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/*
* Copyright (c) 2008-2015, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, 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.
*/
#ifndef __BASIC_IOS_COMMON_H__
#define __BASIC_IOS_COMMON_H__
#include "PxMat44.h"
#include "PxBounds3.h"
#include "PxVec3.h"
#include "InplaceTypes.h"
namespace nvidia
{
namespace apex
{
class ApexCpuInplaceStorage;
}
namespace basicios
{
//struct InjectorParams
#define INPLACE_TYPE_STRUCT_NAME InjectorParams
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(float, mLODMaxDistance) \
INPLACE_TYPE_FIELD(float, mLODDistanceWeight) \
INPLACE_TYPE_FIELD(float, mLODSpeedWeight) \
INPLACE_TYPE_FIELD(float, mLODLifeWeight) \
INPLACE_TYPE_FIELD(float, mLODBias) \
INPLACE_TYPE_FIELD(uint32_t, mLocalIndex)
#include INPLACE_TYPE_BUILD()
typedef InplaceArray<InjectorParams> InjectorParamsArray;
//struct CollisionData
#define INPLACE_TYPE_STRUCT_NAME CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxVec3, bodyCMassPosition) \
INPLACE_TYPE_FIELD(PxVec3, bodyLinearVelocity) \
INPLACE_TYPE_FIELD(PxVec3, bodyAngluarVelocity) \
INPLACE_TYPE_FIELD(float, materialRestitution)
#include INPLACE_TYPE_BUILD()
//struct CollisionSphereData
#define INPLACE_TYPE_STRUCT_NAME CollisionSphereData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxBounds3, aabb) \
INPLACE_TYPE_FIELD(PxTransform, pose) \
INPLACE_TYPE_FIELD(PxTransform, inversePose) \
INPLACE_TYPE_FIELD(float, radius)
#include INPLACE_TYPE_BUILD()
//struct CollisionCapsuleData
#define INPLACE_TYPE_STRUCT_NAME CollisionCapsuleData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxBounds3, aabb) \
INPLACE_TYPE_FIELD(PxTransform, pose) \
INPLACE_TYPE_FIELD(PxTransform, inversePose) \
INPLACE_TYPE_FIELD(float, halfHeight) \
INPLACE_TYPE_FIELD(float, radius)
#include INPLACE_TYPE_BUILD()
//struct CollisionBoxData
#define INPLACE_TYPE_STRUCT_NAME CollisionBoxData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxBounds3, aabb) \
INPLACE_TYPE_FIELD(PxTransform, pose) \
INPLACE_TYPE_FIELD(PxTransform, inversePose) \
INPLACE_TYPE_FIELD(PxVec3, halfSize)
#include INPLACE_TYPE_BUILD()
//struct CollisionHalfSpaceData
#define INPLACE_TYPE_STRUCT_NAME CollisionHalfSpaceData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxVec3, normal) \
INPLACE_TYPE_FIELD(PxVec3, origin)
#include INPLACE_TYPE_BUILD()
//struct CollisionConvexMeshData
#define INPLACE_TYPE_STRUCT_NAME CollisionConvexMeshData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxBounds3, aabb) \
INPLACE_TYPE_FIELD(PxTransform, pose) \
INPLACE_TYPE_FIELD(PxTransform, inversePose) \
INPLACE_TYPE_FIELD(uint32_t, numPolygons) \
INPLACE_TYPE_FIELD(uint32_t, firstPlane) \
INPLACE_TYPE_FIELD(uint32_t, firstVertex) \
INPLACE_TYPE_FIELD(uint32_t, polygonsDataOffset)
#include INPLACE_TYPE_BUILD()
//struct CollisionTriMeshData
#define INPLACE_TYPE_STRUCT_NAME CollisionTriMeshData
#define INPLACE_TYPE_STRUCT_BASE CollisionData
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(PxBounds3, aabb) \
