Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 178 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.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 PX_PHYSICS_SCP_CONSTRAINT_GROUP_NODE
+#define PX_PHYSICS_SCP_CONSTRAINT_GROUP_NODE
+
+#include "ScConstraintProjectionTree.h"
+#include "PsUtilities.h"  // for Ps::to8()
+
+namespace physx
+{
+namespace Sc
+{
+	class ConstraintSim;
+	class BodySim;
+	class ConstraintProjectionManager;
+
+	// A 'simulation island' of constraints. Created by a union-find algorithm every time a new constraint is added to any of the involved bodies.
+	struct ConstraintGroupNode : public Ps::UserAllocated
+	{
+		enum StateFlags
+		{
+			eDISCOVERED						= 1 << 0,	// Used during projection tree generation to mark processed nodes.
+			eIN_PROJECTION_PASS_LIST		= 1 << 1,	// Temporarily used to avoid duplicate entries in the list of nodes that should project the pose after the solver
+			ePENDING_TREE_UPDATE			= 1 << 2,	// Marks the constraint groups that need their projection trees updated. Must only be set on the root group node.
+			eNEXT_FREE_SHIFT				= 3,
+			eNEXT_FREE						= 1 << eNEXT_FREE_SHIFT
+		};
+
+		// these flags should give a rough hint how many projecting constraints to expect in the constraint group. This will be used for
+		// load balancing when running projection in parallel. The intervals were chosen somewhat arbitrarily but the general motivation was
+		// to cover very simple constraint setups, simple ragdolls, complex ragdolls and very complex projection setups. Note that the load
+		// balancing is not waterproof since at the end it is the projection shader from the external constraint implementer (for example, a joint)
+		// which decides based on some thresholds whether projection runs or not.
+		enum ProjectionCountHintFlags
+		{
+			e1_TO_4							= eNEXT_FREE,
+			e5_TO_16						= eNEXT_FREE << 1,
+			e17_TO_64						= eNEXT_FREE << 2,
+			e65_TO_INF						= eNEXT_FREE << 3,
+			eCLEAR_MASK						= ~(0xffffffff << eNEXT_FREE_SHIFT)
+		};
+
+		ConstraintGroupNode(BodySim& b);
+		~ConstraintGroupNode()
+		{
+			PX_ASSERT(!readFlag(ePENDING_TREE_UPDATE));
+			PX_ASSERT(projectionFirstRoot == NULL);
+		}
+
+		PX_FORCE_INLINE		void					raiseFlag(StateFlags f) { flags |= f; }
+		PX_FORCE_INLINE		void					clearFlag(StateFlags f) { flags &= ~f; }
+		PX_FORCE_INLINE		bool					readFlag(StateFlags f) const { return (flags & f) != 0; }
+		PX_FORCE_INLINE		PxU32					getProjectionCountHint() const;
+		PX_FORCE_INLINE		void					setProjectionCountHint(PxU32 constraintsToProjectCount);
+
+							ConstraintGroupNode&	getRoot();
+
+		PX_FORCE_INLINE		void					buildProjectionTrees(); //build the projection trees for a constraint group.
+							void					markForProjectionTreeRebuild(ConstraintProjectionManager&);
+		PX_FORCE_INLINE		void					purgeProjectionTrees();
+		PX_FORCE_INLINE		bool					hasProjectionTreeRoot() { return projectionFirstRoot != NULL; }
+		PX_FORCE_INLINE		void					setProjectionTreeRoot(ConstraintGroupNode* root) { projectionFirstRoot = root; }
+
+							void					initProjectionData(ConstraintGroupNode* parent, ConstraintSim* c);
+							void					clearProjectionData();
+
+		static				void					projectPose(ConstraintGroupNode& root, Ps::Array<BodySim*>& projectedBodies);
+
+
+		BodySim*					body;		//the owner body of this node
+
+		//tree for union/find:
+		ConstraintGroupNode*		parent;
+		ConstraintGroupNode*		tail;		//only valid if this is root of group, points to LList tail node.
+		PxU32						rank;		//rank counter for union/find. Initially zero. Is number of hops from root to furthest leaf in tree. This is just a hint to create more balanced trees.
+		
+		//linked list for traversal:
+		ConstraintGroupNode*		next;		//next in list, NULL at tail.
+
+		//projection tree information
+		ConstraintGroupNode*		projectionFirstRoot;	//pointer to first projection tree root node. Only set for constraint group roots
+		ConstraintGroupNode*		projectionNextRoot;		//pointer to next projection root node. Only set for constraint group roots
+															//a constraint group can consist of multiple projection trees if kinematics are involved! Because a kinematic doesn't split
+															//the constraint group as a static anchor does.
+		ConstraintGroupNode*		projectionParent;		//node to project to
+		ConstraintGroupNode*		projectionFirstChild;	//first node which gets projected to this one
+		ConstraintGroupNode*		projectionNextSibling;	//the next sibling which gets projected to the same node as this one. NULL if projectionParent is NULL.
+		ConstraintSim*				projectionConstraint;	//the constraint to project (constraint to projection parent)
+
+	private:
+		PxU8						flags;
+	};
+
+} // namespace Sc
+
+
+PX_FORCE_INLINE PxU32 Sc::ConstraintGroupNode::getProjectionCountHint() const
+{
+	// return the mean of the upper and lower bound
+
+	if (flags & ConstraintGroupNode::e65_TO_INF)
+		return 128;
+	else if (flags & ConstraintGroupNode::e17_TO_64)
+		return 40;
+	else if (flags & ConstraintGroupNode::e5_TO_16)
+		return 10;
+	else if (flags & ConstraintGroupNode::e1_TO_4)
+		return 2;
+
+	return 0;
+}
+
+
+PX_FORCE_INLINE void Sc::ConstraintGroupNode::setProjectionCountHint(PxU32 constraintsToProjectCount)
+{
+	PxU8 tmpFlags = flags;
+	tmpFlags &= PxU8(ConstraintGroupNode::eCLEAR_MASK);
+
+	if (constraintsToProjectCount >= 65)
+		tmpFlags |= ConstraintGroupNode::e65_TO_INF;
+	else if (constraintsToProjectCount >= 17)
+		tmpFlags |= ConstraintGroupNode::e17_TO_64;
+	else if (constraintsToProjectCount >= 5)
+		tmpFlags |= ConstraintGroupNode::e5_TO_16;
+	else if (constraintsToProjectCount >= 1)
+		tmpFlags |= ConstraintGroupNode::e1_TO_4;
+
+	flags = tmpFlags;
+}
+
+
+PX_FORCE_INLINE void Sc::ConstraintGroupNode::buildProjectionTrees()
+{
+	PX_ASSERT(this == parent);  // Only call for group roots
+	PX_ASSERT(!hasProjectionTreeRoot());
+
+	ConstraintProjectionTree::buildProjectionTrees(*this);
+}
+
+
+PX_FORCE_INLINE void Sc::ConstraintGroupNode::purgeProjectionTrees()
+{
+	PX_ASSERT(this == parent);  // Only call for group roots
+	PX_ASSERT(hasProjectionTreeRoot());
+	ConstraintProjectionTree::purgeProjectionTrees(*this);
+}
+
+}
+
+#endif