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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.
#pragma once
#include "Types.h"
#include "StackAllocator.h"
#include "Simd.h"
namespace physx
{
namespace cloth
{
class SwCloth;
struct SwClothData;
template <typename>
struct IterationState;
struct IndexPair;
struct SphereData;
struct ConeData;
struct TriangleData;
typedef StackAllocator<16> SwKernelAllocator;
/**
Collision handler for SwSolver.
*/
template <typename Simd4f>
class SwCollision
{
typedef typename Simd4fToSimd4i<Simd4f>::Type Simd4i;
public:
struct ShapeMask
{
Simd4i mCones;
Simd4i mSpheres;
ShapeMask& operator=(const ShapeMask&);
ShapeMask& operator&=(const ShapeMask&);
};
struct CollisionData
{
CollisionData();
SphereData* mSpheres;
ConeData* mCones;
};
struct ImpulseAccumulator;
public:
SwCollision(SwClothData& clothData, SwKernelAllocator& alloc);
~SwCollision();
void operator()(const IterationState<Simd4f>& state);
static size_t estimateTemporaryMemory(const SwCloth& cloth);
static size_t estimatePersistentMemory(const SwCloth& cloth);
private:
SwCollision& operator=(const SwCollision&); // not implemented
void allocate(CollisionData&);
void deallocate(const CollisionData&);
void computeBounds();
void buildSphereAcceleration(const SphereData*);
void buildConeAcceleration();
static void mergeAcceleration(uint32_t*);
bool buildAcceleration();
static ShapeMask getShapeMask(const Simd4f&, const Simd4i*, const Simd4i*);
ShapeMask getShapeMask(const Simd4f*) const;
ShapeMask getShapeMask(const Simd4f*, const Simd4f*) const;
void collideSpheres(const Simd4i&, const Simd4f*, ImpulseAccumulator&) const;
Simd4i collideCones(const Simd4f*, ImpulseAccumulator&) const;
void collideSpheres(const Simd4i&, const Simd4f*, Simd4f*, ImpulseAccumulator&) const;
Simd4i collideCones(const Simd4f*, Simd4f*, ImpulseAccumulator&) const;
void collideParticles();
void collideVirtualParticles();
void collideContinuousParticles();
void collideConvexes(const IterationState<Simd4f>&);
void collideConvexes(const Simd4f*, Simd4f*, ImpulseAccumulator&);
void collideTriangles(const IterationState<Simd4f>&);
void collideTriangles(const TriangleData*, Simd4f*, ImpulseAccumulator&);
public:
// acceleration structure
static const uint32_t sGridSize = 8;
Simd4i mSphereGrid[6 * sGridSize / 4];
Simd4i mConeGrid[6 * sGridSize / 4];
Simd4f mGridScale, mGridBias;
CollisionData mPrevData;
CollisionData mCurData;
SwClothData& mClothData;
SwKernelAllocator& mAllocator;
uint32_t mNumCollisions;
static const Simd4f sSkeletonWidth;
};
#if PX_SUPPORT_EXTERN_TEMPLATE
//explicit template instantiation declaration
#if NV_SIMD_SIMD
extern template class SwCollision<Simd4f>;
#endif
#if NV_SIMD_SCALAR
extern template class SwCollision<Scalar4f>;
#endif
#endif
}
}
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