1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
|
//
// 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) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PXS_SIMULATION_CONTROLLER_H
#define PXS_SIMULATION_CONTROLLER_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxPreprocessor.h"
#include "foundation/PxTransform.h"
#include "CmBitMap.h"
#include "PsArray.h"
namespace physx
{
namespace Dy
{
class Context;
struct Constraint;
}
namespace Cm
{
class EventProfiler;
}
namespace Bp
{
class BoundsArray;
class BroadPhase;
}
namespace IG
{
class SimpleIslandManager;
class IslandSim;
}
class PxGpuDispatcher;
class PxsTransformCache;
class PxvNphaseImplementationContext;
class PxBaseTask;
struct PxsBodySim;
struct PxsShapeSim;
class PxsRigidBody;
class PxsKernelWranglerManager;
class PxsHeapMemoryAllocatorManager;
template<typename T> class PxgIterator;
struct PxgSolverConstraintManagerConstants;
class PxsSimulationControllerCallback
{
public:
virtual void updateScBodyAndShapeSim(PxBaseTask* continuation) = 0;
virtual PxU32 getNbCcdBodies() = 0;
virtual ~PxsSimulationControllerCallback() {}
};
class PxsSimulationController
{
public:
PxsSimulationController(PxsSimulationControllerCallback* callback): mCallback(callback){}
virtual ~PxsSimulationController(){}
virtual void addJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, IG::IslandSim& islandSim, Ps::Array<PxU32, Ps::VirtualAllocator>& jointIndices,
Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& managerIter, PxU32 uniqueId) = 0;
virtual void removeJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, Ps::Array<PxU32, Ps::VirtualAllocator>& jointIndices, IG::IslandSim& islandSim) = 0;
virtual void addShape(PxsShapeSim* shapeSim, const PxU32 index) = 0;
virtual void removeShape(const PxU32 index) = 0;
virtual void addDynamic(PxsRigidBody* rigidBody, const PxU32 nodeIndex) = 0;
virtual void addDynamics(PxsRigidBody** rigidBody, const PxU32* nodeIndex, PxU32 nbToProcess) = 0;
virtual void updateJoint(const PxU32 edgeIndex, Dy::Constraint* constraint) = 0;
virtual void updateBodies(PxsRigidBody** rigidBodies, PxU32* nodeIndices, const PxU32 nbBodies) = 0;
virtual void updateBody(PxsRigidBody* rigidBodies, const PxU32 nodeIndex) = 0;
virtual void updateBodiesAndShapes(PxBaseTask* continuation, bool extrudeHeightfields) = 0;
virtual void update(const PxU32 bitMapWordCounts) = 0;
virtual void gpuDmabackData(PxsTransformCache& cache, Bp::BoundsArray& boundArray, Cm::BitMapPinned& changedAABBMgrHandles) = 0;
virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation) = 0;
virtual PxU32* getActiveBodies() = 0;
virtual PxU32* getDeactiveBodies() = 0;
virtual PxsBodySim* getBodySims() = 0;
virtual PxU32 getNbBodies() = 0;
virtual PxU32* getUnfrozenShapes() = 0;
virtual PxU32* getFrozenShapes() = 0;
virtual PxsShapeSim** getShapeSims() = 0;
virtual PxU32 getNbFrozenShapes() = 0;
virtual PxU32 getNbUnfrozenShapes() = 0;
virtual void clear() = 0;
virtual void setBounds(Bp::BoundsArray* boundArray) = 0;
virtual void reserve(const PxU32 nbBodies) = 0;
protected:
PxsSimulationControllerCallback* mCallback;
};
PxsSimulationController* createSimulationController(PxsSimulationControllerCallback* callback);
}
#endif
|