Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 221 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintsShared.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintsShared.h
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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. 
+
+#ifndef DY_SOLVER_CORE_SHARED_H
+#define DY_SOLVER_CORE_SHARED_H
+
+#include "foundation/PxPreprocessor.h"
+#include "PsVecMath.h"
+
+#ifdef PX_SUPPORT_SIMD
+
+#include "CmPhysXCommon.h"
+#include "DySolverBody.h"
+#include "DySolverContact.h"
+#include "DySolverConstraint1D.h"
+#include "DySolverConstraintDesc.h"
+#include "PsUtilities.h"
+#include "DyConstraint.h"
+#include "PsAtomic.h"
+
+
+namespace physx
+{
+
+namespace Dy
+{
+	PX_FORCE_INLINE static FloatV solveDynamicContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
+	const FloatVArg invMassA, const FloatVArg invMassB, const FloatVArg angDom0, const FloatVArg angDom1, Vec3V& linVel0_, Vec3V& angState0_, 
+	Vec3V& linVel1_, Vec3V& angState1_, PxF32* PX_RESTRICT forceBuffer)
+{
+	Vec3V linVel0 = linVel0_;
+	Vec3V angState0 = angState0_;
+	Vec3V linVel1 = linVel1_;
+	Vec3V angState1 = angState1_;
+	FloatV accumulatedNormalImpulse = FZero();
+
+	const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
+	const Vec3V delLinVel1 = V3Scale(contactNormal, invMassB);
+
+	for(PxU32 i=0;i<nbContactPoints;i++)
+	{
+		SolverContactPoint& c = contacts[i];
+		Ps::prefetchLine(&contacts[i], 128);
+
+		const Vec3V raXn = c.raXn;
+
+		const Vec3V rbXn = c.rbXn;
+
+		const FloatV appliedForce = FLoad(forceBuffer[i]);
+		const FloatV velMultiplier = c.getVelMultiplier();
+		
+		/*const FloatV targetVel = c.getTargetVelocity();
+		const FloatV nScaledBias = c.getScaledBias();*/
+		const FloatV maxImpulse = c.getMaxImpulse();
+
+		//Compute the normal velocity of the constraint.
+		const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
+		const Vec3V v1 = V3MulAdd(linVel1, contactNormal, V3Mul(angState1, rbXn));
+		const FloatV normalVel = V3SumElems(V3Sub(v0, v1));
+
+		const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
+
+		//KS - clamp the maximum force
+		const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
+		const FloatV _newForce = FAdd(appliedForce, _deltaF);
+		const FloatV newForce = FMin(_newForce, maxImpulse);
+		const FloatV deltaF = FSub(newForce, appliedForce);
+
+		linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
+		linVel1 = V3NegScaleSub(delLinVel1, deltaF, linVel1);
+		angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
+		angState1 = V3NegScaleSub(rbXn, FMul(deltaF, angDom1), angState1);
+		
+		FStore(newForce, &forceBuffer[i]);
+
+		accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
+	}
+
+	linVel0_ = linVel0;
+	angState0_ = angState0;
+	linVel1_ = linVel1;
+	angState1_ = angState1;
+	return accumulatedNormalImpulse;
+}
+
+PX_FORCE_INLINE static FloatV solveStaticContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
+	const FloatVArg invMassA, const FloatVArg angDom0, Vec3V& linVel0_, Vec3V& angState0_, PxF32* PX_RESTRICT forceBuffer)
+{
+	Vec3V linVel0 = linVel0_;
+	Vec3V angState0 = angState0_;
+	FloatV accumulatedNormalImpulse = FZero();
+
+	const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
+
+	for(PxU32 i=0;i<nbContactPoints;i++)
+	{
+		SolverContactPoint& c = contacts[i];
+		Ps::prefetchLine(&contacts[i],128);
+
+		const Vec3V raXn = c.raXn;
+		
+		const FloatV appliedForce = FLoad(forceBuffer[i]);
+		const FloatV velMultiplier = c.getVelMultiplier();
+
+		/*const FloatV targetVel = c.getTargetVelocity();
+		const FloatV nScaledBias = c.getScaledBias();*/
+		const FloatV maxImpulse = c.getMaxImpulse();
+		
+		const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
+		const FloatV normalVel = V3SumElems(v0);
+
+
+		const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
+
+		// still lots to do here: using loop pipelining we can interweave this code with the
+		// above - the code here has a lot of stalls that we would thereby eliminate
+		const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
+		const FloatV _newForce = FAdd(appliedForce, _deltaF);
+		const FloatV newForce = FMin(_newForce, maxImpulse);
+		const FloatV deltaF = FSub(newForce, appliedForce);
+
+		linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
+		angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
+
+		FStore(newForce, &forceBuffer[i]);
+
+		accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
+	}
+
+	linVel0_ = linVel0;
+	angState0_ = angState0;
+	return accumulatedNormalImpulse;
+}
+
+PX_FORCE_INLINE static FloatV solveExtContacts(SolverContactPointExt* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
+		Vec3V& linVel0, Vec3V& angVel0, 
+		Vec3V& linVel1, Vec3V& angVel1, 
+		Vec3V& li0, Vec3V& ai0,
+		Vec3V& li1, Vec3V& ai1, 
+		PxF32* PX_RESTRICT appliedForceBuffer)
+	{
+
+		FloatV accumulatedNormalImpulse = FZero();
+		for(PxU32 i=0;i<nbContactPoints;i++)
+		{
+			SolverContactPointExt& c = contacts[i];
+			Ps::prefetchLine(&contacts[i+1]);
+
+			const Vec3V raXn = c.raXn;
+			const Vec3V rbXn = c.rbXn;
+
+			const FloatV appliedForce = FLoad(appliedForceBuffer[i]);
+			const FloatV velMultiplier = c.getVelMultiplier();
+
+			/*const FloatV targetVel = c.getTargetVelocity();
+			const FloatV scaledBias = c.getScaledBias();*/
+
+			//Compute the normal velocity of the constraint.
+
+			Vec3V v = V3MulAdd(linVel0, contactNormal, V3Mul(angVel0, raXn));
+			v = V3Sub(v, V3MulAdd(linVel1, contactNormal, V3Mul(angVel1, rbXn)));
+			const FloatV normalVel = V3SumElems(v);
+			
+			const FloatV biasedErr = c.getBiasedErr();//FNeg(scaledBias);
+
+			// still lots to do here: using loop pipelining we can interweave this code with the
+			// above - the code here has a lot of stalls that we would thereby eliminate
+
+			const FloatV deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
+
+			linVel0 = V3ScaleAdd(c.linDeltaVA, deltaF, linVel0);	
+			angVel0 = V3ScaleAdd(c.angDeltaVA, deltaF, angVel0);
+			linVel1 = V3ScaleAdd(c.linDeltaVB, deltaF, linVel1);	
+			angVel1 = V3ScaleAdd(c.angDeltaVB, deltaF, angVel1);
+
+			li0 = V3ScaleAdd(contactNormal, deltaF, li0);	ai0 = V3ScaleAdd(raXn, deltaF, ai0);
+			li1 = V3ScaleAdd(contactNormal, deltaF, li1);	ai1 = V3ScaleAdd(rbXn, deltaF, ai1);
+
+			const FloatV newAppliedForce = FAdd(appliedForce, deltaF);
+
+			FStore(newAppliedForce, &appliedForceBuffer[i]);
+
+			accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newAppliedForce);
+		}
+		return accumulatedNormalImpulse;
+	}
+
+}
+
+}
+
+#endif //PX_SUPPORT_SIMD
+
+#endif //DY_SOLVER_CORE_SHARED_H
+