Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 203 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyThreadContext.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyThreadContext.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_THREADCONTEXT_H
+#define DY_THREADCONTEXT_H
+
+#include "foundation/PxTransform.h"
+#include "PxvConfig.h"
+#include "CmBitMap.h"
+#include "CmMatrix34.h"
+#include "PxcThreadCoherentCache.h"
+#include "DyThresholdTable.h"
+#include "PsAllocator.h"
+#include "PsAllocator.h"
+#include "GuContactBuffer.h"
+#include "DySolverConstraintDesc.h"
+#include "PxvDynamics.h"
+#include "DyArticulation.h"
+#include "DyFrictionPatchStreamPair.h"
+#include "PxcConstraintBlockStream.h"
+#include "DyCorrelationBuffer.h"
+
+namespace physx
+{
+struct PxsIndexedContactManager;
+
+namespace Dy
+{
+
+/*!
+Cache information specific to the software implementation(non common).
+
+See PxcgetThreadContext.
+
+Not thread-safe, so remember to have one object per thread!
+
+TODO! refactor this and rename(it is a general per thread cache). Move transform cache into its own class.
+*/
+class ThreadContext : 
+	public PxcThreadCoherentCache<ThreadContext, PxcNpMemBlockPool>::EntryBase
+{
+	PX_NOCOPY(ThreadContext)
+public:
+
+#if PX_ENABLE_SIM_STATS
+	struct ThreadSimStats
+	{
+		void clear()
+		{
+
+			numActiveConstraints = 0;
+			numActiveDynamicBodies = 0;
+			numActiveKinematicBodies = 0;
+			numAxisSolverConstraints = 0;
+
+		}
+
+		PxU32 numActiveConstraints;
+		PxU32 numActiveDynamicBodies;
+		PxU32 numActiveKinematicBodies;
+		PxU32 numAxisSolverConstraints;
+
+	};
+#endif
+
+	//TODO: tune cache size based on number of active objects.
+	ThreadContext(PxcNpMemBlockPool* memBlockPool);
+	void reset();
+	void resizeArrays(PxU32 frictionConstraintDescCount, PxU32 articulationCount);
+
+	PX_FORCE_INLINE	Ps::Array<ArticulationSolverDesc>&		getArticulations()								{ return mArticulations;					}
+
+
+#if PX_ENABLE_SIM_STATS
+	PX_FORCE_INLINE ThreadSimStats& getSimStats()
+	{
+		return mThreadSimStats;
+	}
+#endif
+
+	Gu::ContactBuffer mContactBuffer;
+
+		// temporary buffer for correlation
+	PX_ALIGN(16, CorrelationBuffer			mCorrelationBuffer); 
+
+	FrictionPatchStreamPair		mFrictionPatchStreamPair;	// patch streams
+
+	PxsConstraintBlockManager		mConstraintBlockManager;	// for when this thread context is "lead" on an island
+	PxcConstraintBlockStream 		mConstraintBlockStream;		// constraint block pool
+
+
+	// this stuff is just used for reformatting the solver data. Hopefully we should have a more
+	// sane format for this when the dust settles - so it's just temporary. If we keep this around
+	// here we should move these from public to private
+
+	PxU32 mNumDifferentBodyConstraints;
+	PxU32 mNumDifferentBodyFrictionConstraints;
+	PxU32 mNumSelfConstraints;
+	PxU32 mNumSelfFrictionConstraints;
+	PxU32 mNumSelfConstraintBlocks;
+	PxU32 mNumSelfConstraintFrictionBlocks;
+
+	Ps::Array<PxU32>					mConstraintsPerPartition;
+	Ps::Array<PxU32>					mFrictionConstraintsPerPartition;
+	Ps::Array<PxU32>					mPartitionNormalizationBitmap;
+	PxsBodyCore**						mBodyCoreArray;
+	PxsRigidBody**						mRigidBodyArray;
+	Articulation**						mArticulationArray;
+	Cm::SpatialVector*					motionVelocityArray;
+	PxU32*								bodyRemapTable;
+	PxU32*								mNodeIndexArray;
+
+	//Constraint info for normal constraint sovler
+	PxSolverConstraintDesc*			contactConstraintDescArray;
+	PxU32								contactDescArraySize;
+	PxSolverConstraintDesc*			orderedContactConstraints;
+	PxConstraintBatchHeader*			contactConstraintBatchHeaders;
+	PxU32								numContactConstraintBatches;
+
+	//Constraint info for partitioning
+	PxSolverConstraintDesc*			tempConstraintDescArray;
+
+	//Additional constraint info for 1d/2d friction model
+	Ps::Array<PxSolverConstraintDesc>	frictionConstraintDescArray;
+	Ps::Array<PxConstraintBatchHeader> frictionConstraintBatchHeaders;
+
+	//Info for tracking compound contact managers (temporary data - could use scratch memory!)
+	Ps::Array<CompoundContactManager> compoundConstraints;
+
+	//Used for sorting constraints. Temporary, could use scratch memory
+	Ps::Array<const PxsIndexedContactManager*> orderedContactList;
+	Ps::Array<const PxsIndexedContactManager*> tempContactList;
+	Ps::Array<PxU32>					sortIndexArray;
+
+	PxU32								numDifferentBodyBatchHeaders;
+	PxU32								numSelfConstraintBatchHeaders;
+
+	
+	PxU32								mOrderedContactDescCount;
+	PxU32								mOrderedFrictionDescCount;
+
+	PxU32								mConstraintSize;
+
+	PxU32 mAxisConstraintCount;
+	SelfConstraintBlock* mSelfConstraintBlocks;
+	
+	SelfConstraintBlock* mSelfConstraintFrictionBlocks;
+
+	PxU32 mMaxPartitions;
+	PxU32 mMaxFrictionPartitions;
+	PxU32 mMaxSolverPositionIterations;
+	PxU32 mMaxSolverVelocityIterations;
+	PxU32 mMaxArticulationLength;
+	PxU32 mMaxArticulationSolverLength;
+	
+	PxSolverConstraintDesc* mContactDescPtr;
+	PxSolverConstraintDesc* mStartContactDescPtr;
+	PxSolverConstraintDesc* mFrictionDescPtr;
+
+private:
+
+	Ps::Array<ArticulationSolverDesc>	mArticulations;
+
+#if PX_ENABLE_SIM_STATS
+	ThreadSimStats				mThreadSimStats;
+#endif
+
+	public:
+
+};
+
+}
+
+}
+
+#endif //DY_THREADCONTEXT_H