Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 305 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationContactPrepPF.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationContactPrepPF.cpp
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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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#include "foundation/PxPreprocessor.h"
+#include "PsVecMath.h"
+#include "DyArticulationContactPrep.h"
+#include "DySolverConstraintDesc.h"
+#include "DySolverConstraint1D.h"
+#include "DySolverContact.h"
+#include "DySolverContactPF.h"
+#include "DyArticulationHelper.h"
+#include "PxcNpWorkUnit.h"
+#include "PxsMaterialManager.h"
+#include "PxsMaterialCombiner.h"
+#include "DyCorrelationBuffer.h"
+#include "DySolverConstraintExtShared.h"
+
+using namespace physx;
+using namespace Gu;
+
+// constraint-gen only, since these use getVelocityFast methods
+// which aren't valid during the solver phase
+
+namespace physx
+{
+
+namespace Dy
+{
+
+
+bool setupFinalizeExtSolverContactsCoulomb(
+						    const ContactBuffer& buffer,
+							const CorrelationBuffer& c,
+							const PxTransform& bodyFrame0,
+							const PxTransform& bodyFrame1,
+							PxU8* workspace,
+							PxReal invDt,
+							PxReal bounceThresholdF32,
+							const SolverExtBody& b0,
+							const SolverExtBody& b1,
+							PxU32 frictionCountPerPoint,
+							PxReal invMassScale0, PxReal invInertiaScale0, 
+							PxReal invMassScale1, PxReal invInertiaScale1,
+							PxReal restDist,
+							PxReal ccdMaxDistance)	
+{
+	// NOTE II: the friction patches are sparse (some of them have no contact patches, and
+	// therefore did not get written back to the cache) but the patch addresses are dense,
+	// corresponding to valid patches
+
+	const FloatV ccdMaxSeparation = FLoad(ccdMaxDistance);
+
+	PxU8* PX_RESTRICT ptr = workspace;
+
+	//KS - TODO - this should all be done in SIMD to avoid LHS
+	const PxF32 maxPenBias0 = b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b0.mBodyData->penBiasClamp : getMaxPenBias(*b0.mFsData)[b0.mLinkIndex];
+	const PxF32 maxPenBias1 = b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b1.mBodyData->penBiasClamp : getMaxPenBias(*b1.mFsData)[b1.mLinkIndex];
+
+	const FloatV maxPenBias = FLoad(PxMax(maxPenBias0, maxPenBias1)/invDt);
+
+	const FloatV restDistance = FLoad(restDist); 
+	const FloatV bounceThreshold = FLoad(bounceThresholdF32);
+
+	const FloatV invDtV = FLoad(invDt);
+	const FloatV pt8 = FLoad(0.8f);
+
+	const FloatV invDtp8 = FMul(invDtV, pt8);
+
+	Ps::prefetchLine(c.contactID);
+	Ps::prefetchLine(c.contactID, 128);
+
+	const PxU32 frictionPatchCount = c.frictionPatchCount;
+
+	const PxU32 pointStride = sizeof(SolverContactPointExt);
+	const PxU32 frictionStride = sizeof(SolverContactFrictionExt);
+	const PxU8 pointHeaderType = DY_SC_TYPE_EXT_CONTACT;
+	const PxU8 frictionHeaderType = DY_SC_TYPE_EXT_FRICTION;
+
+	PxReal d0 = invMassScale0;
+	PxReal d1 = invMassScale1;
+	PxReal angD0 = invInertiaScale0;
+	PxReal angD1 = invInertiaScale1;
+
+	PxU8 flags = 0;
+
+	for(PxU32 i=0;i< frictionPatchCount;i++)
+	{
+		const PxU32 contactCount = c.frictionPatchContactCounts[i];
+		if(contactCount == 0)
+			continue;
+
