PhysX 3.4.1, APEX 1.4.1 Release @22845541v3.4.1

1 files changed, 40 insertions, 22 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyDynamics.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyDynamics.cpp
index 7bf839f3..97e5ffe0 100644
--- a/PhysX_3.4/Source/LowLevelDynamics/src/DyDynamics.cpp
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyDynamics.cpp
@@ -102,13 +102,14 @@ struct SolverIslandObjects
 
 Context* createDynamicsContext(	PxcNpMemBlockPool* memBlockPool,
 								PxcScratchAllocator& scratchAllocator, Cm::FlushPool& taskPool,
-								PxvSimStats& simStats, PxTaskManager* taskManager, Ps::VirtualAllocatorCallback* allocatorCallback, PxsMaterialManager* materialManager,
-								IG::IslandSim* accurateIslandSim, PxU64 contextID,
-								const bool enableStabilization, const bool useEnhancedDeterminism, const bool useAdaptiveForce
+								PxvSimStats& simStats, PxTaskManager* taskManager, Ps::VirtualAllocatorCallback* allocatorCallback, 
+								PxsMaterialManager* materialManager, IG::IslandSim* accurateIslandSim, PxU64 contextID,
+								const bool enableStabilization, const bool useEnhancedDeterminism, const bool useAdaptiveForce,
+								const PxReal maxBiasCoefficient
 								)
 {
 	return DynamicsContext::create(	memBlockPool, scratchAllocator, taskPool, simStats, taskManager, allocatorCallback, materialManager, accurateIslandSim,
-									contextID, enableStabilization, useEnhancedDeterminism, useAdaptiveForce);
+									contextID, enableStabilization, useEnhancedDeterminism, useAdaptiveForce, maxBiasCoefficient);
 }
 
 // PT: TODO: consider removing this function. We already have "createDynamicsContext".
@@ -123,14 +124,16 @@ DynamicsContext* DynamicsContext::create(	PxcNpMemBlockPool* memBlockPool,
 											PxU64 contextID,
 											const bool enableStabilization,
 											const bool useEnhancedDeterminism,
-											const bool useAdaptiveForce
+											const bool useAdaptiveForce,
+											const PxReal maxBiasCoefficient
 											)
 {
 	// PT: TODO: inherit from UserAllocated, remove placement new
 	DynamicsContext* dc = reinterpret_cast<DynamicsContext*>(PX_ALLOC(sizeof(DynamicsContext), "DynamicsContext"));
 	if(dc)
 	{
-		new(dc)DynamicsContext(memBlockPool, scratchAllocator, taskPool, simStats, taskManager, allocatorCallback, materialManager, accurateIslandSim, contextID, enableStabilization, useEnhancedDeterminism, useAdaptiveForce);
+		new(dc)DynamicsContext(memBlockPool, scratchAllocator, taskPool, simStats, taskManager, allocatorCallback, materialManager, accurateIslandSim, contextID, 
+			enableStabilization, useEnhancedDeterminism, useAdaptiveForce, maxBiasCoefficient);
 	}
 	return dc;
 }
@@ -169,9 +172,10 @@ DynamicsContext::DynamicsContext(	PxcNpMemBlockPool* memBlockPool,
 									PxU64 contextID,
 									const bool enableStabilization,
 									const bool useEnhancedDeterminism,
-									const bool useAdaptiveForce
+									const bool useAdaptiveForce,
+									const PxReal maxBiasCoefficient
 									) : 
-	Dy::Context			(accurateIslandSim, allocatorCallback, simStats, enableStabilization, useEnhancedDeterminism, useAdaptiveForce),
+	Dy::Context			(accurateIslandSim, allocatorCallback, simStats, enableStabilization, useEnhancedDeterminism, useAdaptiveForce, maxBiasCoefficient),
 	mThreadContextPool	(memBlockPool),
 	mMaterialManager	(materialManager),
 	mScratchAllocator	(scratchAllocator),
@@ -265,8 +269,8 @@ void DynamicsContext::setDescFromIndices(PxSolverConstraintDesc& desc, const Pxs
 
 		desc.bodyA = constraint.indexType0 == PxsIndexedInteraction::eWORLD ? &mWorldSolverBody
 																			: &mSolverBodyPool[PxU32(constraint.solverBody0) + offsetMap[constraint.indexType0]];
-		desc.bodyADataIndex = PxU16(constraint.indexType0 == PxsIndexedInteraction::eWORLD ? 0
-																			: PxU16(constraint.solverBody0) + 1 + offsetMap[constraint.indexType0]);
+		desc.bodyADataIndex = constraint.indexType0 == PxsIndexedInteraction::eWORLD ? 0
+																			: PxU32(constraint.solverBody0) + 1 + offsetMap[constraint.indexType0];
 	}
 
