			float benefitMax = PxMax(mLastBenefitMax, mInjectedBenefitMax);
-			PX_ASSERT(benefitMin <= benefitMax);
-			benefitMax *= 1.00001f;
-
-			if (useSyncKernels)
-			{
-				CUDA_OBJ(scanSyncKernel)(
-					stream, totalCount,
-					benefitMin, benefitMax,
-					mHoleScanSum.getGpuPtr(), mBenefit.getGpuPtr(),
-					mTmpOutput1.getGpuPtr(),
-					mTmpScan.getGpuPtr(), mTmpScan1.getGpuPtr()
-				);
-			}
-			else
-			{
-				uint32_t scanGridSize = 
-					CUDA_OBJ(scanKernel)(
-						stream, totalCount,
-						benefitMin, benefitMax,
-						createApexCudaMemRef(mHoleScanSum, totalCount, ApexCudaMemFlags::IN), 
-						createApexCudaMemRef(mBenefit, totalCount, ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpOutput1, ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpScan, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mTmpScan1, ApexCudaMemFlags::OUT),
-						1, 0
-					);
-
-				//launch just 1 block
-				CUDA_OBJ(scanKernel)(
-					stream, APEX_CUDA_SINGLE_BLOCK_LAUNCH,
-					benefitMin, benefitMax,
-					createApexCudaMemRef(mHoleScanSum, totalCount, ApexCudaMemFlags::IN), 
-					createApexCudaMemRef(mBenefit, totalCount, ApexCudaMemFlags::IN),
-					createApexCudaMemRef(mTmpOutput1, ApexCudaMemFlags::IN),
-					createApexCudaMemRef(mTmpScan, ApexCudaMemFlags::IN_OUT),
-					createApexCudaMemRef(mTmpScan1, ApexCudaMemFlags::IN_OUT),
-					2, scanGridSize
-				);
-
-				CUDA_OBJ(scanKernel)(
-					stream, totalCount,
-					benefitMin, benefitMax,
-					createApexCudaMemRef(mHoleScanSum, totalCount, ApexCudaMemFlags::OUT),
-					createApexCudaMemRef(mBenefit, totalCount, ApexCudaMemFlags::IN),
-					createApexCudaMemRef(mTmpOutput1, ApexCudaMemFlags::IN),
-					createApexCudaMemRef(mTmpScan, ApexCudaMemFlags::IN), 
-					createApexCudaMemRef(mTmpScan1, ApexCudaMemFlags::IN),
-					3, 0
-				);
-			}
-		}
-		return true;
-
-	case 3:
-	{
-		if (totalCount > 0)
-		{
-			APEX_CUDA_TEXTURE_SCOPE_BIND(texRefCompactScanSum, mHoleScanSum);
-			const uint32_t injectorCount = mInjectorList.getSize();
-
-			CUDA_OBJ(compactKernel)(
-				stream,
-				PxMax(totalCount, injectorCount),
-				targetCount,
-				totalCount,
-				injectorCount,
-				createApexCudaMemRef(mMoveIndices, totalCount, ApexCudaMemFlags::OUT),
-				createApexCudaMemRef(mTmpScan, ApexCudaMemFlags::OUT),
-				createApexCudaMemRef(mInjectorsCounters, ApexCudaMemFlags::OUT)
-			);
-
-		}
-		return true;
-	}
-
-
-	case 4:
-		if (targetCount > 0)
-		{
-			uint32_t histogramGridSize = 0;
-			{
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefMoveIndices, mMoveIndices);
-
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefPositionMass, *mBufDesc.pmaPositionMass);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefVelocityLife, *mBufDesc.pmaVelocityLife);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefIofxActorIDs, *mBufDesc.pmaActorIdentifiers);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefLifeSpan, mLifeSpan);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefLifeTime, mLifeTime);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefInjector, mInjector);