+		const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
+
+		const Vec3V normalV = Ps::aos::V3LoadA(contactBase0->normal);
+		const Vec3V normal = V3LoadA(contactBase0->normal);
+
+		const PxReal combinedRestitution = contactBase0->restitution;
+	
+		
+		SolverContactCoulombHeader* PX_RESTRICT header = reinterpret_cast<SolverContactCoulombHeader*>(ptr);
+		ptr += sizeof(SolverContactCoulombHeader);
+
+		Ps::prefetchLine(ptr, 128);
+		Ps::prefetchLine(ptr, 256);
+		Ps::prefetchLine(ptr, 384);
+
+		const FloatV restitution = FLoad(combinedRestitution);
+
+
+		header->numNormalConstr		= PxU8(contactCount);
+		header->type				= pointHeaderType;
+		//header->setRestitution(combinedRestitution);
+
+		header->setDominance0(d0);
+		header->setDominance1(d1);
+		header->angDom0 = angD0;
+		header->angDom1 = angD1;
+		header->flags = flags;
+		
+		header->setNormal(normalV);
+		
+		for(PxU32 patch=c.correlationListHeads[i]; 
+			patch!=CorrelationBuffer::LIST_END; 
+			patch = c.contactPatches[patch].next)
+		{
+			const PxU32 count = c.contactPatches[patch].count;
+			const Gu::ContactPoint* contactBase = buffer.contacts + c.contactPatches[patch].start;
+				
+			PxU8* p = ptr;
+			for(PxU32 j=0;j<count;j++)
+			{
+				const Gu::ContactPoint& contact = contactBase[j];
+
+				SolverContactPointExt* PX_RESTRICT solverContact = reinterpret_cast<SolverContactPointExt*>(p);
+				p += pointStride;
+
+				setupExtSolverContact(b0, b1, d0, d1, angD0, angD1, bodyFrame0, bodyFrame1, normal, invDtV, invDtp8, restDistance, maxPenBias, restitution,
+					bounceThreshold, contact, *solverContact, ccdMaxSeparation);
+			}			
+			ptr = p;
+		}
+	}
+
+	//construct all the frictions
+
+	PxU8* PX_RESTRICT ptr2 = workspace;
+
+	const PxF32 orthoThreshold = 0.70710678f;
+	const PxF32 eps = 0.00001f;
+	bool hasFriction = false;
+
+	for(PxU32 i=0;i< frictionPatchCount;i++)
+	{
+		const PxU32 contactCount = c.frictionPatchContactCounts[i];
+		if(contactCount == 0)
+			continue;
+
+		SolverContactCoulombHeader* header = reinterpret_cast<SolverContactCoulombHeader*>(ptr2); 
+		header->frictionOffset = PxU16(ptr - ptr2);
+		ptr2 += sizeof(SolverContactCoulombHeader) + header->numNormalConstr * pointStride;
+
+		const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
+
+		PxVec3 normal = contactBase0->normal;
+
+		const PxReal staticFriction = contactBase0->staticFriction;
+		const bool disableStrongFriction = !!(contactBase0->materialFlags & PxMaterialFlag::eDISABLE_FRICTION);
+		const bool haveFriction = (disableStrongFriction == 0);
+	
+		SolverFrictionHeader* frictionHeader = reinterpret_cast<SolverFrictionHeader*>(ptr);
+		frictionHeader->numNormalConstr = Ps::to8(c.frictionPatchContactCounts[i]);
+		frictionHeader->numFrictionConstr = Ps::to8(haveFriction ? c.frictionPatchContactCounts[i] * frictionCountPerPoint : 0);
+		frictionHeader->flags = flags;
+		ptr += sizeof(SolverFrictionHeader);
+		PxF32* forceBuffer = reinterpret_cast<PxF32*>(ptr);
+		ptr += frictionHeader->getAppliedForcePaddingSize(c.frictionPatchContactCounts[i]);
+		PxMemZero(forceBuffer, sizeof(PxF32) * c.frictionPatchContactCounts[i]);
+		Ps::prefetchLine(ptr, 128);
+		Ps::prefetchLine(ptr, 256);
+		Ps::prefetchLine(ptr, 384);