 	if(constraint.indexType1 == PxsIndexedInteraction::eARTICULATION)
@@ -283,8 +287,8 @@ void DynamicsContext::setDescFromIndices(PxSolverConstraintDesc& desc, const Pxs
 		//desc.articulationBLength = 0; //this is unioned with bodyBDataIndex
 		desc.bodyB = constraint.indexType1 == PxsIndexedInteraction::eWORLD ? &mWorldSolverBody
 																			: &mSolverBodyPool[PxU32(constraint.solverBody1) + offsetMap[constraint.indexType1]];
-		desc.bodyBDataIndex = PxU16(constraint.indexType1 == PxsIndexedInteraction::eWORLD ? 0
-																			: PxU16(constraint.solverBody1) + 1 + offsetMap[constraint.indexType1]);
+		desc.bodyBDataIndex = constraint.indexType1 == PxsIndexedInteraction::eWORLD ? 0
+																			: PxU32(constraint.solverBody1) + 1 + offsetMap[constraint.indexType1];
 	}
 }
 
@@ -891,34 +895,47 @@ public:
 			const IG::IslandSim& islandSim = mIslandManager.getAccurateIslandSim();
 
 			PxU32 bodyIndex = 0, articIndex = 0;
-			for(PxU32 i = 0; i < nbIslands; ++i)
+			for (PxU32 i = 0; i < nbIslands; ++i)
 			{
 				const IG::Island& island = islandSim.getIsland(islandIds[i]);
 
 				IG::NodeIndex currentIndex = island.mRootNode;
 
-				while(currentIndex.isValid())
+				while (currentIndex.isValid())
 				{
 					const IG::Node& node = islandSim.getNode(currentIndex);
 
-					if(node.getNodeType() == IG::Node::eARTICULATION_TYPE)
+					if (node.getNodeType() == IG::Node::eARTICULATION_TYPE)
 					{
 						articulationPtr[articIndex++] = node.getArticulation();
 					}
 					else
 					{
-						PxsRigidBody* rigid = node.getRigidBody();
 						PX_ASSERT(bodyIndex < (mIslandContext.mCounts.bodies + mContext.mKinematicCount + 1));
-						rigidBodyPtr[bodyIndex] = rigid;
-						bodyArrayPtr[bodyIndex] = &rigid->getCore();
-						nodeIndexArray[bodyIndex] = currentIndex.index();
-						bodyRemapTable[islandSim.getActiveNodeIndex(currentIndex)] = bodyIndex++;
+						nodeIndexArray[bodyIndex++] = currentIndex.index();
 					}
 
 					currentIndex = node.mNextNode;
 				}
 			}
 
+			//Bodies can come in a slightly jumbled order from islandGen. It's deterministic if the scene is 
+			//identical but can vary if there are additional bodies in the scene in a different island.
+			if (mEnhancedDeterminism)
+			{
+				Ps::sort(nodeIndexArray, bodyIndex);
+			}
+
+			for (PxU32 a = 0; a < bodyIndex; ++a)
+			{
+				IG::NodeIndex currentIndex(nodeIndexArray[a]);
+				const IG::Node& node = islandSim.getNode(currentIndex);
+				PxsRigidBody* rigid = node.getRigidBody();
+				rigidBodyPtr[a] = rigid;
+				bodyArrayPtr[a] = &rigid->getCore();
+				bodyRemapTable[islandSim.getActiveNodeIndex(currentIndex)] = a;
+			}
+
 
 			PxsIndexedContactManager* indexedManagers = mObjects.contactManagers;
 
@@ -2610,7 +2627,7 @@ static PxU32 createFinalizeContacts_Parallel(PxSolverBodyData* solverBodyData, T
 	const PxReal bounceThreshold = context.getBounceThreshold();
 	const PxReal frictionOffsetThreshold = context.getFrictionOffsetThreshold();
 	const PxReal dt = context.getDt();
-	const PxReal invDt = context.getInvDt();
+	const PxReal invDt = PxMin(context.getMaxBiasCoefficient(), context.getInvDt());
 
 	PxSolverConstraintDesc* contactDescPtr = mThreadContext.orderedContactConstraints;
 
@@ -2697,6 +2714,7 @@ static PxU32 createFinalizeContacts_Parallel(PxSolverBodyData* solverBodyData, T
 					 bounceThreshold,
 					 frictionOffsetThreshold,
 					 context.getCorrelationDistance(),
+					 context.getSolverOffsetSlop(),
 					 blockAllocator);
 
 			}
@@ -2712,7 +2730,7 @@ static PxU32 createFinalizeContacts_Parallel(PxSolverBodyData* solverBodyData, T
 					PxsContactManagerOutput& output = outputs.getContactManager(n.mNpIndex);
 					
 					createFinalizeMethods[frictionType](blockDescs[i], output, *threadContext,
-						invDt, bounceThreshold, frictionOffsetThreshold, context.getCorrelationDistance(), blockAllocator);
+						invDt, bounceThreshold, frictionOffsetThreshold, context.getCorrelationDistance(), context.getSolverOffsetSlop(), blockAllocator);
 			
 					getContactManagerConstraintDesc(output,*cm,desc);
 				}