1 files changed, 294 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/LowLevelCloth/src/SwSolver.cpp b/PhysX_3.4/Source/LowLevelCloth/src/SwSolver.cpp
new file mode 100644
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+++ b/PhysX_3.4/Source/LowLevelCloth/src/SwSolver.cpp
@@ -0,0 +1,294 @@
+// 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.
+
+#include "foundation/PxProfiler.h"
+#include "SwSolver.h"
+#include "SwCloth.h"
+#include "ClothImpl.h"
+#include "SwFabric.h"
+#include "SwFactory.h"
+#include "SwClothData.h"
+#include "SwSolverKernel.h"
+#include "SwInterCollision.h"
+#include "PsFPU.h"
+#include "PsFoundation.h"
+#include "PsSort.h"
+
+namespace physx
+{
+namespace cloth
+{
+bool neonSolverKernel(SwCloth const&, SwClothData&, SwKernelAllocator&, IterationStateFactory&);
+}
+}
+
+using namespace physx;
+
+#if NV_SIMD_SIMD
+typedef Simd4f Simd4fType;
+#else
+typedef Scalar4f Simd4fType;
+#endif
+
+cloth::SwSolver::SwSolver(physx::PxTaskManager* taskMgr)
+: mInterCollisionDistance(0.0f)
+, mInterCollisionStiffness(1.0f)
+, mInterCollisionIterations(1)
+, mInterCollisionScratchMem(NULL)
+, mInterCollisionScratchMemSize(0)
+{
+	mStartSimulationTask.mSolver = this;
+	mEndSimulationTask.mSolver = this;
+
+	PX_UNUSED(taskMgr);
+}
+
+cloth::SwSolver::~SwSolver()
+{
+	if(mInterCollisionScratchMem)
+		PX_FREE(mInterCollisionScratchMem);
+
+	PX_ASSERT(mCpuClothSimulationTasks.empty());
+}
+
+namespace
+{
+template <typename T>
+bool clothSizeGreater(const T& t0, const T& t1)
+{
+	return t0.mCloth->mCurParticles.size() > t1.mCloth->mCurParticles.size();
+}
+
+template <typename T>
+void sortTasks(shdfnd::Array<T, physx::shdfnd::NonTrackingAllocator>& tasks)
+{
+	shdfnd::sort(tasks.begin(), tasks.size(), &clothSizeGreater<T>);
+}
+}
+
+void cloth::SwSolver::addCloth(Cloth* cloth)
+{
+	SwCloth& swCloth = static_cast<SwClothImpl&>(*cloth).mCloth;
+
+	mCpuClothSimulationTasks.pushBack(CpuClothSimulationTask(swCloth, mEndSimulationTask));
+
+	sortTasks(mCpuClothSimulationTasks);
+}
+
+void cloth::SwSolver::removeCloth(Cloth* cloth)
+{
+	SwCloth& swCloth = static_cast<SwClothImpl&>(*cloth).mCloth;
+
+	CpuClothSimulationTaskVector::Iterator tIt = mCpuClothSimulationTasks.begin();
+	CpuClothSimulationTaskVector::Iterator tEnd = mCpuClothSimulationTasks.end();
+	while(tIt != tEnd && tIt->mCloth != &swCloth)
+		++tIt;
+
+	if(tIt != tEnd)
+	{
+		deallocate(tIt->mScratchMemory);
+		mCpuClothSimulationTasks.replaceWithLast(tIt);
+		sortTasks(mCpuClothSimulationTasks);
+	}
+}
+
+physx::PxBaseTask& cloth::SwSolver::simulate(float dt, physx::PxBaseTask& continuation)
+{
+	if(mCpuClothSimulationTasks.empty())
+	{
+		continuation.addReference();
+		return continuation;
+	}
+
+	mEndSimulationTask.setContinuation(&continuation);
+	mEndSimulationTask.mDt = dt;
+
+	mStartSimulationTask.setContinuation(&mEndSimulationTask);
+
+	mEndSimulationTask.removeReference();
+
+	return mStartSimulationTask;
+}
+
+void cloth::SwSolver::interCollision()
+{
+	if(!mInterCollisionIterations || mInterCollisionDistance == 0.0f)
+		return;
+
+	float elasticity = 1.0f;
+
+	// rebuild cloth instance array
+	mInterCollisionInstances.resize(0);
+	for(uint32_t i = 0; i < mCpuClothSimulationTasks.size(); ++i)
+	{
+		SwCloth* c = mCpuClothSimulationTasks[i].mCloth;
+		float invNumIterations = mCpuClothSimulationTasks[i].mInvNumIterations;
+
+		mInterCollisionInstances.pushBack(SwInterCollisionData(
+		    c->mCurParticles.begin(), c->mPrevParticles.begin(),
+		    c->mSelfCollisionIndices.empty() ? c->mCurParticles.size() : c->mSelfCollisionIndices.size(),
+		    c->mSelfCollisionIndices.empty() ? NULL : &c->mSelfCollisionIndices[0], c->mTargetMotion,
+		    c->mParticleBoundsCenter, c->mParticleBoundsHalfExtent, elasticity * invNumIterations, c->mUserData));
+	}
+
+	const uint32_t requiredTempMemorySize = uint32_t(SwInterCollision<Simd4fType>::estimateTemporaryMemory(