-
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefUserData, *mBufDesc.pmaUserData);
-
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefConvexPlanes, mConvexPlanes);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefConvexVerts, mConvexVerts);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefConvexPolygonsData, mConvexPolygonsData);
-
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefTrimeshVerts, mTrimeshVerts);
-				APEX_CUDA_TEXTURE_SCOPE_BIND(texRefTrimeshIndices, mTrimeshIndices);
-
-				PxVec3 gravity = -mUp;
-				const PxVec3& eyePos = mBasicIosScene->getApexScene().getEyePosition();
-			
-				if (mFieldSamplerQuery != NULL)
-				{
-					APEX_CUDA_TEXTURE_SCOPE_BIND(texRefField, mField);
-
-					histogramGridSize = CUDA_OBJ(simulateApplyFieldKernel)(stream, 
-						targetCount,
-						lastCount,
-						deltaTime,
-						gravity,
-						eyePos,
-						sceneGPU->mInjectorConstMemGroup.getStorage().mappedHandle(sceneGPU->mInjectorParamsArrayHandle), mInjectorsCounters.getSize(),
-						createApexCudaMemRef(mHoleScanSum, targetCount, ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpScan, 1, ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpHistogram, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mInjectorsCounters, mInjectorsCounters.getSize(), ApexCudaMemFlags::OUT),
-						createApexCudaMemRef((float4*)mBufDesc.pmaPositionMass->getGpuPtr(), targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef((float4*)mBufDesc.pmaVelocityLife->getGpuPtr(), targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef((float4*)mBufDesc.pmaCollisionNormalFlags->getGpuPtr(), targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mBufDesc.pmaUserData->getGpuPtr(), targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mLifeSpan, targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mLifeTime, targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mInjector, targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(*(mBufDesc.pmaActorIdentifiers),  targetCount, ApexCudaMemFlags::OUT),
-						createApexCudaMemRef(mBenefit, targetCount, ApexCudaMemFlags::OUT),
-						mSimulationStorageGroup.getStorage().mappedHandle(mSimulationParamsHandle)
-						);
-				}
-				else
-				{
-					histogramGridSize = CUDA_OBJ(simulateKernel)(stream, targetCount,
-											 lastCount, deltaTime, gravity, eyePos,
-											 sceneGPU->mInjectorConstMemGroup.getStorage().mappedHandle(sceneGPU->mInjectorParamsArrayHandle), mInjectorsCounters.getSize(),
-											 mHoleScanSum.getGpuPtr(), mTmpScan.getGpuPtr(), mTmpHistogram.getGpuPtr(), mInjectorsCounters.getGpuPtr(),
-											 (float4*)mBufDesc.pmaPositionMass->getGpuPtr(),
-											 (float4*)mBufDesc.pmaVelocityLife->getGpuPtr(),
-											 (float4*)mBufDesc.pmaCollisionNormalFlags->getGpuPtr(),
