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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "Solver.h"
#include "Allocator.h"
#include "SwInterCollision.h"
#include "CmTask.h"
namespace nvidia
{
namespace cloth
{
class SwCloth;
class SwFactory;
/// CPU/SSE based cloth solver
class SwSolver : public UserAllocated, public Solver
{
struct StartSimulationTask : public Cm::Task
{
using PxLightCpuTask::mRefCount;
using PxLightCpuTask::mTm;
virtual void runInternal();
virtual const char* getName() const;
SwSolver* mSolver;
};
struct EndSimulationTask : public Cm::Task
{
using PxLightCpuTask::mRefCount;
virtual void runInternal();
virtual const char* getName() const;
SwSolver* mSolver;
#if !APEX_UE4
float mDt;
#endif
};
struct CpuClothSimulationTask : public Cm::Task
{
#if APEX_UE4
void* operator new(size_t n){ return allocate(n); }
void operator delete(void* ptr) { return deallocate(ptr); }
CpuClothSimulationTask(SwCloth&, SwSolver&);
~CpuClothSimulationTask();
void simulate(float dt);
SwSolver* mSolver;
#else
CpuClothSimulationTask(SwCloth&, EndSimulationTask&);
EndSimulationTask* mContinuation;
#endif
virtual void runInternal();
virtual const char* getName() const;
virtual void release();
SwCloth* mCloth;
uint32_t mScratchMemorySize;
void* mScratchMemory;
float mInvNumIterations;
};
public:
SwSolver(nvidia::profile::PxProfileZone*, PxTaskManager*);
virtual ~SwSolver();
virtual void addCloth(Cloth*);
virtual void removeCloth(Cloth*);
virtual PxBaseTask& simulate(float dt, PxBaseTask&);
virtual void setInterCollisionDistance(float distance)
{
mInterCollisionDistance = distance;
}
virtual float getInterCollisionDistance() const
{
return mInterCollisionDistance;
}
virtual void setInterCollisionStiffness(float stiffness)
{
mInterCollisionStiffness = stiffness;
}
virtual float getInterCollisionStiffness() const
{
return mInterCollisionStiffness;
}
virtual void setInterCollisionNbIterations(uint32_t nbIterations)
{
mInterCollisionIterations = nbIterations;
}
virtual uint32_t getInterCollisionNbIterations() const
{
return mInterCollisionIterations;
}
virtual void setInterCollisionFilter(InterCollisionFilter filter)
{
mInterCollisionFilter = filter;
}
virtual uint32_t getNumSharedPositions( const Cloth* ) const
{
return uint32_t(-1);
}
virtual bool hasError() const
{
return false;
}
#if APEX_UE4
static void simulate(void*, float);
#endif
private:
void beginFrame() const;
void endFrame() const;
void interCollision();
private:
StartSimulationTask mStartSimulationTask;
#if APEX_UE4
typedef Vector<CpuClothSimulationTask*>::Type CpuClothSimulationTaskVector;
float mDt;
#else
typedef Vector<CpuClothSimulationTask>::Type CpuClothSimulationTaskVector;
#endif
CpuClothSimulationTaskVector mCpuClothSimulationTasks;
EndSimulationTask mEndSimulationTask;
profile::PxProfileZone* mProfiler;
uint16_t mSimulateEventId;
float mInterCollisionDistance;
float mInterCollisionStiffness;
uint32_t mInterCollisionIterations;
InterCollisionFilter mInterCollisionFilter;
void* mInterCollisionScratchMem;
uint32_t mInterCollisionScratchMemSize;
nvidia::Array<SwInterCollisionData> mInterCollisionInstances;
};
}
}
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