PhysX 3.4.1, APEX 1.4.1 Release @22845541v3.4.1

9 files changed, 103 insertions, 61 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
index 4ce57c13..579c5438 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
@@ -1012,9 +1012,3 @@ void Sc::BodySim::freezeTransforms(Cm::BitMapPinned* shapeChangedMap)
 	}
 }
 
-void Sc::BodySim::postShapeChange(bool /*asPartOfActorTransformChange*/)
-{
-	// shape geometry or transform changes can cause connectivity changes and thus a second island gen pass is needed.
-	/*if (!asPartOfActorTransformChange)
-		internalNotifySecondIslandGenPassNeeded();*/
-}
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodySim.h b/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
index 24f1591a..375e58b9 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
@@ -228,7 +228,6 @@ namespace Sc
 			return (getFlagsFast()&ktFlags) == ktFlags;
 		}
 
-						void					postShapeChange(bool asPartOfActorTransformChange);
 						void					createSqBounds();
 						void					destroySqBounds();
 						void					freezeTransforms(Cm::BitMapPinned* shapeChangedMap);
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementSim.h b/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
index e04c136d..aace946b 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
@@ -105,7 +105,6 @@ namespace Sc
 		// Get an iterator to the interactions connected to the element
 		PX_FORCE_INLINE	ElementInteractionIterator getElemInteractions()	const	{ return ElementInteractionIterator(*this, mActor.getActorInteractionCount(), mActor.getActorInteractions()); }
 		PX_FORCE_INLINE	ElementInteractionReverseIterator getElemInteractionsReverse()	const	{ return ElementInteractionReverseIterator(*this, mActor.getActorInteractionCount(), mActor.getActorInteractions()); }
-		PX_FORCE_INLINE	PxU32					getElemInteractionCount()	const	{ return mActor.getActorInteractionCount(); }
 
 		PX_FORCE_INLINE	ActorSim&				getActor()					const	{ return mActor; }
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
index 4a6c6def..824f2ce9 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
@@ -76,13 +76,13 @@ void Sc::RigidCore::onShapeChange(Sc::ShapeCore& shape, ShapeChangeNotifyFlags n
 	Sc::ShapeSim& s = sim->getSimForShape(shape);
 
 	if(notifyFlags & ShapeChangeNotifyFlag::eGEOMETRY)
-		s.onVolumeOrTransformChange(false, forceBoundsUpdate);
+		s.onVolumeOrTransformChange(forceBoundsUpdate);
 	if(notifyFlags & ShapeChangeNotifyFlag::eMATERIAL)
 		s.onMaterialChange();
 	if(notifyFlags & ShapeChangeNotifyFlag::eRESET_FILTERING)
 		s.onResetFiltering();
 	if(notifyFlags & ShapeChangeNotifyFlag::eSHAPE2BODY)
-		s.onVolumeOrTransformChange(false, forceBoundsUpdate);
+		s.onVolumeOrTransformChange(forceBoundsUpdate);
 	if(notifyFlags & ShapeChangeNotifyFlag::eFILTERDATA)
 		s.onFilterDataChange();
 	if(notifyFlags & ShapeChangeNotifyFlag::eFLAGS)
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
index dd4829bd..573f7bb1 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
@@ -68,12 +68,31 @@ Sc::RigidSim::~RigidSim()
 	scScene.getRigidIDTracker().releaseID(mRigidId);
 }
 
