Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 306 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationSIMD.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationSIMD.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 "DySpatial.h"
+#include "DyArticulation.h"
+#include "DyArticulationScalar.h"
+#include "DyArticulationFnsScalar.h"
+#include "DyArticulationReference.h"
+#include "DyArticulationFnsSimd.h"
+
+
+namespace physx
+{
+namespace Dy
+{
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+namespace 
+{
+	Cm::SpatialVector SpV(Vec3V linear, Vec3V angular) 
+	{
+		return Cm::SpatialVector((PxVec3 &)linear, (PxVec3&)angular);
+	}
+}
+#endif
+
+void PxcFsApplyImpulse(FsData &matrix, 
+					   PxU32 linkID, 
+					   Vec3V linear,
+					   Vec3V angular)
+{
+#if DY_ARTICULATION_DEBUG_VERIFY
+	{	
+		Cm::SpatialVectorV imp(linear, angular);
+		ArticulationRef::applyImpulse(matrix, reinterpret_cast<Cm::SpatialVector *>(getRefVelocity(matrix)), linkID, reinterpret_cast<Cm::SpatialVector&>(imp));
+	}
+#endif
+
+
+	Vec3V linZ = V3Neg(linear);
+	Vec3V angZ = V3Neg(angular);
+
+	const FsRow *rows = getFsRows(matrix);
+	const FsJointVectors* jointVectors = getJointVectors(matrix);
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+	const FsRowAux *aux = getAux(matrix);
+#endif
+	Vec3V *deferredSZ = getDeferredSZ(matrix);
+
+	for(PxU32 i = linkID; i!=0; i = matrix.parent[i])
+	{
+		const FsRow &row = rows[i];
+		const FsJointVectors& jv = jointVectors[i];
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+		PxVec3 SZcheck;
+		Cm::SpatialVector Zcheck = ArticulationRef::propagateImpulse(row, jv, SZcheck, SpV(linZ, angZ), aux[i]);
+#endif
+
+		Vec3V SZ = V3Add(angZ, V3Cross(linZ, jv.jointOffset));
+		Vec3V lrLinear = V3Sub(linZ,  V3ScaleAdd(row.DSI[0].linear, V3GetX(SZ),
+									   V3ScaleAdd(row.DSI[1].linear, V3GetY(SZ),
+									       V3Scale(row.DSI[2].linear, V3GetZ(SZ)))));
+
+		Vec3V lrAngular = V3Sub(angZ,  V3ScaleAdd(row.DSI[0].angular, V3GetX(SZ),
+									    V3ScaleAdd(row.DSI[1].angular, V3GetY(SZ),
+									        V3Scale(row.DSI[2].angular, V3GetZ(SZ)))));
+
+		linZ = lrLinear;
+		angZ = V3Add(lrAngular, V3Cross(jv.parentOffset, lrLinear));
+		deferredSZ[i] = V3Add(deferredSZ[i], SZ);
+
+		PX_ASSERT(Ps::aos::isFiniteVec3V(linZ));
+		PX_ASSERT(Ps::aos::isFiniteVec3V(angZ));
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+		Cm::SpatialVector Z = SpV(linZ,angZ);
+		PX_ASSERT((Z - Zcheck).magnitude()<1e-4*PxMax(Zcheck.magnitude(), 1.0f));
+		PX_ASSERT(((PxVec3&)SZ-SZcheck).magnitude()<1e-4*PxMax(SZcheck.magnitude(), 1.0f));
+#endif
+	}
+
+	matrix.deferredZ.linear = V3Add(matrix.deferredZ.linear, linZ);
+	matrix.deferredZ.angular = V3Add(matrix.deferredZ.angular, angZ);
+
+	matrix.dirty |= rows[linkID].pathToRoot;
+}
+
+Cm::SpatialVectorV PxcFsGetVelocity(FsData &matrix,								  
+								PxU32 linkID)
+{
+	const FsRow *rows = getFsRows(matrix);
+	const FsJointVectors* jointVectors = getJointVectors(matrix);
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+	const FsRowAux *aux = getAux(matrix);
