PhysX 3.4, APEX 1.4 patch release @24990349

7 files changed, 125 insertions, 121 deletions

diff --git a/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h
index b69825dd..a2603361 100644
--- a/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h
+++ b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h
@@ -225,7 +225,7 @@ public:
 	/**
 	\brief Shutdown of the broadphase.
 	*/
-	virtual	void							destroy() = 0;
+	virtual	void					destroy() = 0;
 
 	/**
 	\brief Update the broadphase and compute the lists of created/deleted pairs.
@@ -311,10 +311,12 @@ public:
 	virtual bool					isValid(const BroadPhaseUpdateData& updateData) const = 0;
 #endif
 
-	virtual BroadPhasePair*				getBroadPhasePairs() const = 0;
+	virtual BroadPhasePair*			getBroadPhasePairs() const = 0;
 
-	virtual void						deletePairs() = 0;
+	virtual void					deletePairs() = 0;
 
+	// PT: for unit-testing the non-GPU versions
+	virtual	void					singleThreadedUpdate(PxcScratchAllocator* /*scratchAllocator*/, const BroadPhaseUpdateData& /*updateData*/){}
 };
 
 } //namespace Bp
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhase.cpp b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhase.cpp
index 5ced7e0e..ed11420b 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhase.cpp
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhase.cpp
@@ -32,9 +32,11 @@
 #include "BpBroadPhaseMBP.h"
 #include "PxSceneDesc.h"
 #include "BpSimpleAABBManager.h"
+#include "CmBitMap.h"
 
 using namespace physx;
 using namespace Bp;
+using namespace Cm;
 
 BroadPhase* BroadPhase::create(
 	const PxBroadPhaseType::Enum bpType,
@@ -58,119 +60,100 @@ bool BroadPhaseUpdateData::isValid(const BroadPhaseUpdateData& updateData, const
 	return (updateData.isValid() && bp.isValid(updateData));
 }
 
-bool BroadPhaseUpdateData::isValid() const 
+static bool testHandles(PxU32 size, const BpHandle* handles, const PxU32 capacity, const Bp::FilterGroup::Enum* groups, const PxBounds3* bounds, BitMap& bitmap)
 {
-	const BpHandle* created=getCreatedHandles();
-	const BpHandle* updated=getUpdatedHandles();
-	const BpHandle* removed=getRemovedHandles();
-	const PxU32 createdSize=getNumCreatedHandles();
-	const PxU32 updatedSize=getNumUpdatedHandles();
-	const PxU32 removedSize=getNumRemovedHandles();
-	const PxBounds3* bounds=getAABBs();
-	const PxU32 boxesCapacity=getCapacity();
-
-	if(NULL==created && createdSize>0)
-	{
-		return false;
-	}
-	if(NULL==updated && updatedSize>0)
-	{
+	if(!handles && size)
 		return false;
-	}
-	if(NULL==removed && removedSize>0)
-	{
-		return false;
-	}
 
-	ValType minVal=0;
-	ValType maxVal=0xffffffff;
-	PX_UNUSED(minVal);
-	PX_UNUSED(maxVal);
+/*	ValType minVal=0;
+	ValType maxVal=0xffffffff;*/
 
-	for(PxU32 i=0;i<createdSize;i++)
+	for(PxU32 i=0;i<size;i++)
 	{
-		if(created[i]>=boxesCapacity)
+		const BpHandle h = handles[i];
+
+		if(h>=capacity)
 			return false;
 
-		//Created array in ascending order of id.
-		if(i>0 && (created[i] < created[i-1]))
-		{
+		// Array in ascending order of id.
+		if(i>0 && (h < handles[i-1]))
 			return false;
-		}
-		for(PxU32 j=0;j<3;j++)
-		{
-			//Max must be greater than min.
-			if(bounds[created[i]].minimum[j]>bounds[created[i]].maximum[j])
-				return false;
 
+		if(groups && groups[h]==FilterGroup::eINVALID)
+			return false;
+
+		bitmap.set(h);
+
+		if(bounds)
+		{
+			for(PxU32 j=0;j<3;j++)
+			{
+				//Max must be greater than min.
+				if(bounds[h].minimum[j]>bounds[h].maximum[j])
+					return false;
 #if 0
-			//Bounds have an upper limit.
-			if(bounds[created[i]].getMax(j)>=maxVal)
-				return false;
+				//Bounds have an upper limit.
+				if(bounds[created[i]].getMax(j)>=maxVal)
+					return false;
 
