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
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
|
//
// 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 "foundation/PxTransform.h"
#include "foundation/PxVec4.h"
#include "Range.h"
#include "PhaseConfig.h"
#include "MovingAverage.h"
#include "IndexPair.h"
#include "BoundingBox.h"
#include "Vec4T.h"
#include "CuPhaseConfig.h"
#include "CuPinnedAllocator.h"
#include "CuContextLock.h"
#include "CuDeviceVector.h"
namespace physx
{
namespace cloth
{
class CuFabric;
class CuFactory;
struct CuClothData;
struct CuConstraints
{
CuConstraints(physx::PxCudaContextManager* ctx)
: mStart(ctx), mTarget(ctx), mHostCopy(CuHostAllocator(ctx, cudaHostAllocMapped))
{
}
void pop()
{
if(!mTarget.empty())
{
mStart.swap(mTarget);
mTarget.resize(0);
}
}
CuDeviceVector<PxVec4> mStart;
CuDeviceVector<PxVec4> mTarget;
CuPinnedVector<PxVec4>::Type mHostCopy;
};
class CuCloth : protected CuContextLock
{
CuCloth& operator=(const CuCloth&);
public:
typedef CuFactory FactoryType;
typedef CuFabric FabricType;
typedef CuContextLock ContextLockType;
typedef CuPinnedVector<PxVec4>::Type& MappedVec4fVectorType;
typedef CuPinnedVector<IndexPair>::Type& MappedIndexVectorType;
CuCloth(CuFactory&, CuFabric&, Range<const PxVec4>);
CuCloth(CuFactory&, const CuCloth&);
~CuCloth(); // not virtual on purpose
public:
bool isSleeping() const
{
return mSleepPassCounter >= mSleepAfterCount;
}
void wakeUp()
{
mSleepPassCounter = 0;
}
void notifyChanged();
bool updateClothData(CuClothData&); // expects acquired context
uint32_t getSharedMemorySize() const; // without particle data
// expects transformed configs, doesn't call notifyChanged()
void setPhaseConfig(Range<const PhaseConfig>);
Range<PxVec4> push(CuConstraints&);
void clear(CuConstraints&);
void syncDeviceParticles();
void syncHostParticles();
Range<const PxVec3> clampTriangleCount(Range<const PxVec3>, uint32_t);
public:
CuFactory& mFactory;
CuFabric& mFabric;
bool mClothDataDirty;
// particle data
uint32_t mNumParticles;
CuDeviceVector<PxVec4> mParticles; // cur, prev
CuPinnedVector<PxVec4>::Type mParticlesHostCopy;
bool mDeviceParticlesDirty;
bool mHostParticlesDirty;
PxVec3 mParticleBoundsCenter;
PxVec3 mParticleBoundsHalfExtent;
PxVec3 mGravity;
PxVec3 mLogDamping;
PxVec3 mLinearLogDrag;
PxVec3 mAngularLogDrag;
PxVec3 mLinearInertia;
PxVec3 mAngularInertia;
PxVec3 mCentrifugalInertia;
float mSolverFrequency;
float mStiffnessFrequency;
PxTransform mTargetMotion;
PxTransform mCurrentMotion;
PxVec3 mLinearVelocity;
PxVec3 mAngularVelocity;
float mPrevIterDt;
MovingAverage mIterDtAvg;
CuDeviceVector<CuPhaseConfig> mPhaseConfigs; // transformed!
Vector<PhaseConfig>::Type mHostPhaseConfigs; // transformed!
// tether constraints stuff
float mTetherConstraintLogStiffness;
float mTetherConstraintScale;
// motion constraints stuff
CuConstraints mMotionConstraints;
float mMotionConstraintScale;
float mMotionConstraintBias;
float mMotionConstraintLogStiffness;
// separation constraints stuff
CuConstraints mSeparationConstraints;
// particle acceleration stuff
CuDeviceVector<PxVec4> mParticleAccelerations;
CuPinnedVector<PxVec4>::Type mParticleAccelerationsHostCopy;
// wind
PxVec3 mWind;
float mDragLogCoefficient;
float mLiftLogCoefficient;
// collision stuff
CuPinnedVector<IndexPair>::Type mCapsuleIndices;
CuPinnedVector<PxVec4>::Type mStartCollisionSpheres;
CuPinnedVector<PxVec4>::Type mTargetCollisionSpheres;
CuPinnedVector<uint32_t>::Type mConvexMasks;
CuPinnedVector<PxVec4>::Type mStartCollisionPlanes;
CuPinnedVector<PxVec4>::Type mTargetCollisionPlanes;
CuPinnedVector<PxVec3>::Type mStartCollisionTriangles;
CuPinnedVector<PxVec3>::Type mTargetCollisionTriangles;
bool mEnableContinuousCollision;
float mCollisionMassScale;
float mFriction;
// virtual particles
CuDeviceVector<uint32_t> mVirtualParticleSetSizes;
CuDeviceVector<Vec4us> mVirtualParticleIndices;
CuDeviceVector<PxVec4> mVirtualParticleWeights;
// self collision
float mSelfCollisionDistance;
float mSelfCollisionLogStiffness;
CuDeviceVector<PxVec4> mRestPositions;
CuDeviceVector<uint32_t> mSelfCollisionIndices;
Vector<uint32_t>::Type mSelfCollisionIndicesHost;
// 4 (position) + 2 (key) per particle + cellStart (8322)
CuDeviceVector<float> mSelfCollisionData;
// sleeping (see SwCloth for comments)
uint32_t mSleepTestInterval;
uint32_t mSleepAfterCount;
float mSleepThreshold;
uint32_t mSleepPassCounter;
uint32_t mSleepTestCounter;
uint32_t mSharedMemorySize;
void* mUserData;
};
}
}
|