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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.
#pragma once
#include "Types.h"
#include "Range.h"
typedef struct CUstream_st* CUstream;
namespace physx
{
class PxTaskManager;
namespace profile
{
class PxProfileZone;
}
class PxCudaContextManager;
}
namespace physx
{
namespace cloth
{
class Fabric;
class Cloth;
class Solver;
class Character;
/// abstract factory to create context-specific simulation components
/// such as cloth, solver, collision, etc.
class Factory
{
public:
enum Platform
{
CPU,
CUDA
};
protected:
Factory(Platform platform) : mPlatform(platform)
{
}
Factory(const Factory&);
Factory& operator=(const Factory&);
public:
static Factory* createFactory(Platform, void* = 0);
virtual ~Factory()
{
}
Platform getPlatform() const
{
return mPlatform;
}
/**
Create fabric data used to setup cloth object.
@param numParticles number of particles, must be larger than any particle index
@param phases map from phase to set index
@param sets inclusive prefix sum of restvalue count per set
@param restvalues array of constraint rest values
@param indices array of particle index pair per constraint
*/
virtual Fabric* createFabric(uint32_t numParticles, Range<const uint32_t> phases, Range<const uint32_t> sets,
Range<const float> restvalues, Range<const uint32_t> indices,
Range<const uint32_t> anchors, Range<const float> tetherLengths,
Range<const uint32_t> triangles) = 0;
/**
Create cloth object.
@param particles initial particle positions.
@param fabric edge distance constraint structure
*/
virtual Cloth* createCloth(Range<const PxVec4> particles, Fabric& fabric) = 0;
/**
Create cloth solver object.
@param taskMgr PxTaskManager used for simulation.
*/
virtual Solver* createSolver(PxTaskManager* taskMgr) = 0;
/**
Create a copy of a cloth instance
@param cloth the instance to be cloned, need not match the factory type
*/
virtual Cloth* clone(const Cloth& cloth) = 0;
/**
Extract original data from a fabric object
@param fabric to extract from, must match factory type
@param phases pre-allocated memory range to write phases
@param sets pre-allocated memory range to write sets
@param restvalues pre-allocated memory range to write restvalues
@param indices pre-allocated memory range to write indices
*/
virtual void extractFabricData(const Fabric& fabric, Range<uint32_t> phases, Range<uint32_t> sets,
Range<float> restvalues, Range<uint32_t> indices, Range<uint32_t> anchors,
Range<float> tetherLengths, Range<uint32_t> triangles) const = 0;
/**
Extract current collision spheres and capsules from a cloth object
@param cloth the instance to extract from, must match factory type
@param spheres pre-allocated memory range to write spheres
@param capsules pre-allocated memory range to write capsules
@param planes pre-allocated memory range to write planes
@param convexes pre-allocated memory range to write convexes
@param triangles pre-allocated memory range to write triangles
*/
virtual void extractCollisionData(const Cloth& cloth, Range<PxVec4> spheres, Range<uint32_t> capsules,
Range<PxVec4> planes, Range<uint32_t> convexes, Range<PxVec3> triangles) const = 0;
/**
Extract current motion constraints from a cloth object
@param cloth the instance to extract from, must match factory type
@param destConstraints pre-allocated memory range to write constraints
*/
virtual void extractMotionConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const = 0;
/**
Extract current separation constraints from a cloth object
@param cloth the instance to extract from, must match factory type
@param destConstraints pre-allocated memory range to write constraints
*/
virtual void extractSeparationConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const = 0;
/**
Extract current particle accelerations from a cloth object
@param cloth the instance to extract from, must match factory type
@param destAccelerations pre-allocated memory range to write accelerations
*/
virtual void extractParticleAccelerations(const Cloth& cloth, Range<PxVec4> destAccelerations) const = 0;
/**
Extract virtual particles from a cloth object
@param cloth the instance to extract from, must match factory type
@param destIndices pre-allocated memory range to write indices
@param destWeights pre-allocated memory range to write weights
*/
virtual void extractVirtualParticles(const Cloth& cloth, Range<uint32_t[4]> destIndices,
Range<PxVec3> destWeights) const = 0;
/**
Extract self collision indices from cloth object.
@param cloth the instance to extract from, must match factory type
@param destIndices pre-allocated memory range to write indices
*/
virtual void extractSelfCollisionIndices(const Cloth& cloth, Range<uint32_t> destIndices) const = 0;
/**
Extract particle rest positions from cloth object.
@param cloth the instance to extract from, must match factory type
@param destRestPositions pre-allocated memory range to write rest positions
*/
virtual void extractRestPositions(const Cloth& cloth, Range<PxVec4> destRestPositions) const = 0;
protected:
const Platform mPlatform;
};
} // namespace cloth
} // namespace physx
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