-			//Bounds have a lower limit.
-			if(bounds[created[i]].getMin(j)<=minVal)
-				return false;
+				//Bounds have a lower limit.
+				if(bounds[created[i]].getMin(j)<=minVal)
+					return false;
 
-			//Max must be odd.
-			if(4 != (bounds[created[i]].getMax(j) & 4))
-				return false;
+				//Max must be odd.
+				if(4 != (bounds[created[i]].getMax(j) & 4))
+					return false;
 
-			//Min must be even.
-			if(0 != (bounds[created[i]].getMin(j) & 4))
-				return false;
+				//Min must be even.
+				if(0 != (bounds[created[i]].getMin(j) & 4))
+					return false;
 #endif
+			}
 		}
 	}
+	return true;
+}
 
-	for(PxU32 i=0;i<updatedSize;i++)
+static bool testBitmap(const BitMap& bitmap, PxU32 size, const BpHandle* handles)
+{
+	while(size--)
 	{
-		if(updated[i]>=boxesCapacity)
+		const BpHandle h = *handles++;
+		if(bitmap.test(h))
 			return false;
+	}
+	return true;
+}
 
-		//Updated array in ascending order of id
-		if(i>0 && (updated[i] < updated[i-1]))
-		{
-			return false;
-		}
-
-		for(PxU32 j=0;j<3;j++)
-		{
-			//Max must be greater than min.
-			if(bounds[updated[i]].minimum[j]>bounds[updated[i]].maximum[j])
-				return false;
-#if 0
-			//Bounds have an upper limit.
-			if(bounds[updated[i]].getMax(j)>=maxVal)
-				return false;
-
-			//Bounds have a lower limit.
-			if(bounds[updated[i]].getMin(j)<=minVal)
-				return false;
+bool BroadPhaseUpdateData::isValid() const 
+{
+	const PxBounds3* bounds = getAABBs();
+	const PxU32 boxesCapacity = getCapacity();
+	const Bp::FilterGroup::Enum* groups = getGroups();
 
-			//Max must be odd.
-			if(4 != (bounds[updated[i]].getMax(j) & 4))
-				return false;
+	BitMap createdBitmap;	createdBitmap.resizeAndClear(boxesCapacity);
+	BitMap updatedBitmap;	updatedBitmap.resizeAndClear(boxesCapacity);
+	BitMap removedBitmap;	removedBitmap.resizeAndClear(boxesCapacity);
 
-			//Min must be even.
-			if(0 != (bounds[updated[i]].getMin(j) & 4))
-				return false;
-#endif
-		}
-	}
+	if(!testHandles(getNumCreatedHandles(), getCreatedHandles(), boxesCapacity, groups, bounds, createdBitmap))
+		return false;
+	if(!testHandles(getNumUpdatedHandles(), getUpdatedHandles(), boxesCapacity, groups, bounds, updatedBitmap))
+		return false;
+	if(!testHandles(getNumRemovedHandles(), getRemovedHandles(), boxesCapacity, NULL, NULL, removedBitmap))
+		return false;
 
-	for(PxU32 i=0;i<removedSize;i++)
+	if(1)
 	{
-		if(removed[i]>=boxesCapacity)
+		// Created/updated
+		if(!testBitmap(createdBitmap, getNumUpdatedHandles(), getUpdatedHandles()))
 			return false;
-
-		//Removed array in ascending order of id
-		if(i>0 && (removed[i] < removed[i-1]))
-		{
+		// Created/removed
+		if(!testBitmap(createdBitmap, getNumRemovedHandles(), getRemovedHandles()))
+			return false;
+		// Updated/removed
+		if(!testBitmap(updatedBitmap, getNumRemovedHandles(), getRemovedHandles()))
 			return false;
-		}
 	}
-
 	return true;
 }
 #endif
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.cpp b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.cpp
index 313e27f3..cdaa2145 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.cpp
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.cpp
@@ -3354,6 +3354,14 @@ void BroadPhaseMBP::update(const PxU32 numCpuTasks, PxcScratchAllocator* scratch
 	}
 }
 