INPLACE_TYPE_FIELD(PxTransform, pose) \
INPLACE_TYPE_FIELD(PxTransform, inversePose) \
INPLACE_TYPE_FIELD(uint32_t, numTriangles) \
INPLACE_TYPE_FIELD(uint32_t, firstIndex) \
INPLACE_TYPE_FIELD(uint32_t, firstVertex)
#include INPLACE_TYPE_BUILD()
//struct SimulationParams
#define INPLACE_TYPE_STRUCT_NAME SimulationParams
#define INPLACE_TYPE_STRUCT_FIELDS \
INPLACE_TYPE_FIELD(float, collisionThreshold) \
INPLACE_TYPE_FIELD(float, collisionDistance) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionBoxData>, boxes) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionSphereData>, spheres) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionCapsuleData>, capsules) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionHalfSpaceData>, halfSpaces) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionConvexMeshData>, convexMeshes) \
INPLACE_TYPE_FIELD(InplaceArray<CollisionTriMeshData>, trimeshes) \
INPLACE_TYPE_FIELD(PxPlane*, convexPlanes) \
INPLACE_TYPE_FIELD(PxVec4*, convexVerts) \
INPLACE_TYPE_FIELD(uint32_t*, convexPolygonsData) \
INPLACE_TYPE_FIELD(PxVec4*, trimeshVerts) \
INPLACE_TYPE_FIELD(uint32_t*, trimeshIndices)
#define INPLACE_TYPE_STRUCT_LEAVE_OPEN 1
#include INPLACE_TYPE_BUILD()
APEX_CUDA_CALLABLE PX_INLINE SimulationParams() : convexPlanes(NULL), convexVerts(NULL), convexPolygonsData(NULL) {}
};
struct GridDensityParams
{
bool Enabled;
float GridSize;
uint32_t GridMaxCellCount;
uint32_t GridResolution;
PxVec3 DensityOrigin;
GridDensityParams(): Enabled(false) {}
};
struct GridDensityFrustumParams
{
float nearDimX;
float farDimX;
float nearDimY;
float farDimY;
float dimZ;
};
#ifdef __CUDACC__
#define SIM_FETCH_PLANE(plane, name, idx) { float4 f4 = tex1Dfetch(KERNEL_TEX_REF(name), idx); plane = PxPlane(f4.x, f4.y, f4.z, f4.w); }
#define SIM_FETCH(name, idx) tex1Dfetch(KERNEL_TEX_REF(name), idx)
#define SIM_FLOAT4 float4
#define SIM_INT_AS_FLOAT(x) __int_as_float(x)
#define SIM_INJECTOR_ARRAY const InjectorParamsArray&
#define SIM_FETCH_INJECTOR(injectorArray, injParams, injector) injectorArray.fetchElem(INPLACE_STORAGE_ARGS_VAL, injParams, injector)
__device__ PX_INLINE float splitFloat4(PxVec3& v3, const SIM_FLOAT4& f4)
{
v3.x = f4.x;
v3.y = f4.y;
v3.z = f4.z;
return f4.w;
}
__device__ PX_INLINE SIM_FLOAT4 combineFloat4(const PxVec3& v3, float w)
{
return make_float4(v3.x, v3.y, v3.z, w);
}
#else
#define SIM_FETCH_PLANE(plane, name, idx) plane = mem##name[idx];
#define SIM_FETCH(name, idx) mem##name[idx]
#define SIM_FLOAT4 PxVec4
#define SIM_INT_AS_FLOAT(x) *(const float*)(&x)
#define SIM_INJECTOR_ARRAY const InjectorParams*
#define SIM_FETCH_INJECTOR(injectorArray, injParams, injector) injParams = injectorArray[injector];
PX_INLINE float splitFloat4(PxVec3& v3, const SIM_FLOAT4& f4)
{
v3 = f4.getXYZ();
return f4.w;
}
PX_INLINE SIM_FLOAT4 combineFloat4(const PxVec3& v3, float w)
{
return PxVec4(v3.x, v3.y, v3.z, w);
}
#endif
}
} // namespace nvidia
#endif
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