+	    &mInterCollisionInstances[0], mInterCollisionInstances.size()));
+
+	// realloc temp memory if necessary
+	if(mInterCollisionScratchMemSize < requiredTempMemorySize)
+	{
+		if(mInterCollisionScratchMem)
+			PX_FREE(mInterCollisionScratchMem);
+
+		mInterCollisionScratchMem = PX_ALLOC(requiredTempMemorySize, "cloth::SwSolver::mInterCollisionScratchMem");
+		mInterCollisionScratchMemSize = requiredTempMemorySize;
+	}
+
+	SwKernelAllocator allocator(mInterCollisionScratchMem, mInterCollisionScratchMemSize);
+
+	// run inter-collision
+	SwInterCollision<Simd4fType> collider(mInterCollisionInstances.begin(), mInterCollisionInstances.size(),
+	                                      mInterCollisionDistance, mInterCollisionStiffness, mInterCollisionIterations,
+	                                      mInterCollisionFilter, allocator);
+
+	collider();
+}
+
+void cloth::SwSolver::beginFrame() const
+{
+	PX_PROFILE_START_CROSSTHREAD("cloth::SwSolver::simulate", 0);
+}
+
+void cloth::SwSolver::endFrame() const
+{
+	PX_PROFILE_STOP_CROSSTHREAD("cloth::SwSolver::simulate", 0);
+}
+
+void cloth::SwSolver::StartSimulationTask::runInternal()
+{
+	mSolver->beginFrame();
+
+	CpuClothSimulationTaskVector::Iterator tIt = mSolver->mCpuClothSimulationTasks.begin();
+	CpuClothSimulationTaskVector::Iterator tEnd = mSolver->mCpuClothSimulationTasks.end();
+
+	for(; tIt != tEnd; ++tIt)
+	{
+		if(!tIt->mCloth->isSleeping())
+		{
+			tIt->setContinuation(mCont);
+			tIt->removeReference();
+		}
+	}
+}
+
+const char* cloth::SwSolver::StartSimulationTask::getName() const
+{
+	return "cloth.SwSolver.startSimulation";
+}
+
+void cloth::SwSolver::EndSimulationTask::runInternal()
+{
+	mSolver->interCollision();
+	mSolver->endFrame();
+}
+
+const char* cloth::SwSolver::EndSimulationTask::getName() const
+{
+	return "cloth.SwSolver.endSimulation";
+}
+
+cloth::SwSolver::CpuClothSimulationTask::CpuClothSimulationTask(SwCloth& cloth, EndSimulationTask& continuation)
+: mCloth(&cloth), mContinuation(&continuation), mScratchMemorySize(0), mScratchMemory(0), mInvNumIterations(0.0f)
+{
+}
+
+void cloth::SwSolver::CpuClothSimulationTask::runInternal()
+{
+	// check if we need to reallocate the temp memory buffer
+	// (number of shapes may have changed)
+	uint32_t requiredTempMemorySize = uint32_t(SwSolverKernel<Simd4fType>::estimateTemporaryMemory(*mCloth));
+
+	if(mScratchMemorySize < requiredTempMemorySize)
+	{
+		deallocate(mScratchMemory);
+
+		mScratchMemory = allocate(requiredTempMemorySize);
+		mScratchMemorySize = requiredTempMemorySize;
+	}
+
+	if(mContinuation->mDt == 0.0f)
+		return;
+
+	IterationStateFactory factory(*mCloth, mContinuation->mDt);
+	mInvNumIterations = factory.mInvNumIterations;
+
+	shdfnd::SIMDGuard simdGuard;
+
+	SwClothData data(*mCloth, mCloth->mFabric);
+	SwKernelAllocator allocator(mScratchMemory, uint32_t(mScratchMemorySize));
+
+// construct kernel functor and execute
+#if PX_ANDROID
+// if(!neonSolverKernel(cloth, data, allocator, factory))
+#endif
+	SwSolverKernel<Simd4fType>(*mCloth, data, allocator, factory)();
+
+	data.reconcile(*mCloth); // update cloth
+}
+
+const char* cloth::SwSolver::CpuClothSimulationTask::getName() const
+{
+	return "cloth.SwSolver.cpuClothSimulation";
+}
+
+void cloth::SwSolver::CpuClothSimulationTask::release()
+{
+	mCloth->mMotionConstraints.pop();
+	mCloth->mSeparationConstraints.pop();
+
+	if(!mCloth->mTargetCollisionSpheres.empty())
+	{
+		swap(mCloth->mStartCollisionSpheres, mCloth->mTargetCollisionSpheres);
+		mCloth->mTargetCollisionSpheres.resize(0);
+	}
+
+	if(!mCloth->mTargetCollisionPlanes.empty())
+	{
+		swap(mCloth->mStartCollisionPlanes, mCloth->mTargetCollisionPlanes);
+		mCloth->mTargetCollisionPlanes.resize(0);
+	}
+
+	if(!mCloth->mTargetCollisionTriangles.empty())
+	{
+		swap(mCloth->mStartCollisionTriangles, mCloth->mTargetCollisionTriangles);
+		mCloth->mTargetCollisionTriangles.resize(0);
+	}
+
+	mContinuation->removeReference();
+}