+void BroadPhaseMBP::singleThreadedUpdate(PxcScratchAllocator* /*scratchAllocator*/, const BroadPhaseUpdateData& updateData)
+{
+	// PT: TODO: the scratchAllocator isn't actually needed, is it?
+	setUpdateData(updateData);
+	update();
+	postUpdate();
+}
+
 static PX_FORCE_INLINE void computeMBPBounds(MBP_AABB& aabb, const PxBounds3* PX_RESTRICT boundsXYZ, const PxReal* PX_RESTRICT contactDistances, const BpHandle index)
 {
 	const PxBounds3& b = boundsXYZ[index];
@@ -3614,23 +3622,24 @@ bool BroadPhaseMBP::isValid(const BroadPhaseUpdateData& updateData) const
 	const BpHandle* created = updateData.getCreatedHandles();
 	if(created)
 	{
+		Ps::HashSet<BpHandle> set;
+		PxU32 nbObjects = mMBP->mMBP_Objects.size();
+		const MBP_Object* PX_RESTRICT objects = mMBP->mMBP_Objects.begin();
+		while(nbObjects--)
+		{
+			if(!(objects->mFlags & MBP_REMOVED))
+				set.insert(objects->mUserID);
+			objects++;
+		}
+
 		PxU32 nbToGo = updateData.getNumCreatedHandles();
 		while(nbToGo--)
 		{
 			const BpHandle index = *created++;
 			PX_ASSERT(index<mCapacity);
 
-			PxU32 nbObjects = mMBP->mMBP_Objects.size();
-			const MBP_Object* PX_RESTRICT objects = mMBP->mMBP_Objects.begin();
-			while(nbObjects--)
-			{
-				if(!(objects->mFlags & MBP_REMOVED))
-				{
-					if(objects->mUserID==index)
-						return false;	// This object has been added already
-				}
-				objects++;
-			}
+			if(set.contains(index))
+				return false;	// This object has been added already
 		}
 	}
 
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.h b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.h
index 08f6e771..cfda1d38 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.h
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseMBP.h
@@ -65,27 +65,21 @@ namespace Bp
 
 	// BroadPhase
 		virtual	PxBroadPhaseType::Enum		getType()					const	{ return PxBroadPhaseType::eMBP;	}
-
 		virtual	void						destroy()							{ delete this;						}
-
 		virtual	void						update(const PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation, physx::PxBaseTask* narrowPhaseUnblockTask);
 		virtual void						fetchBroadPhaseResults(physx::PxBaseTask*) {}
-
 		virtual	PxU32						getNbCreatedPairs()		const;
 		virtual BroadPhasePair*				getCreatedPairs();
 		virtual PxU32						getNbDeletedPairs()		const;
 		virtual BroadPhasePair*				getDeletedPairs();
-
 		virtual void						freeBuffers();
-
 		virtual void						shiftOrigin(const PxVec3& shift);
-
 #if PX_CHECKED
 		virtual bool						isValid(const BroadPhaseUpdateData& updateData)	const;
 #endif
-
 		virtual BroadPhasePair*				getBroadPhasePairs() const  {return NULL;}  //KS - TODO - implement this!!!
 		virtual void						deletePairs(){}								//KS - TODO - implement this!!!
+		virtual	void						singleThreadedUpdate(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData);
 	//~BroadPhase
 
 				MBPUpdateWorkTask			mMBPUpdateWorkTask;
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.cpp b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.cpp
index e295ca78..53c3dcfe 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.cpp
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.cpp
@@ -461,9 +461,7 @@ void BroadPhaseSap::update(const PxU32 numCpuTasks, PxcScratchAllocator* scratch
 	if(narrowPhaseUnblockTask)
 		narrowPhaseUnblockTask->removeReference();
 
-	const bool success = setUpdateData(updateData);
-
-	if(success)
+	if(setUpdateData(updateData))
 	{
 		mScratchAllocator = scratchAllocator;
 
@@ -483,6 +481,21 @@ void BroadPhaseSap::update(const PxU32 numCpuTasks, PxcScratchAllocator* scratch
 	}
 }
 