-											 mBufDesc.pmaUserData->getGpuPtr(),
-											 mLifeSpan.getGpuPtr(), mLifeTime.getGpuPtr(), mInjector.getGpuPtr(), mBufDesc.pmaActorIdentifiers->getGpuPtr(),
-											 mBenefit.getGpuPtr(), mSimulationStorageGroup.getStorage().mappedHandle(mSimulationParamsHandle)
-											);
-				}
-			}
-			//new kernel invocation - to merge temp histograms 
-			{
-				if(mInjectorsCounters.getSize() <= HISTOGRAM_SIMULATE_BIN_COUNT)
-				{
-					CUDA_OBJ(mergeHistogramKernel)(stream, APEX_CUDA_SINGLE_BLOCK_LAUNCH,
-						createApexCudaMemRef(mInjectorsCounters, mInjectorsCounters.getSize(), ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpHistogram, ApexCudaMemFlags::IN),
-						histogramGridSize,
-						mInjectorsCounters.getSize()
-						);
-				}
-				
-			}
-			// calculate grid grid density
-			if (mGridDensityParams.Enabled)
-			{
-				mGridDensityParams.DensityOrigin = mDensityOrigin;
-				const unsigned int dim = mGridDensityParams.GridResolution;
-				// refreshed non-shared params
-				{
-					BasicIOSAssetParam* gridParams = (BasicIOSAssetParam*)(mAsset->getAssetNvParameterized());
-					mGridDensityParams.GridSize = gridParams->GridDensity.GridSize;
-					mGridDensityParams.GridMaxCellCount = gridParams->GridDensity.MaxCellCount;
-				}
-				// extract frustum
-				if (mBasicIosScene->getApexScene().getNumProjMatrices() > 0)
-				{
-					PxMat44 matDen = PxMat44(PxIdentity);
-					GridDensityFrustumParams frustum;
-					PxMat44 matModel = mBasicIosScene->getApexScene().getViewMatrix();
-					PxMat44 matProj  = mBasicIosScene->getApexScene().getProjMatrix();
-					PxMat44 mat = matProj*matModel;
-					PxMat44 matInv = inverse(mat);
-					const float targetDepth = mGridDensityParams.GridSize;
-					// for debug vis
-					mDensityDebugMatInv = matInv;
-					// to calculate w transform
-					float nearDimX = distance(matInv.transform(PxVec4(-1.f,0.f,0.f,1.f)),matInv.transform(PxVec4(1.f,0.f,0.f,1.f)));
-					float farDimX	= distance(matInv.transform(PxVec4(-1.f,0.f,1.f,1.f)),matInv.transform(PxVec4(1.f,0.f,1.f,1.f)));
-					float nearDimY	= distance(matInv.transform(PxVec4(0.f,-1.f,0.f,1.f)),matInv.transform(PxVec4(0.f,1.f,0.f,1.f)));
-					float farDimY	= distance(matInv.transform(PxVec4(0.f,-1.f,1.f,1.f)),matInv.transform(PxVec4(0.f,1.f,1.f,1.f)));
-					float dimZ		= distance(matInv.transform(PxVec4(0.f, 0.f,0.f,1.f)),matInv.transform(PxVec4(0.f,0.f,1.f,1.f)));
-					float myFarDimX = nearDimX*(1.f-targetDepth/dimZ) + farDimX*(targetDepth/dimZ);
-					float myFarDimY = nearDimY*(1.f-targetDepth/dimZ) + farDimY*(targetDepth/dimZ);
-					// grab necessary frustum coordinates
-					PxVec4 origin4 = matInv.transform(PxVec4(-1.f, 1.f,0.f,1.f));
-					PxVec4 basisX4 = matInv.transform(PxVec4( 1.f, 1.f,0.f,1.f));
-					PxVec4 basisY4 = matInv.transform(PxVec4(-1.f,-1.f,0.f,1.f));
-					PxVec4 zDepth4 = matInv.transform(PxVec4(-1.f, 1.f,1.f,1.f));
