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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) 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 PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
#define PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
#include "PxSceneDesc.h"
#include "PxsContactManagerState.h"
#include "PsArray.h"
namespace physx
{
namespace IG
{
class SimpleIslandManager;
class IslandSim;
typedef PxU32 EdgeIndex;
}
namespace Dy
{
class Context;
}
class PxBaseTask;
class PxsContext;
struct PxsShapeCore;
class PxsMaterialCore;
struct PxgDynamicsMemoryConfig;
class PxsContactManager;
struct PxsContactManagerOutput;
class PxsKernelWranglerManager;
class PxsHeapMemoryAllocatorManager;
struct PxsContactManagerBase
{
static const PxU32 NEW_CONTACT_MANAGER_MASK = 0x80000000;
static const PxU32 GPU_NP_OFFSET = 0x4;
static const PxU32 MaxBucketBits = 3;
const PxU32 mBucketId;
PxsContactManagerBase(const PxU32 bucketId) : mBucketId(bucketId)
{
PX_ASSERT(bucketId < (1<<MaxBucketBits));
}
PX_FORCE_INLINE PxU32 computeId(const PxU32 index) const { PX_ASSERT(index < PxU32(1 << (32 - (MaxBucketBits-1)))); return (index << MaxBucketBits) | (mBucketId); }
static PX_FORCE_INLINE PxU32 computeIndexFromId(const PxU32 id) { return id >> MaxBucketBits; }
static PX_FORCE_INLINE PxU32 computeBucketIndexFromId(const PxU32 id) { return id & ((1<<MaxBucketBits)-1); }
private:
PX_NOCOPY(PxsContactManagerBase)
};
class PxsContactManagerOutputIterator
{
PxU32 mOffsets[1<<PxsContactManagerBase::MaxBucketBits];
PxsContactManagerOutput* mOutputs;
public:
PxsContactManagerOutputIterator() : mOutputs(NULL)
{
}
PxsContactManagerOutputIterator(PxU32* offsets, PxU32 nbOffsets, PxsContactManagerOutput* outputs) : mOutputs(outputs)
{
PX_ASSERT(nbOffsets <= (1<<PxsContactManagerBase::MaxBucketBits));
for(PxU32 a = 0; a < nbOffsets; ++a)
{
mOffsets[a] = offsets[a];
}
}
PX_FORCE_INLINE PxsContactManagerOutput& getContactManager(PxU32 id)
{
PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
return mOutputs[mOffsets[bucketId] + cmOutId];
}
PxU32 getIndex(PxU32 id)
{
PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
return mOffsets[bucketId] + cmOutId;
}
};
class PxvNphaseImplementationContext
{
private:
PX_NOCOPY(PxvNphaseImplementationContext)
public:
PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}
virtual ~PxvNphaseImplementationContext() {}
virtual void destroy() = 0;
virtual void updateContactManager(PxReal dt, bool hasBoundsArrayChanged, bool hasContactDistanceChanged, PxBaseTask* continuation, PxBaseTask* firstPassContinuation) = 0;
virtual void postBroadPhaseUpdateContactManager() = 0;
virtual void secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) = 0;
virtual void fetchUpdateContactManager() = 0;
virtual void registerContactManager(PxsContactManager* cm, PxI32 touching, PxU32 patchCount) = 0;
virtual void registerContactManagers(PxsContactManager** cm, PxU32 nbContactManagers, PxU32 maxContactManagerId) = 0;
virtual void unregisterContactManager(PxsContactManager* cm) = 0;
virtual void refreshContactManager(PxsContactManager* cm) = 0;
virtual void registerShape(const PxsShapeCore& shapeCore) = 0;
virtual void unregisterShape(const PxsShapeCore& shapeCore) = 0;
virtual void registerMaterial(const PxsMaterialCore& materialCore) = 0;
virtual void updateMaterial(const PxsMaterialCore& materialCore) = 0;
virtual void unregisterMaterial(const PxsMaterialCore& materialCore) = 0;
virtual void updateShapeMaterial(const PxsShapeCore& shapeCore) = 0;
virtual PxsContactManagerOutput* getGPUContactManagerOutputBase() = 0;
virtual void startNarrowPhaseTasks() = 0;
virtual void appendContactManagers() = 0;
virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 index) = 0;
virtual PxsContactManagerOutputIterator getContactManagerOutputs() = 0;
virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
virtual void acquireContext() = 0;
virtual void releaseContext() = 0;
virtual void preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) = 0;
protected:
PxsContext& mContext;
};
class PxvNphaseImplementationFallback
{
private:
PX_NOCOPY(PxvNphaseImplementationFallback)
public:
PxvNphaseImplementationFallback() {}
virtual ~PxvNphaseImplementationFallback() {}
virtual void processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;
virtual void processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;
virtual void registerContactManager(PxsContactManager* cm, PxI32 touching, PxU32 numPatches) = 0;
virtual void unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
virtual void refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npId) = 0;
virtual void appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;
virtual void setContactModifyCallback(PxContactModifyCallback* callback) = 0;
virtual void removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;
};
class PxvNphaseImplementationContextUsableAsFallback: public PxvNphaseImplementationContext, public PxvNphaseImplementationFallback
{
private:
PX_NOCOPY(PxvNphaseImplementationContextUsableAsFallback)
public:
PxvNphaseImplementationContextUsableAsFallback(PxsContext& context): PxvNphaseImplementationContext(context) {}
virtual ~PxvNphaseImplementationContextUsableAsFallback() {}
};
PxvNphaseImplementationContextUsableAsFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim);
}
#endif
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