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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 "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;
};
}
}
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