+
+
+		const PxVec3 t0Fallback1(0.f, -normal.z, normal.y);
+		const PxVec3 t0Fallback2(-normal.y, normal.x, 0.f) ;
+		const PxVec3 tFallback1 = orthoThreshold > PxAbs(normal.x) ? t0Fallback1 : t0Fallback2;
+		const PxVec3 vrel = b0.getLinVel() - b1.getLinVel();
+		const PxVec3 t0_ = vrel - normal * (normal.dot(vrel));
+		const PxReal sqDist = t0_.dot(t0_);
+		const PxVec3 tDir0 = (sqDist > eps ? t0_: tFallback1).getNormalized();
+		const PxVec3 tDir1 = tDir0.cross(normal);
+		PxVec3 tFallback[2] = {tDir0, tDir1};
+
+		PxU32 ind = 0;
+
+		if(haveFriction)
+		{
+			hasFriction = true;
+			frictionHeader->setStaticFriction(staticFriction);
+			frictionHeader->invMass0D0 = d0;
+			frictionHeader->invMass1D1 = d1;
+			frictionHeader->angDom0 = angD0;
+			frictionHeader->angDom1 = angD1;
+			frictionHeader->type			= frictionHeaderType;
+			
+			PxU32 totalPatchContactCount = 0;
+		
+			for(PxU32 patch=c.correlationListHeads[i]; 
+				patch!=CorrelationBuffer::LIST_END; 
+				patch = c.contactPatches[patch].next)
+			{
+				const PxU32 count = c.contactPatches[patch].count;
+				const PxU32 start = c.contactPatches[patch].start;
+				const Gu::ContactPoint* contactBase = buffer.contacts + start;
+					
+				PxU8* p = ptr;
+
+				for(PxU32 j =0; j < count; j++)
+				{
+					const Gu::ContactPoint& contact = contactBase[j];
+					const PxVec3 ra = contact.point - bodyFrame0.p;
+					const PxVec3 rb = contact.point - bodyFrame1.p;
+						
+					const PxVec3 targetVel = contact.targetVel;
+					const PxVec3 pVRa = b0.getLinVel() + b0.getAngVel().cross(ra);
+					const PxVec3 pVRb = b1.getLinVel() + b1.getAngVel().cross(rb);
+					//const PxVec3 vrel = pVRa - pVRb;
+
+					for(PxU32 k = 0; k < frictionCountPerPoint; ++k)
+					{
+						SolverContactFrictionExt* PX_RESTRICT f0 = reinterpret_cast<SolverContactFrictionExt*>(p);
+						p += frictionStride;
+
+						PxVec3 t0 = tFallback[ind];
+						ind = 1 - ind;
+						PxVec3 raXn = ra.cross(t0); 
+						PxVec3 rbXn = rb.cross(t0); 
+						Cm::SpatialVector deltaV0, deltaV1;
+
+						const Cm::SpatialVector resp0 = createImpulseResponseVector(t0, raXn, b0);
+						const Cm::SpatialVector resp1 = createImpulseResponseVector(-t0, -rbXn, b1);
+
+						PxReal unitResponse = getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
+																 b1, resp1, deltaV1, d1, angD1);
+
+						PxReal tv = targetVel.dot(t0);
+						if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
+							tv += pVRa.dot(t0);
+						else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
+							tv -= pVRb.dot(t0);
+
+
+						f0->setVelMultiplier(FLoad(unitResponse>0.0f ? 1.f/unitResponse : 0.0f));
+						f0->setRaXn(resp0.angular);
+						f0->setRbXn(-resp1.angular);
+						f0->targetVel = tv;
+						f0->setNormal(t0);
+						f0->setAppliedForce(0.0f);
+						f0->linDeltaVA = V3LoadA(deltaV0.linear);
+						f0->angDeltaVA = V3LoadA(deltaV0.angular);
+						f0->linDeltaVB = V3LoadA(deltaV1.linear);
+						f0->angDeltaVB = V3LoadA(deltaV1.angular);
+					}					
+				}
+
+				totalPatchContactCount += c.contactPatches[patch].count;
+				
+				ptr = p;	
+			}
+		}
+	}
+	//PX_ASSERT(ptr - workspace == n.solverConstraintSize);
+	return hasFriction;
+}
+
+
+}
+
+}