-					// create vec3 versions
-					PxVec3 origin3(origin4.x/origin4.w,origin4.y/origin4.w,origin4.z/origin4.w);
-					PxVec3 basisX3(basisX4.x/basisX4.w,basisX4.y/basisX4.w,basisX4.z/basisX4.w);
-					PxVec3 basisY3(basisY4.x/basisY4.w,basisY4.y/basisY4.w,basisY4.z/basisY4.w);
-					PxVec3 zDepth3(zDepth4.x/zDepth4.w,zDepth4.y/zDepth4.w,zDepth4.z/zDepth4.w);
-					// make everthing relative to origin
-					basisX3 -= origin3;
-					basisY3 -= origin3;
-					zDepth3 -= origin3;
-					// find third basis
-					PxVec3 basisZ3(basisX3.cross(basisY3));
-					basisZ3.normalize();
-					basisZ3*= targetDepth;
-					// see how skewed the eye point is
-					PxVec3 eye;
-					{
-						// find the eye point
-						PxVec4 a4 = matInv.transform(PxVec4(1.f,1.f,0.00f,1.f));
-						PxVec4 b4 = matInv.transform(PxVec4(1.f,1.f,0.01f,1.f));
-						PxVec4 c4 = matInv.transform(PxVec4(-1.f,-1.f,0.00f,1.f));
-						PxVec4 d4 = matInv.transform(PxVec4(-1.f,-1.f,0.01f,1.f));
-						PxVec3 a3 = a4.getXYZ()/a4.w;
-						PxVec3 b3 = b4.getXYZ()/b4.w;
-						PxVec3 c3 = c4.getXYZ()/c4.w;
-						PxVec3 d3 = d4.getXYZ()/d4.w;
-						PxVec3 a = b3-a3;
-						PxVec3 b = d3-c3;
-						PxVec3 c = a.cross(b);
-						PxVec3 d = a3-c3;
-						PxMat33 m(a,b,c);
-						PxMat33 mInv = m.getInverse();
-						PxVec3 coord = mInv.transform(d);
-						eye = c3 + (d3-c3)*coord.y;		
-					}
-					// build scale,rotation,translation matrix
-					PxMat44 mat1Inv = PxMat44(PxIdentity);
-					mat1Inv.column0 = PxVec4(basisX3,0.f);
-					mat1Inv.column1 = PxVec4(basisY3,0.f);
-					mat1Inv.column2 = PxVec4(basisZ3,0.f);
-					mat1Inv.column3 = PxVec4(origin3,1.f);
-					PxMat44 mat1 = inverse(mat1Inv);
-					PxVec3 eyeOffset = mat1.transform(eye);
-					// do perspective transform
-					PxMat44 mat2 = PxMat44(PxIdentity);
-					{
-						float xshift = -2.f*(eyeOffset.x-0.5f);
-						float yshift = -2.f*(eyeOffset.y-0.5f);
-						float left		= -3.0f + xshift;
-						float right	= 1.0f + xshift;
-						float top		= 1.0f + yshift;
-						float bottom	= -3.0f + yshift;
-						float nearVal	= nearDimX/(0.5f*(myFarDimX-nearDimX));
-						//float farVal	= nearVal + 1.f;
-						// build matrix
-						mat2.column0.x = -2.f*nearVal/(right-left);
-						mat2.column1.y = -2.f*nearVal/(top-bottom);
-						mat2.column2.x = (right+left)/(right-left);
-						mat2.column2.y = (top+bottom)/(top-bottom);
-						//mat2.column2.z = -(farVal+nearVal)/(farVal-nearVal);
-						mat2.column2.w = -1.f;
-						//mat2.column3.z = -(2.f*farVal*nearVal)/(farVal-nearVal);
-						mat2.column3.w = 0.f;
-					}
-					// shrink to calculate density just outside of frustum
-					PxMat44 mat3 = PxMat44(PxIdentity);
-					float factor = PxMin((float)(mGridDensityParams.GridResolution-4) / (mGridDensityParams.GridResolution),0.75f);
-					{			
-						mat3.column0.x = factor;
-						mat3.column1.y = factor;
-						mat3.column2.z = factor;
-						mat3.column3.x = (1.0f-factor)/2.0f;