+bool notifyActorInteractionsOfTransformChange(Sc::ActorSim& actor);
 void Sc::RigidSim::notifyShapesOfTransformChange()
 {
-	for(ElementSim* e = getElements_(); e!=0; e = e->mNextInActor)
+	if(0)
 	{
-		if(e->getElementType() == ElementType::eSHAPE)
-			static_cast<Sc::ShapeSim*>(e)->onVolumeOrTransformChange(true);
+		for(ElementSim* e = getElements_(); e!=0; e = e->mNextInActor)
+		{
+			if(e->getElementType() == ElementType::eSHAPE)
+				static_cast<Sc::ShapeSim*>(e)->onVolumeOrTransformChange(true);
+		}
+	}
+	else
+	{
+		const bool isDynamic = notifyActorInteractionsOfTransformChange(*this);
+
+		ElementSim* current = getElements_();
+		while(current)
+		{
+			if(current->getElementType() == ElementType::eSHAPE)
+			{
+				ShapeSim* sim = static_cast<ShapeSim*>(current);
+				sim->markBoundsForUpdate(false, isDynamic);
+			}
+			current = current->mNextInActor;
+		}
 	}
 }
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
index 1f161f18..2099b86d 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
@@ -619,6 +619,7 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	mCollideStep					(contextID, this, "ScScene.collideStep"),	
 	mTaskPool						(16384),
 	mContactReportsNeedPostSolverVelocity(false),
+	mUseGpuRigidBodies				(false),
 	mSimulationStage				(SimulationStage::eCOMPLETE),
 	mTmpConstraintGroupRootBuffer	(NULL),
 	mPosePreviewBodies				(PX_DEBUG_EXP("scenePosePreviewBodies"))
@@ -694,6 +695,8 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	}
 #endif
 
+	mUseGpuRigidBodies = useGpuBroadphase || useGpuDynamics;
+
 	mLLContext = PX_NEW(PxsContext)(desc, mTaskManager, mTaskPool, contextID);
 	
 	if (mLLContext == 0)
@@ -773,7 +776,7 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 		mDynamicsContext = createDynamicsContext
 			(&mLLContext->getNpMemBlockPool(), mLLContext->getScratchAllocator(),
 			mLLContext->getTaskPool(), mLLContext->getSimStats(), &mLLContext->getTaskManager(), allocatorCallback, &getMaterialManager(),
-			&mSimpleIslandManager->getAccurateIslandSim(), contextID, mEnableStabilization, useEnhancedDeterminism, useAdaptiveForce);
+			&mSimpleIslandManager->getAccurateIslandSim(), contextID, mEnableStabilization, useEnhancedDeterminism, useAdaptiveForce, desc.maxBiasCoefficient);
 
 		mLLContext->setNphaseImplementationContext(createNphaseImplementationContext(*mLLContext, &mSimpleIslandManager->getAccurateIslandSim()));
 
@@ -786,7 +789,7 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	{
 #if PX_SUPPORT_GPU_PHYSX
 		mDynamicsContext = PxvGetPhysXGpu(true)->createGpuDynamicsContext(mLLContext->getTaskPool(), mGpuWranglerManagers, mLLContext->getTaskManager().getGpuDispatcher(), NULL,
-			desc.gpuDynamicsConfig, &mSimpleIslandManager->getAccurateIslandSim(), desc.gpuMaxNumPartitions, mEnableStabilization, useEnhancedDeterminism, useAdaptiveForce, desc.gpuComputeVersion, mLLContext->getSimStats(),
+			desc.gpuDynamicsConfig, &mSimpleIslandManager->getAccurateIslandSim(), desc.gpuMaxNumPartitions, mEnableStabilization, useEnhancedDeterminism, useAdaptiveForce, desc.maxBiasCoefficient, desc.gpuComputeVersion, mLLContext->getSimStats(),
 			mHeapMemoryAllocationManager);
 
 		void* contactStreamBase = NULL;
@@ -838,6 +841,7 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	setSolverBatchSize(desc.solverBatchSize);
 	mDynamicsContext->setFrictionOffsetThreshold(desc.frictionOffsetThreshold);
 	mDynamicsContext->setCCDSeparationThreshold(desc.ccdMaxSeparation);
+	mDynamicsContext->setSolverOffsetSlop(desc.solverOffsetSlop);
 
 	const PxTolerancesScale& scale = Physics::getInstance().getTolerancesScale();
 	mDynamicsContext->setCorrelationDistance(0.025f * scale.length);
@@ -2129,6 +2133,8 @@ void Sc::Scene::postBroadPhase(PxBaseTask* continuation)
 
 void Sc::Scene::postBroadPhaseStage2(PxBaseTask* continuation)
 {
+	// - Wakes actors that lost touch if appropriate
+	processLostTouchPairs();
 	//Release unused Cms back to the pool (later, this needs to be done in a thread-safe way from multiple worker threads
 	mIslandInsertion.setContinuation(continuation);
 	mRegisterContactManagers.setContinuation(continuation);
@@ -6056,8 +6062,8 @@ void Sc::Scene::islandInsertion(PxBaseTask* /*continuation*/)
 			}
 		}
 
