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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) 2008-2016 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 PXS_SIMPLE_ISLAND_GEN_H
#define PXS_SIMPLE_ISLAND_GEN_H
#include "PxsIslandSim.h"
#include "CmTask.h"
namespace physx
{
namespace Sc
{
class Interaction;
}
namespace IG
{
class SimpleIslandManager;
class ThirdPassTask : public Cm::Task
{
SimpleIslandManager& mIslandManager;
IslandSim& mIslandSim;
public:
ThirdPassTask(SimpleIslandManager& islandManager, IslandSim& islandSim) : mIslandManager(islandManager), mIslandSim(islandSim)
{
}
virtual void runInternal();
virtual const char* getName() const
{
return "ThirdPassIslandGenTask";
}
private:
PX_NOCOPY(ThirdPassTask)
};
class PostThirdPassTask : public Cm::Task
{
SimpleIslandManager& mIslandManager;
public:
PostThirdPassTask(SimpleIslandManager& islandManager) : mIslandManager(islandManager)
{
}
virtual void runInternal();
virtual const char* getName() const
{
return "PostThirdPassTask";
}
private:
PX_NOCOPY(PostThirdPassTask)
};
class SimpleIslandManager
{
HandleManager<PxU32> mNodeHandles; //! Handle manager for nodes
HandleManager<EdgeIndex> mEdgeHandles; //! Handle manager for edges
//An array of destroyed nodes
Ps::Array<NodeIndex> mDestroyedNodes;
Ps::Array<Sc::Interaction*> mInteractions;
//Edges destroyed this frame
Ps::Array<EdgeIndex> mDestroyedEdges;
Ps::Array<PartitionEdge*> mFirstPartitionEdges;
Ps::Array<PartitionEdge*> mDestroyedPartitionEdges;
//KS - stores node indices for a given edge. Node index 0 is at 2* edgeId and NodeIndex1 is at 2*edgeId + 1
//can also be used for edgeInstance indexing so there's no need to figure out outboundNode ID either!
Ps::Array<NodeIndex> mEdgeNodeIndices;
Ps::Array<ConstraintOrContactManager> mConstraintOrCm; //! Pointers to either the constraint or Cm for this pair
Cm::BitMap mConnectedMap;
IslandSim mIslandManager;
IslandSim mSpeculativeIslandManager;
ThirdPassTask mSpeculativeThirdPassTask;
ThirdPassTask mAccurateThirdPassTask;
PostThirdPassTask mPostThirdPassTask;
PxU32 mMaxDirtyNodesPerFrame;
PxU64 mContextID;
public:
SimpleIslandManager(bool useEnhancedDeterminism, PxU64 contextID);
~SimpleIslandManager();
NodeIndex addRigidBody(PxsRigidBody* body, bool isKinematic, bool isActive);
void removeNode(const NodeIndex index);
NodeIndex addArticulation(Sc::ArticulationSim* articulation, Dy::Articulation* llArtic, bool isActive);
EdgeIndex addContactManager(PxsContactManager* manager, NodeIndex nodeHandle1, NodeIndex nodeHandle2, Sc::Interaction* interaction);
EdgeIndex addConstraint(Dy::Constraint* constraint, NodeIndex nodeHandle1, NodeIndex nodeHandle2, Sc::Interaction* interaction);
bool isConnected(EdgeIndex edgeIndex) const { return !!mConnectedMap.test(edgeIndex); }
PX_FORCE_INLINE NodeIndex getEdgeIndex(EdgeInstanceIndex edgeIndex) const { return mEdgeNodeIndices[edgeIndex]; }
void activateNode(NodeIndex index);
void deactivateNode(NodeIndex index);
void putNodeToSleep(NodeIndex index);
void removeConnection(EdgeIndex edgeIndex);
void firstPassIslandGen();
void additionalSpeculativeActivation();
void secondPassIslandGen();
void thirdPassIslandGen(PxBaseTask* continuation);
void clearDestroyedEdges();
void setEdgeConnected(EdgeIndex edgeIndex);
void setEdgeDisconnected(EdgeIndex edgeIndex);
bool getIsEdgeConnected(EdgeIndex edgeIndex);
void setEdgeRigidCM(const EdgeIndex edgeIndex, PxsContactManager* cm);
void clearEdgeRigidCM(const EdgeIndex edgeIndex);
void setKinematic(IG::NodeIndex nodeIndex);
void setDynamic(IG::NodeIndex nodeIndex);
const IslandSim& getSpeculativeIslandSim() const { return mSpeculativeIslandManager; }
const IslandSim& getAccurateIslandSim() const { return mIslandManager; }
IslandSim& getAccurateIslandSim() { return mIslandManager; }
PX_FORCE_INLINE PxU32 getNbEdgeHandles() const { return mEdgeHandles.getTotalHandles(); }
PX_FORCE_INLINE PxU32 getNbNodeHandles() const { return mNodeHandles.getTotalHandles(); }
void deactivateEdge(const EdgeIndex edge);
PX_FORCE_INLINE PxsContactManager* getContactManager(IG::EdgeIndex edgeId) const { return mConstraintOrCm[edgeId].mCm; }
PX_FORCE_INLINE PxsContactManager* getContactManagerUnsafe(IG::EdgeIndex edgeId) const { return mConstraintOrCm[edgeId].mCm; }
PX_FORCE_INLINE Dy::Constraint* getConstraint(IG::EdgeIndex edgeId) const { return mConstraintOrCm[edgeId].mConstraint; }
PX_FORCE_INLINE Dy::Constraint* getConstraintUnsafe(IG::EdgeIndex edgeId) const { return mConstraintOrCm[edgeId].mConstraint; }
PX_FORCE_INLINE Sc::Interaction* getInteraction(IG::EdgeIndex edgeId) const { return mInteractions[edgeId]; }
PX_FORCE_INLINE PxU64 getContextId() const { return mContextID; }
bool checkInternalConsistency();
private:
friend class ThirdPassTask;
friend class PostThirdPassTask;
bool validateDeactivations() const;
PX_NOCOPY(SimpleIslandManager)
};
}
}
#endif
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