-						mat3.column3.y = (1.0f-factor)/2.0f;
-						mat3.column3.z = (1.0f-factor)/2.0f;
-					}
-					// create final matrix
-					matDen = mat3*mat2*mat1;
-					// create frustum info
-					frustum.nearDimX = factor*nearDimX;
-					frustum.farDimX  = factor*myFarDimX;
-					frustum.nearDimY = factor*nearDimY;
-					frustum.farDimY	 = factor*myFarDimY;
-					frustum.dimZ     = factor*targetDepth;
-					// launch frustum kernels
-					CUDA_OBJ(gridDensityGridClearKernel)(stream, dim*dim*dim,
-						mGridDensityGrid.getGpuPtr(),
-						mGridDensityParams
-					);
-					CUDA_OBJ(gridDensityGridFillFrustumKernel)(stream, targetCount,
-						(float4*)mBufDesc.pmaPositionMass->getGpuPtr(),
-						mGridDensityGrid.getGpuPtr(),
-						mGridDensityParams,
-						matDen,
-						frustum
-						);
-					CUDA_OBJ(gridDensityGridLowPassKernel)(stream, dim*dim*dim,
-						mGridDensityGrid.getGpuPtr(),
-						mGridDensityGridLowPass.getGpuPtr(),
-						mGridDensityParams
-						);
-					CUDA_OBJ(gridDensityGridApplyFrustumKernel)(stream, targetCount,
-						mBufDesc.pmaDensity != NULL ? (float*)mBufDesc.pmaDensity->getGpuPtr() : NULL,
-						(float4*)mBufDesc.pmaPositionMass->getGpuPtr(),
-						mGridDensityGridLowPass.getGpuPtr(),
-						mGridDensityParams,
-						matDen,
-						frustum
-						);
-				}
-			}
-		}
-		return true;
-
-	case 5:
-		if (targetCount > 0)
-		{
-			if (useSyncKernels)
-			{
-				CUDA_OBJ(reduceSyncKernel)(
-					stream, targetCount,
-					mBenefit.getGpuPtr(), (float4*)mTmpOutput.getGpuPtr(), mTmpReduce.getGpuPtr()
-				);
-			}
-			else
-			{
-				uint32_t reduceGridSize =
-					CUDA_OBJ(reduceKernel)(
-						stream, targetCount,
-						createApexCudaMemRef(mBenefit, targetCount, ApexCudaMemFlags::IN),
-						createApexCudaMemRef((float4*)mTmpOutput.getGpuPtr(), 1, ApexCudaMemFlags::IN),
-						createApexCudaMemRef(mTmpReduce, ApexCudaMemFlags::OUT),
-						1, 0
-					);
-
-				//launch just 1 block
-				CUDA_OBJ(reduceKernel)(
-					stream, APEX_CUDA_SINGLE_BLOCK_LAUNCH,
-					createApexCudaMemRef(mBenefit, targetCount, ApexCudaMemFlags::IN),
-					createApexCudaMemRef((float4*)mTmpOutput.getGpuPtr(), 1, ApexCudaMemFlags::OUT),
-					createApexCudaMemRef(mTmpReduce, ApexCudaMemFlags::IN),
-					2, reduceGridSize
-				);
-			}
-		}
-		return true;
-
-	case 6:
-		if (totalCount > 0)
-		{
-			APEX_CUDA_TEXTURE_SCOPE_BIND(texRefHoleScanSum, mHoleScanSum);
-			APEX_CUDA_TEXTURE_SCOPE_BIND(texRefMoveIndices, mMoveIndices);
-
-			CUDA_OBJ(stateKernel)(stream, totalCount,
-			                      lastCount, targetCount,
-								  createApexCudaMemRef(mTmpScan, 1, ApexCudaMemFlags::IN),
-								  createApexCudaMemRef(*mBufDesc.pmaInStateToInput, totalCount, ApexCudaMemFlags::OUT),
-								  createApexCudaMemRef(*mBufDesc.pmaOutStateToInput, lastCount, ApexCudaMemFlags::IN)
-			                     );
-
-		}
-		return true;
-
-	case 7:
-		mTmpOutput.copyDeviceToHostQ(mCopyQueue);
