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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) 2008-2018 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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