+void BroadPhaseSap::singleThreadedUpdate(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData)
+{
+#if PX_CHECKED
+	PX_CHECK_AND_RETURN(scratchAllocator, "BroadPhaseSap::singleThreadedUpdate - scratchAllocator must be non-NULL \n");
+#endif
+
+	if(setUpdateData(updateData))
+	{
+		mScratchAllocator = scratchAllocator;
+		resizeBuffers();
+		update();
+		postUpdate();
+	}
+}
+
 bool BroadPhaseSap::setUpdateData(const BroadPhaseUpdateData& updateData) 
 {
 	PX_ASSERT(0==mCreatedPairsSize);
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.h b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.h
index 4ec745db..44f17893 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.h
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpBroadPhaseSap.h
@@ -113,33 +113,28 @@ public:
 
 										BroadPhaseSap(const PxU32 maxNbBroadPhaseOverlaps, const PxU32 maxNbStaticShapes, const PxU32 maxNbDynamicShapes, PxU64 contextID);
 	virtual								~BroadPhaseSap();
-	virtual	void						destroy();
 
+	// BroadPhase
 	virtual	PxBroadPhaseType::Enum		getType()					const	{ return PxBroadPhaseType::eSAP;	}
-
+	virtual	void						destroy();
 	virtual	void						update(const PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation, physx::PxBaseTask* narrowPhaseUnblockTask);
 	virtual void						fetchBroadPhaseResults(physx::PxBaseTask*) {}
-
 	virtual PxU32						getNbCreatedPairs()		const		{ return mCreatedPairsSize;		}
 	virtual BroadPhasePair*				getCreatedPairs()					{ return mCreatedPairsArray;	}
 	virtual PxU32						getNbDeletedPairs()		const		{ return mDeletedPairsSize;		}
 	virtual BroadPhasePair*				getDeletedPairs()					{ return mDeletedPairsArray;	}
-
-	virtual void						resizeBuffers();
 	virtual void						freeBuffers();
-
 	virtual void						shiftOrigin(const PxVec3& shift);
-	//~BroadPhase
-
 #if PX_CHECKED
 	virtual bool						isValid(const BroadPhaseUpdateData& updateData) const;
 #endif
-
 	virtual BroadPhasePair*				getBroadPhasePairs() const  {return mPairs.mActivePairs;}
-
 	virtual void						deletePairs();
+	virtual	void						singleThreadedUpdate(PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData);
+	//~BroadPhase
 
 private:
+			void						resizeBuffers();
 
 			PxcScratchAllocator*		mScratchAllocator;
 
diff --git a/PhysX_3.4/Source/LowLevelAABB/src/BpSimpleAABBManager.cpp b/PhysX_3.4/Source/LowLevelAABB/src/BpSimpleAABBManager.cpp
index 2e0bc7e0..298f3f00 100644
--- a/PhysX_3.4/Source/LowLevelAABB/src/BpSimpleAABBManager.cpp
+++ b/PhysX_3.4/Source/LowLevelAABB/src/BpSimpleAABBManager.cpp
@@ -2767,6 +2767,9 @@ static void processAggregatePairsParallel(AggPairMap& map, SimpleAABBManager& ma
 
 	ProcessAggPairsParallelTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ProcessAggPairsParallelTask)), ProcessAggPairsParallelTask)(0, &manager.mMapLock, &manager, &map, taskName);
 
+
+	PxU32 startIdx = pairTasks.size();
+
 	for (AggPairMap::Iterator iter = map.getIterator(); !iter.done(); ++iter)
 	{
 		task->mAggPairs[task->mNbPairs] = iter->first;
@@ -2775,7 +2778,6 @@ static void processAggregatePairsParallel(AggPairMap& map, SimpleAABBManager& ma
 		{
 			pairTasks.pushBack(task);
 			task->setContinuation(continuation);
-			task->removeReference();
 			//task->runInternal();
 			task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ProcessAggPairsParallelTask)), ProcessAggPairsParallelTask)(0, &manager.mMapLock, &manager, &map, taskName);
 		}
@@ -2783,6 +2785,12 @@ static void processAggregatePairsParallel(AggPairMap& map, SimpleAABBManager& ma
 
 	manager.mMapLock.unlock();
 
+	for (PxU32 i = startIdx; i < pairTasks.size(); ++i)
+	{
+		pairTasks[i]->removeReference();
+	}
+
+
 	if (task->mNbPairs)
 	{
 		pairTasks.pushBack(task);