-		mInjectorsCounters.copyDeviceToHostQ(mCopyQueue);
-
-		if (mTmpScan.cpuPtrIsValid())
-		{
-			mTmpOutput1.copyDeviceToHostQ(mCopyQueue);
-			mTmpScan.copyDeviceToHostQ(mCopyQueue, 1);
-			mHoleScanSum.copyDeviceToHostQ(mCopyQueue, totalCount);
-			mMoveIndices.copyDeviceToHostQ(mCopyQueue, totalCount);
-			mTmpHistogram.copyDeviceToHostQ(mCopyQueue, HISTOGRAM_BIN_COUNT);
-			mBenefit.copyDeviceToHostQ(mCopyQueue, totalCount);
-			mBufDesc.pmaInStateToInput->copyDeviceToHostQ(mCopyQueue, totalCount);
-			mBufDesc.pmaPositionMass->copyDeviceToHostQ(mCopyQueue, targetCount);
-		}
-		mCopyQueue.flushEnqueued();
-
-		/* Oh! Manager of the IOFX! do your thing */
-		mIofxMgr->updateEffectsData(deltaTime, targetCount, targetCount, totalCount, stream);
-		return false;
-	}
-	return false;
-}
-
-void BasicIosActorGPU::fetchResults()
-{
-	BASIC_IOS_ACTOR::fetchResults();
-
-	uint32_t totalCount = mParticleCount + mInjectedCount;
-	checkBenefit(totalCount);
-	checkHoles(totalCount);
-	checkInState(totalCount);
-	/*checkHistogram(PxMax<int32_t>(mLastActiveCount + mInjectedCount - mParticleBudget, 0), mTmpHistogram[ mTmpOutput1[1] ], mTmpHistogram[ HISTOGRAM_BIN_COUNT - 1 ]);*/
-	//this can be done only after TaskLaunchAfterLod is finished!!!
-
-	mParticleCount = mParticleBudget;
-
-	float* pTmpOutput = (float*)mTmpOutput.getPtr();
-	mLastActiveCount = mTmpOutput[STATUS_LAST_ACTIVE_COUNT];
-	mLastBenefitSum  = pTmpOutput[STATUS_LAST_BENEFIT_SUM];
-	mLastBenefitMin  = pTmpOutput[STATUS_LAST_BENEFIT_MIN];
-	mLastBenefitMax  = pTmpOutput[STATUS_LAST_BENEFIT_MAX];
-}
-
-
-PxMat44 BasicIosActorGPU::inverse(const PxMat44& in)
-{
-	PxMat44 ret;
-	float inv[16];
-	float* invOut = &ret.column0.x;
-	const float* m = &in.column0.x;
-	int i;
-
-    inv[0] = m[5]  * m[10] * m[15] - 
-             m[5]  * m[11] * m[14] - 
-             m[9]  * m[6]  * m[15] + 
-             m[9]  * m[7]  * m[14] +
-             m[13] * m[6]  * m[11] - 
-             m[13] * m[7]  * m[10];
-
-    inv[4] = -m[4]  * m[10] * m[15] + 
-              m[4]  * m[11] * m[14] + 
-              m[8]  * m[6]  * m[15] - 
-              m[8]  * m[7]  * m[14] - 
-              m[12] * m[6]  * m[11] + 
-              m[12] * m[7]  * m[10];
-
-    inv[8] = m[4]  * m[9] * m[15] - 
-             m[4]  * m[11] * m[13] - 
-             m[8]  * m[5] * m[15] + 
-             m[8]  * m[7] * m[13] + 
-             m[12] * m[5] * m[11] - 
-             m[12] * m[7] * m[9];
-
-    inv[12] = -m[4]  * m[9] * m[14] + 
-               m[4]  * m[10] * m[13] +
-               m[8]  * m[5] * m[14] - 
-               m[8]  * m[6] * m[13] - 
-               m[12] * m[5] * m[10] + 
-               m[12] * m[6] * m[9];
-
-    inv[1] = -m[1]  * m[10] * m[15] + 
-              m[1]  * m[11] * m[14] + 
-              m[9]  * m[2] * m[15] - 
-              m[9]  * m[3] * m[14] - 
-              m[13] * m[2] * m[11] + 
-              m[13] * m[3] * m[10];
-
-    inv[5] = m[0]  * m[10] * m[15] - 
