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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.
#ifndef SIMULATION_ABSTRACT_H
#define SIMULATION_ABSTRACT_H
#include "ApexUsingNamespace.h"
#include "PsUserAllocated.h"
#include "ApexDefs.h"
#include "ClothingActorParam.h"
// some params files
#include "ClothingMaterialLibraryParameters.h"
#include "ClothingAssetParameters.h"
#include "ClothingPhysicalMeshParameters.h"
#include "ApexPvdClient.h"
namespace physx
{
#if APEX_UE4
class PxBaseTask;
#endif
namespace pvdsdk
{
class PvdDataStream;
class PvdUserRenderer;
}
}
namespace nvidia
{
namespace apex
{
class ResourceList;
class RenderDebugInterface;
class ApexResourceInterface;
class Actor;
}
namespace clothing
{
class ClothingScene;
class ClothingDebugRenderParams;
class ClothingCollisionImpl;
struct GpuSimMemType
{
enum Enum
{
UNDEFINED = -1,
GLOBAL = 0,
MIXED = 1,
SHARED = 2
};
};
struct SimulationType
{
enum Enum
{
CLOTH2x,
SOFTBODY2x,
CLOTH3x
};
};
class SimulationAbstract : public UserAllocated
{
public:
typedef ClothingMaterialLibraryParametersNS::ClothingMaterial_Type tMaterial;
typedef ClothingActorParamNS::ClothDescTemplate_Type tClothingDescTemplate;
typedef ClothingActorParamNS::ActorDescTemplate_Type tActorDescTemplate;
typedef ClothingActorParamNS::ShapeDescTemplate_Type tShapeDescTemplate;
typedef ClothingAssetParametersNS::SimulationParams_Type tSimParams;
typedef ClothingAssetParametersNS::ActorEntry_Type tBoneActor;
typedef ClothingAssetParametersNS::BoneSphere_Type tBoneSphere;
typedef ClothingAssetParametersNS::BonePlane_Type tBonePlane;
typedef ClothingAssetParametersNS::BoneEntry_Type tBoneEntry;
typedef ClothingPhysicalMeshParametersNS::ConstrainCoefficient_Type tConstrainCoeffs;
SimulationAbstract(ClothingScene* clothingScene) : physicalMeshId(0xffffffff), submeshId(0xffffffff),
skinnedPhysicsPositions(NULL), skinnedPhysicsNormals(NULL),
sdkNumDeformableVertices(0), sdkWritebackPosition(NULL), sdkWritebackNormal(NULL), sdkNumDeformableIndices(0),
mRegisteredActor(NULL), mClothingScene(clothingScene), mUseCuda(false)
{
::memset(&simulation, 0, sizeof(simulation));
}
virtual ~SimulationAbstract()
{
if (sdkWritebackPosition != NULL)
{
PX_FREE(sdkWritebackPosition);
sdkWritebackPosition = sdkWritebackNormal = NULL;
}
if (skinnedPhysicsPositions != NULL)
{
PX_FREE(skinnedPhysicsPositions);
skinnedPhysicsPositions = skinnedPhysicsNormals = NULL;
}
PX_ASSERT(mRegisteredActor == NULL);
}
void init(uint32_t numVertices, uint32_t numIndices, bool writebackNormals);
void initSimulation(const ClothingAssetParametersNS::SimulationParams_Type& s);
virtual bool needsExpensiveCreation() = 0;
virtual bool needsAdaptiveTargetFrequency() = 0;
virtual bool needsManualSubstepping() = 0;
virtual bool needsLocalSpaceGravity() = 0;
virtual SimulationType::Enum getType() const = 0;
virtual bool isGpuSim() const { return mUseCuda; }
virtual uint32_t getNumSolverIterations() const = 0;
virtual GpuSimMemType::Enum getGpuSimMemType() const { return GpuSimMemType::UNDEFINED; }
virtual bool setCookedData(NvParameterized::Interface* cookedData, float actorScale) = 0;
virtual bool initPhysics(uint32_t physicalMeshId, uint32_t* indices, PxVec3* restPositions, tMaterial* material, const PxMat44& globalPose, const PxVec3& scaledGravity, bool localSpaceSim) = 0;
// collision
virtual void initCollision( tBoneActor* boneActors, uint32_t numBoneActors,
tBoneSphere* boneSpheres, uint32_t numBoneSpheres,
uint16_t* spherePairIndices, uint32_t numSpherePairs,
tBonePlane* bonePlanes, uint32_t numBonePlanes,
uint32_t* convexes, uint32_t numConvexes,
tBoneEntry* bones, const PxMat44* boneTransforms,
ResourceList& actorPlanes,
ResourceList& actorConvexes,
ResourceList& actorSpheres,
ResourceList& actorCapsules,
ResourceList& actorTriangleMeshes,
const tActorDescTemplate& actorDesc, const tShapeDescTemplate& shapeDesc, float actorScale,