+#endif
+	Cm::SpatialVectorV* PX_RESTRICT V = getVelocity(matrix);
+
+	// find the dirty node on the path (including the root) with the lowest index
+	ArticulationBitField toUpdate = rows[linkID].pathToRoot & matrix.dirty;
+
+
+	if(toUpdate)
+	{
+		// store the dV elements densely and use an array map to decode - hopefully cache friendlier
+		PxU32 indexToStackLoc[DY_ARTICULATION_MAX_SIZE], count = 0;
+		Cm::SpatialVectorV dVStack[DY_ARTICULATION_MAX_SIZE];
+
+		ArticulationBitField ignoreNodes = (toUpdate & (0-toUpdate))-1;
+		ArticulationBitField path = rows[linkID].pathToRoot & ~ignoreNodes, p = path;
+		ArticulationBitField newDirty = 0;
+
+		Vec3V ldV = V3Zero(), adV = V3Zero();
+		Cm::SpatialVectorV* PX_RESTRICT defV = getDeferredVel(matrix);
+		Vec3V* PX_RESTRICT SZ = getDeferredSZ(matrix);
+
+		if(p & 1)
+		{
+			const FsInertia &m = getRootInverseInertia(matrix);
+			Vec3V lZ = V3Neg(matrix.deferredZ.linear);
+			Vec3V aZ = V3Neg(matrix.deferredZ.angular);
+
+			ldV = V3Add(M33MulV3(m.ll,lZ),		 M33MulV3(m.la,aZ));
+			adV = V3Add(M33TrnspsMulV3(m.la,lZ), M33MulV3(m.aa,aZ));
+
+			V[0].linear = V3Add(V[0].linear, ldV);
+			V[0].angular = V3Add(V[0].angular, adV);
+
+			matrix.deferredZ.linear = V3Zero();
+			matrix.deferredZ.angular = V3Zero();
+
+			indexToStackLoc[0] = count;
+			Cm::SpatialVectorV &e = dVStack[count++];
+
+			e.linear = ldV;
+			e.angular = adV;
+
+			newDirty = rows[0].children;
+			p--;
+		}
+
+		
+		while(p)	// using "for(;p;p &= (p-1))" here generates LHSs from the ArticulationLowestSetBit
+		{
+			PxU32 i = ArticulationLowestSetBit(p);
+			const FsJointVectors& jv = jointVectors[i];
+
+			p &= (p-1);
+	
+			const FsRow* PX_RESTRICT row = rows + i;
+
+			ldV = V3Add(ldV, defV[i].linear);
+			adV = V3Add(adV, defV[i].angular);
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+			Cm::SpatialVector dVcheck = ArticulationRef::propagateVelocity(*row, jv, (PxVec3&)SZ[i], SpV(ldV,adV), aux[i]);
+#endif
+
+			Vec3V DSZ = M33MulV3(row->D, SZ[i]);
+
+			Vec3V lW = V3Add(ldV, V3Cross(adV,jv.parentOffset));
+			Vec3V aW = adV;
+
+			const Cm::SpatialVectorV*PX_RESTRICT DSI = row->DSI;
+			Vec3V lN = V3Merge(V3Dot(DSI[0].linear, lW),   V3Dot(DSI[1].linear, lW),  V3Dot(DSI[2].linear, lW));
+			Vec3V aN = V3Merge(V3Dot(DSI[0].angular, aW),  V3Dot(DSI[1].angular, aW), V3Dot(DSI[2].angular, aW));
+
+			Vec3V n = V3Add(V3Add(lN, aN), DSZ);
+
+			ldV = V3Sub(lW, V3Cross(jv.jointOffset,n));
+			adV = V3Sub(aW, n);
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+			Cm::SpatialVector dV = SpV(ldV,adV);
+			PX_ASSERT((dV-dVcheck).magnitude()<1e-4*PxMax(dVcheck.magnitude(), 1.0f));
+#endif
+
+			V[i].linear = V3Add(V[i].linear, ldV);
+			V[i].angular = V3Add(V[i].angular, adV);
+
+			defV[i].linear = V3Zero();
+			defV[i].angular = V3Zero();
+			SZ[i] = V3Zero();
+
+			indexToStackLoc[i] = count;
+			Cm::SpatialVectorV &e = dVStack[count++];
+			newDirty |= rows[i].children;
+
+			e.linear = ldV;
+			e.angular = adV;
+		}
+
