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// 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) 2008-2017 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef SAMPLE_STEPPER_H
#define SAMPLE_STEPPER_H
#include "SampleAllocator.h"
#include "SampleAllocatorSDKClasses.h"
#include "RendererMemoryMacros.h"
#include "task/PxTask.h"
#include "PxPhysicsAPI.h"
#include "PsTime.h"
class PhysXSample;
class Stepper: public SampleAllocateable
{
public:
Stepper() : mSample(NULL) {}
virtual ~Stepper() {}
virtual bool advance(PxScene* scene, PxReal dt, void* scratchBlock, PxU32 scratchBlockSize) = 0;
virtual void wait(PxScene* scene) = 0;
virtual void substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize) = 0;
virtual void postRender(const PxReal stepSize) = 0;
virtual void setSubStepper(const PxReal stepSize, const PxU32 maxSteps) {}
virtual void renderDone() {}
virtual void shutdown() {}
PxReal getSimulationTime() const { return mSimulationTime; }
PhysXSample& getSample() { return *mSample; }
const PhysXSample& getSample() const { return *mSample; }
void setSample(PhysXSample* sample) { mSample = sample; }
protected:
PhysXSample* mSample;
Ps::Time mTimer;
PxReal mSimulationTime;
};
class MultiThreadStepper;
class StepperTask : public physx::PxLightCpuTask
{
public:
void setStepper(MultiThreadStepper* stepper) { mStepper = stepper; }
MultiThreadStepper* getStepper() { return mStepper; }
const MultiThreadStepper* getStepper() const { return mStepper; }
const char* getName() const { return "Stepper Task"; }
void run();
protected:
MultiThreadStepper* mStepper;
};
class StepperTaskSimulate : public StepperTask
{
public:
StepperTaskSimulate(){}
void run();
};
class MultiThreadStepper : public Stepper
{
public:
MultiThreadStepper()
: mFirstCompletionPending(false)
, mScene(NULL)
, mSync(NULL)
, mCurrentSubStep(0)
, mNbSubSteps(0)
{
mCompletion0.setStepper(this);
mCompletion1.setStepper(this);
mSimulateTask.setStepper(this);
}
~MultiThreadStepper() {}
virtual bool advance(PxScene* scene, PxReal dt, void* scratchBlock, PxU32 scratchBlockSize);
virtual void substepDone(StepperTask* ownerTask);
virtual void renderDone();
virtual void postRender(const PxReal stepSize){}
// if mNbSubSteps is 0 then the sync will never
// be set so waiting would cause a deadlock
virtual void wait(PxScene* scene) { if(mNbSubSteps && mSync)mSync->wait(); }
virtual void shutdown() { DELETESINGLE(mSync); }
virtual void reset() = 0;
virtual void substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize) = 0;
virtual void simulate(physx::PxBaseTask* ownerTask);
PxReal getSubStepSize() const { return mSubStepSize; }
protected:
void substep(StepperTask& completionTask);
// we need two completion tasks because when multistepping we can't submit completion0 from the
// substepDone function which is running inside completion0
bool mFirstCompletionPending;
StepperTaskSimulate mSimulateTask;
StepperTask mCompletion0, mCompletion1;
PxScene* mScene;
PsSyncAlloc* mSync;
PxU32 mCurrentSubStep;
PxU32 mNbSubSteps;
PxReal mSubStepSize;
void* mScratchBlock;
PxU32 mScratchBlockSize;
};
class DebugStepper : public Stepper
{
public:
DebugStepper(const PxReal stepSize) : mStepSize(stepSize) {}
virtual void substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize)
{
substepCount = 1;
substepSize = mStepSize;
}
virtual bool advance(PxScene* scene, PxReal dt, void* scratchBlock, PxU32 scratchBlockSize);
virtual void postRender(const PxReal stepSize)
{
}
virtual void setSubStepper(const PxReal stepSize, const PxU32 maxSteps)
{
mStepSize = stepSize;
}
virtual void wait(PxScene* scene);
PxReal mStepSize;
};
// The way this should be called is:
// bool stepped = advance(dt)
//
// ... reads from the scene graph for rendering
//
// if(stepped) renderDone()
//
// ... anything that doesn't need access to the physics scene
//
// if(stepped) sFixedStepper.wait()
//
// Note that per-substep callbacks to the sample need to be issued out of here,
// between fetchResults and simulate
class FixedStepper : public MultiThreadStepper
{
public:
FixedStepper(const PxReal subStepSize, const PxU32 maxSubSteps)
: MultiThreadStepper()
, mAccumulator(0)
, mFixedSubStepSize(subStepSize)
, mMaxSubSteps(maxSubSteps)
{
}
virtual void substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize);
virtual void reset() { mAccumulator = 0.0f; }
virtual void setSubStepper(const PxReal stepSize, const PxU32 maxSteps) { mFixedSubStepSize = stepSize; mMaxSubSteps = maxSteps;}
virtual void postRender(const PxReal stepSize)
{
}
PxReal mAccumulator;
PxReal mFixedSubStepSize;
PxU32 mMaxSubSteps;
};
class VariableStepper : public MultiThreadStepper
{
public:
VariableStepper(const PxReal minSubStepSize, const PxReal maxSubStepSize, const PxU32 maxSubSteps)
: MultiThreadStepper()
, mAccumulator(0)
, mMinSubStepSize(minSubStepSize)
, mMaxSubStepSize(maxSubStepSize)
, mMaxSubSteps(maxSubSteps)
{
}
virtual void substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize);
virtual void reset() { mAccumulator = 0.0f; }
private:
VariableStepper& operator=(const VariableStepper&);
PxReal mAccumulator;
const PxReal mMinSubStepSize;
const PxReal mMaxSubStepSize;
const PxU32 mMaxSubSteps;
};
#endif
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