const PxMat44& globalPose, bool localSpaceSim) = 0;
virtual void updateCollision( tBoneActor* boneActors, uint32_t numBoneActors,
tBoneSphere* boneSpheres, uint32_t numBoneSpheres,
tBonePlane* bonePlanes, uint32_t numBonePlanes,
tBoneEntry* bones, const PxMat44* boneTransforms,
ResourceList& actorPlanes,
ResourceList& actorConvexes,
ResourceList& actorSpheres,
ResourceList& actorCapsules,
ResourceList& actorTriangleMeshes,
bool teleport) = 0;
virtual void updateCollisionDescs(const tActorDescTemplate& actorDesc, const tShapeDescTemplate& shapeDesc) = 0;
virtual void applyCollision() {};
virtual void releaseCollision(ClothingCollisionImpl& /*collision*/) {}
virtual void swapCollision(SimulationAbstract* /*oldSimulation*/) {}
virtual void registerPhysX(Actor* actor)
{
PX_ASSERT(mRegisteredActor == NULL);
mRegisteredActor = actor;
PX_ASSERT(physicalMeshId != 0xffffffff);
}
virtual void unregisterPhysX()
{
PX_ASSERT(mRegisteredActor != NULL);
mRegisteredActor = NULL;
PX_ASSERT(physicalMeshId != 0xffffffff);
}
virtual void disablePhysX(Actor* dummy) = 0;
virtual void reenablePhysX(Actor* newMaster, const PxMat44& globalPose) = 0;
virtual void fetchResults(bool computePhysicsMeshNormals) = 0;
virtual bool isSimulationMeshDirty() const = 0;
virtual void clearSimulationMeshDirt() = 0;
virtual void setStatic(bool on) = 0;
virtual bool applyPressure(float pressure) = 0;
virtual void setGlobalPose(const PxMat44& globalPose) = 0;
virtual void applyGlobalPose() {};
virtual bool raycast(const PxVec3& rayOrigin, const PxVec3& rayDirection, float& hitTime, PxVec3& hitNormal, uint32_t& vertexIndex) = 0;
virtual void attachVertexToGlobalPosition(uint32_t vertexIndex, const PxVec3& globalPosition) = 0;
virtual void freeVertex(uint32_t vertexIndex) = 0;
virtual NvParameterized::Interface* getCookedData() = 0;
// debugging and debug rendering
virtual void verifyTimeStep(float substepSize) = 0;
virtual void visualize(RenderDebugInterface& renderDebug, ClothingDebugRenderParams& clothingDebugParams) = 0;
#ifndef WITHOUT_PVD
virtual void updatePvd(pvdsdk::PvdDataStream& /*pvdStream*/, pvdsdk::PvdUserRenderer& /*pvdRenderer*/, ApexResourceInterface* /*ClothingActorImpl*/, bool /*localSpaceSim*/) {};
#endif
// R/W Access to simulation data
virtual void setPositions(PxVec3* positions) = 0;
virtual void setConstrainCoefficients(const tConstrainCoeffs* assetCoeffs, float maxDistanceBias, float maxDistanceScale, float maxDistanceDeform, float actorScale) = 0;
virtual void getVelocities(PxVec3* velocities) const = 0;
virtual void setVelocities(PxVec3* velocities) = 0;
virtual bool applyWind(PxVec3* velocities, const PxVec3* normals, const tConstrainCoeffs* assetCoeffs, const PxVec3& wind, float adaption, float dt) = 0;
// actually important
virtual void setTeleportWeight(float weight, bool reset, bool localSpaceSim) = 0;
virtual void setSolverIterations(uint32_t iterations) = 0;
virtual void updateConstrainPositions(bool isDirty) = 0;
virtual bool applyClothingMaterial(tMaterial* material, PxVec3 scaledGravity) = 0;
virtual void applyClothingDesc(tClothingDescTemplate& clothingTemplate) = 0;
virtual void setInterCollisionChannels(uint32_t /*channels*/) {};
virtual void setHalfPrecisionOption(bool /*isAllowed*/) {};
ClothingScene* getClothingScene() const
{
return mClothingScene;
}
#if APEX_UE4
virtual void simulate(float) {}
#endif
uint32_t physicalMeshId;
uint32_t submeshId;
PxVec3* skinnedPhysicsPositions;
PxVec3* skinnedPhysicsNormals;
// Results produced by PhysX SDK's Cloth simulation
uint32_t sdkNumDeformableVertices;
PxVec3* sdkWritebackPosition;
PxVec3* sdkWritebackNormal;
uint32_t sdkNumDeformableIndices;
protected:
tSimParams simulation;
Actor* mRegisteredActor;
ClothingScene* mClothingScene;
bool mUseCuda;
};
}
} // namespace nvidia
#endif // SIMULATION_ABSTRACT_H
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