+		for(ArticulationBitField defer = newDirty&~path; defer; defer &= (defer-1))
+		{
+			PxU32 i = ArticulationLowestSetBit(defer);
+			PxU32 parent = indexToStackLoc[matrix.parent[i]];
+
+			defV[i].linear = V3Add(defV[i].linear, dVStack[parent].linear);
+			defV[i].angular = V3Add(defV[i].angular, dVStack[parent].angular);
+		}
+
+		matrix.dirty = (matrix.dirty | newDirty)&~path;
+	}
+#if DY_ARTICULATION_DEBUG_VERIFY
+	Cm::SpatialVector v = reinterpret_cast<Cm::SpatialVector&>(V[linkID]);
+	Cm::SpatialVector rv = reinterpret_cast<Cm::SpatialVector&>(getRefVelocity(matrix)[linkID]);
+	PX_ASSERT((v-rv).magnitude()<1e-4f * PxMax(rv.magnitude(),1.0f));
+#endif
+
+	return V[linkID];
+}
+
+PX_FORCE_INLINE Cm::SpatialVectorV propagateVelocitySIMD(const FsRow& row,
+														const FsJointVectors& jv,
+														const Vec3V& SZ,
+														const Cm::SpatialVectorV& v,
+														const FsRowAux& aux)
+{
+	PX_UNUSED(aux);
+
+	typedef ArticulationFnsSimd<ArticulationFnsSimdBase> Fns;
+
+	Cm::SpatialVectorV w(V3Add(v.linear, V3Cross(v.angular, jv.parentOffset)), v.angular);
+	Vec3V DSZ = M33MulV3(row.D, SZ);
+
+	Vec3V n = V3Add(Fns::axisDot(row.DSI, w), DSZ);
+	Cm::SpatialVectorV result = w - Cm::SpatialVectorV(V3Cross(jv.jointOffset,n), n);
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+	Cm::SpatialVector check = ArticulationRef::propagateVelocity(row, jv, reinterpret_cast<const PxVec3&>(SZ), reinterpret_cast<const Cm::SpatialVector&>(v), aux);
+	PX_ASSERT((reinterpret_cast<const Cm::SpatialVector&>(result)-check).magnitude()<1e-4*PxMax(check.magnitude(), 1.0f));
+#endif
+
+	return result;
+}
+
+void PxcFsFlushVelocity(FsData& matrix)
+{
+	typedef ArticulationFnsSimd<ArticulationFnsSimdBase> Fns;
+
+	const FsRow* PX_RESTRICT rows = getFsRows(matrix);
+	const FsRowAux* PX_RESTRICT aux = getAux(matrix);
+	const FsJointVectors*PX_RESTRICT jointVectors = getJointVectors(matrix);
+
+	Cm::SpatialVectorV V0 =  Fns::multiply(getRootInverseInertia(matrix), -matrix.deferredZ);
+	matrix.deferredZ = Cm::SpatialVectorV(PxZero);
+
+	getVelocity(matrix)[0] += V0;
+	for(ArticulationBitField defer = rows[0].children; defer; defer &= (defer-1))
+		getDeferredVel(matrix)[ArticulationLowestSetBit(defer)] += V0;
+
+	for(PxU32 i = 1; i<matrix.linkCount; i++)
+	{
+		Cm::SpatialVectorV V = propagateVelocitySIMD(rows[i], jointVectors[i], getDeferredSZ(matrix)[i], getDeferredVel(matrix)[i], aux[i]);
+		getDeferredVel(matrix)[i] = Cm::SpatialVectorV(PxZero);
+		getDeferredSZ(matrix)[i] = V3Zero();
+		getVelocity(matrix)[i] += V;
+		for(ArticulationBitField defer = rows[i].children; defer; defer &= (defer-1))
+			getDeferredVel(matrix)[ArticulationLowestSetBit(defer)] += V;
+	}
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+	for(PxU32 i=0;i<matrix.linkCount;i++)
+	{
+		Cm::SpatialVector v = velocityRef(matrix,i), rv = reinterpret_cast<Cm::SpatialVector&>(getRefVelocity(matrix)[i]);
+		Cm::SpatialVector diff = v-rv;
+		PxReal m = rv.magnitude();
+		PX_UNUSED(m);
+		PX_ASSERT(diff.magnitude()<1e-4*PxMax(1.0f,m));
+	}
+#endif
+
+	matrix.dirty = 0;
+}
+}
+}