-		// - Wakes actors that lost touch if appropriate
-		processLostTouchPairs();
+		//// - Wakes actors that lost touch if appropriate
+		//processLostTouchPairs();
 
 		if(mCCDPass == 0)
 		{
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
index cb3b5f66..159450ce 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
@@ -443,64 +443,89 @@ Ps::IntBool Sc::ShapeSim::updateSweptBounds()
 	return isFastMoving;	
 }
 
-void Sc::ShapeSim::onVolumeOrTransformChange(bool asPartOfActorTransformChange, bool forceBoundsUpdate)
+void Sc::ShapeSim::markBoundsForUpdate(bool forceBoundsUpdate, bool isDynamic)
 {
+	PX_UNUSED(isDynamic);
+
 	Sc::Scene& scene = getScene();
 
-	Sc::BodySim* body = getBodySim();
-	const bool isDynamic = (body != NULL);
-	bool isAsleep;
-	if (body)
+	const PxU32 elementID = getElementID();
+
+	if(forceBoundsUpdate)
+		updateCached(0, &scene.getAABBManager()->getChangedAABBMgActorHandleMap());
+	else if(isInBroadPhase())
+		scene.getDirtyShapeSimMap().growAndSet(elementID);
+
+#if PX_USE_PARTICLE_SYSTEM_API
+#if PX_SUPPORT_GPU_PHYSX
+	// PT: onShapeChange currently only used for GPU physics. Inlined 'getSceneGpu' call avoids
+	// extra function calls and additional work from getPxsRigidCore(), etc
+	Pt::Context* context = scene.getParticleContext();
+	if(context->getSceneGpuFast())
+		context->getSceneGpuFast()->onShapeChange(size_t(&mCore.getCore()), size_t(&getPxsRigidCore()), isDynamic);
+#endif
+#endif
+}
+
+static PX_FORCE_INLINE void updateInteraction(Sc::Scene& scene, Sc::Interaction* i, const bool isDynamic, const bool isAsleep)
+{
+	if(i->getType() == Sc::InteractionType::eOVERLAP)
 	{
-		isAsleep = !body->isActive();
-		body->postShapeChange(asPartOfActorTransformChange);
+		Sc::ShapeInteraction* si = static_cast<Sc::ShapeInteraction*>(i);
+		si->resetManagerCachedState();
+			
+		if(isAsleep)
+			si->onShapeChangeWhileSleeping(isDynamic);
 	}
-	else
-		isAsleep = true;
+	else if(i->getType() == Sc::InteractionType::eTRIGGER)
+		(static_cast<Sc::TriggerInteraction*>(i))->forceProcessingThisFrame(scene);  // trigger pairs need to be checked next frame
+#if PX_USE_PARTICLE_SYSTEM_API
+	else if(i->getType() == Sc::InteractionType::ePARTICLE_BODY)
+		(static_cast<Sc::ParticleElementRbElementInteraction *>(i))->onRbShapeChange();
+#endif
+}
+
+void Sc::ShapeSim::onVolumeOrTransformChange(bool forceBoundsUpdate)
+{
+	Sc::Scene& scene = getScene();
+	Sc::BodySim* body = getBodySim();
+	const bool isDynamic = (body != NULL);
+	const bool isAsleep = body ? !body->isActive() : true;
 