-             m[0]  * m[11] * m[14] - 
-             m[8]  * m[2] * m[15] + 
-             m[8]  * m[3] * m[14] + 
-             m[12] * m[2] * m[11] - 
-             m[12] * m[3] * m[10];
-
-    inv[9] = -m[0]  * m[9] * m[15] + 
-              m[0]  * m[11] * m[13] + 
-              m[8]  * m[1] * m[15] - 
-              m[8]  * m[3] * m[13] - 
-              m[12] * m[1] * m[11] + 
-              m[12] * m[3] * m[9];
-
-    inv[13] = m[0]  * m[9] * m[14] - 
-              m[0]  * m[10] * m[13] - 
-              m[8]  * m[1] * m[14] + 
-              m[8]  * m[2] * m[13] + 
-              m[12] * m[1] * m[10] - 
-              m[12] * m[2] * m[9];
-
-    inv[2] = m[1]  * m[6] * m[15] - 
-             m[1]  * m[7] * m[14] - 
-             m[5]  * m[2] * m[15] + 
-             m[5]  * m[3] * m[14] + 
-             m[13] * m[2] * m[7] - 
-             m[13] * m[3] * m[6];
-
-    inv[6] = -m[0]  * m[6] * m[15] + 
-              m[0]  * m[7] * m[14] + 
-              m[4]  * m[2] * m[15] - 
-              m[4]  * m[3] * m[14] - 
-              m[12] * m[2] * m[7] + 
-              m[12] * m[3] * m[6];
-
-    inv[10] = m[0]  * m[5] * m[15] - 
-              m[0]  * m[7] * m[13] - 
-              m[4]  * m[1] * m[15] + 
-              m[4]  * m[3] * m[13] + 
-              m[12] * m[1] * m[7] - 
-              m[12] * m[3] * m[5];
-
-    inv[14] = -m[0]  * m[5] * m[14] + 
-               m[0]  * m[6] * m[13] + 
-               m[4]  * m[1] * m[14] - 
-               m[4]  * m[2] * m[13] - 
-               m[12] * m[1] * m[6] + 
-               m[12] * m[2] * m[5];
-
-    inv[3] = -m[1] * m[6] * m[11] + 
-              m[1] * m[7] * m[10] + 
-              m[5] * m[2] * m[11] - 
-              m[5] * m[3] * m[10] - 
-              m[9] * m[2] * m[7] + 
-              m[9] * m[3] * m[6];
-
-    inv[7] = m[0] * m[6] * m[11] - 
-             m[0] * m[7] * m[10] - 
-             m[4] * m[2] * m[11] + 
-             m[4] * m[3] * m[10] + 
-             m[8] * m[2] * m[7] - 
-             m[8] * m[3] * m[6];
-
-    inv[11] = -m[0] * m[5] * m[11] + 
-               m[0] * m[7] * m[9] + 
-               m[4] * m[1] * m[11] - 
-               m[4] * m[3] * m[9] - 
-               m[8] * m[1] * m[7] + 
-               m[8] * m[3] * m[5];
-
-    inv[15] = m[0] * m[5] * m[10] - 
-              m[0] * m[6] * m[9] - 
-              m[4] * m[1] * m[10] + 
-              m[4] * m[2] * m[9] + 
-              m[8] * m[1] * m[6] - 
-              m[8] * m[2] * m[5];
-
-    float det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
-
-    if (det == 0)
-		return PxMat44(PxIdentity);
-
-    det = 1.0f / det;
-
-    for (i = 0; i < 16; i++)
-        invOut[i] = inv[i] * det;
-
-	return ret;
-}
-
-float BasicIosActorGPU::distance(PxVec4 a, PxVec4 b)
-{
-	PxVec3 a3(a.x/a.w,a.y/a.w,a.z/a.w);
-	PxVec3 b3(b.x/b.w,b.y/b.w,b.z/b.w);
-	PxVec3 diff(b3-a3);
-	return diff.magnitude();
-}
-
-}
-} // namespace nvidia
-
-#endif //APEX_CUDA_SUPPORT