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/*
* Copyright (c) 2008-2017, 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.
*/
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "Types.h"
#include "StackAllocator.h"
#include "Simd4i.h"
#include "PxMat44.h"
#include "PxTransform.h"
#include "PxBounds3.h"
namespace physx
{
namespace profile
{
class PxProfileZone;
}
}
namespace nvidia
{
namespace cloth
{
class SwCloth;
struct SwClothData;
typedef StackAllocator<16> SwKernelAllocator;
typedef bool (*InterCollisionFilter)(void* cloth0, void* cloth1);
struct SwInterCollisionData
{
SwInterCollisionData()
{
}
SwInterCollisionData(PxVec4* particles, PxVec4* prevParticles, uint32_t numParticles, uint32_t* indices,
const PxTransform& globalPose, const PxVec3& boundsCenter, const PxVec3& boundsHalfExtents,
float impulseScale, void* userData)
: mParticles(particles)
, mPrevParticles(prevParticles)
, mNumParticles(numParticles)
, mIndices(indices)
, mGlobalPose(globalPose)
, mBoundsCenter(boundsCenter)
, mBoundsHalfExtent(boundsHalfExtents)
, mImpulseScale(impulseScale)
, mUserData(userData)
{
}
PxVec4* mParticles;
PxVec4* mPrevParticles;
uint32_t mNumParticles;
uint32_t* mIndices;
PxTransform mGlobalPose;
PxVec3 mBoundsCenter;
PxVec3 mBoundsHalfExtent;
float mImpulseScale;
void* mUserData;
};
template <typename Simd4f>
class SwInterCollision
{
public:
SwInterCollision(const SwInterCollisionData* cloths, uint32_t n, float colDist, float stiffness, uint32_t iterations,
InterCollisionFilter filter, cloth::SwKernelAllocator& alloc, nvidia::profile::PxProfileZone* zone);
~SwInterCollision();
void operator()();
static size_t estimateTemporaryMemory(SwInterCollisionData* cloths, uint32_t n);
private:
SwInterCollision& operator=(const SwInterCollision&); // not implemented
static size_t getBufferSize(uint32_t);
void collideParticles(const uint32_t* keys, uint32_t firstColumnSize, const uint32_t* sortedIndices,
uint32_t numParticles, uint32_t collisionDistance);
Simd4f& getParticle(uint32_t index);
// better wrap these in a struct
void collideParticle(uint32_t index);
Simd4f mParticle;
Simd4f mImpulse;
Simd4f mCollisionDistance;
Simd4f mCollisionSquareDistance;
Simd4f mStiffness;
uint16_t mClothIndex;
uint32_t mClothMask;
uint32_t mParticleIndex;
uint32_t mNumIterations;
const SwInterCollisionData* mInstances;
uint32_t mNumInstances;
uint16_t* mClothIndices;
uint32_t* mParticleIndices;
uint32_t mNumParticles;
uint32_t* mOverlapMasks;
uint32_t mTotalParticles;
InterCollisionFilter mFilter;
SwKernelAllocator& mAllocator;
profile::PxProfileZone* mProfiler;
public:
mutable uint32_t mNumTests;
mutable uint32_t mNumCollisions;
};
} // namespace cloth
} // namespace nvidia
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