 	ElementSim::ElementInteractionIterator iter = getElemInteractions();
 	ElementSimInteraction* i = iter.getNext();
 	while(i)
 	{
-		if(i->getType() == InteractionType::eOVERLAP)
-		{
-			Sc::ShapeInteraction* si = static_cast<Sc::ShapeInteraction*>(i);
-			si->resetManagerCachedState();
-			
-			if (isAsleep)
-				si->onShapeChangeWhileSleeping(isDynamic);
-		}
-		else if (i->getType() == InteractionType::eTRIGGER)
-			(static_cast<Sc::TriggerInteraction*>(i))->forceProcessingThisFrame(scene);  // trigger pairs need to be checked next frame
-#if PX_USE_PARTICLE_SYSTEM_API
-		else if (i->getType() == InteractionType::ePARTICLE_BODY)
-			(static_cast<Sc::ParticleElementRbElementInteraction *>(i))->onRbShapeChange();
-#endif
-
+		updateInteraction(scene, i, isDynamic, isAsleep);
 		i = iter.getNext();
 	}
 
+	markBoundsForUpdate(forceBoundsUpdate, isDynamic);
+}
 
-	const PxU32 elementID = getElementID();
-
-	if (forceBoundsUpdate)
+bool notifyActorInteractionsOfTransformChange(Sc::ActorSim& actor)
+{
+	bool isDynamic;
+	bool isAsleep;
+	if(actor.isDynamicRigid())
 	{
-		updateCached(0, &scene.getAABBManager()->getChangedAABBMgActorHandleMap());
+		isDynamic = true;
+		isAsleep = !static_cast<Sc::BodySim&>(actor).isActive();
 	}
-	else if (isInBroadPhase())
-		scene.getDirtyShapeSimMap().growAndSet(elementID);
-
-#if PX_USE_PARTICLE_SYSTEM_API
-#if PX_SUPPORT_GPU_PHYSX
-	// PT: onShapeChange currently only used for GPU physics. Inlined 'getSceneGpu' call avoids
-	// extra function calls and additional work from getPxsRigidCore(), etc
-	Pt::Context* context = scene.getParticleContext();
-	if(context->getSceneGpuFast())
+	else
 	{
-		context->getSceneGpuFast()->onShapeChange(size_t(&mCore.getCore()), size_t(&getPxsRigidCore()), (body != NULL));
+		isDynamic = false;
+		isAsleep = true;
 	}
-#endif
-#endif
+
+	Sc::Scene& scene = actor.getScene();
+
+	PxU32 nbInteractions = actor.getActorInteractionCount();
+	Sc::Interaction** interactions = actor.getActorInteractions();
+	while(nbInteractions--)
+		updateInteraction(scene, *interactions++, isDynamic, isAsleep);
+
+	return isDynamic;
 }
 
 void Sc::ShapeSim::createSqBounds()
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
index 86d29f15..e185703f 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
@@ -106,9 +106,10 @@ namespace Sc
 						void							onRestOffsetChange();
 						void							onFlagChange(PxShapeFlags oldFlags);
 						void							onResetFiltering();
-						void							onVolumeOrTransformChange(bool asPartOfActorTransformChange, bool forceBoundsUpdate = false);
+						void							onVolumeOrTransformChange(bool forceBoundsUpdate = false);
 						void							onMaterialChange();  // remove when material properties are gone from PxcNpWorkUnit
 						void							onContactOffsetChange();
+						void							markBoundsForUpdate(bool forceBoundsUpdate, bool isDynamic);
 
 						void							getAbsPoseAligned(PxTransform* PX_RESTRICT globalPose)	const;
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
index 5fb2a990..c0ba7cd8 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
@@ -718,6 +718,8 @@ void Sc::ParticleSystemSim::visualizeInteractions(Cm::RenderOutput& out)
 	}
 }
 
+#endif  // PX_ENABLE_DEBUG_VISUALIZATION
+
 //----------------------------------------------------------------------------//
 
 PxBaseTask& Sc::ParticleSystemSim::scheduleShapeGeneration(Pt::Context& context, const Ps::Array<ParticleSystemSim*>& particleSystems, PxBaseTask& continuation)
@@ -862,7 +864,4 @@ void Sc::ParticleSystemSim::prepareCollisionInput(PxBaseTask* /*continuation*/)
 
 //----------------------------------------------------------------------------//
 
-#endif  // PX_ENABLE_DEBUG_VISUALIZATION
-
-
 #endif	// PX_USE_PARTICLE_SYSTEM_API