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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"
#ifndef __CUDACC__
#include "Simd.h"
#endif
namespace physx
{
namespace cloth
{
class CuCloth;
struct CuPhaseConfig;
template <typename>
struct IterationState;
struct IndexPair;
struct CuIterationData;
struct CuTether;
// reference to cloth instance bulk data (POD)
// should not need frequent updates (stored on device)
struct CuClothData
{
CuClothData()
{
}
CuClothData(CuCloth&);
// particle data
uint32_t mNumParticles;
float* mParticles;
float* mParticlesHostCopy;
// fabric constraints
uint32_t mNumPhases;
const CuPhaseConfig* mPhaseConfigs;
const CuTether* mTethers;
uint32_t mNumTethers;
float mTetherConstraintScale;
const uint16_t* mTriangles;
uint32_t mNumTriangles;
// motion constraint data
float mMotionConstraintScale;
float mMotionConstraintBias;
// collision data
uint32_t mNumSpheres; // don't change this order, it's
uint32_t mNumCapsules; // needed by mergeAcceleration()
const IndexPair* mCapsuleIndices;
uint32_t mNumPlanes;
uint32_t mNumConvexes;
const uint32_t* mConvexMasks;
uint32_t mNumCollisionTriangles;
// virtual particle data
const uint32_t* mVirtualParticleSetSizesBegin;
const uint32_t* mVirtualParticleSetSizesEnd;
const uint16_t* mVirtualParticleIndices;
const float* mVirtualParticleWeights;
bool mEnableContinuousCollision;
float mCollisionMassScale;
float mFrictionScale;
float mSelfCollisionDistance;
uint32_t mNumSelfCollisionIndices;
const uint32_t* mSelfCollisionIndices;
float* mSelfCollisionParticles;
uint32_t* mSelfCollisionKeys;
uint16_t* mSelfCollisionCellStart;
// sleep data
uint32_t mSleepTestInterval;
uint32_t mSleepAfterCount;
float mSleepThreshold;
};
// per-frame data (stored in pinned memory)
struct CuFrameData
{
CuFrameData()
{
} // not initializing pointers to 0!
#ifndef __CUDACC__
explicit CuFrameData(CuCloth&, uint32_t, const IterationState<Simd4f>&, const CuIterationData*);
#endif
bool mDeviceParticlesDirty;
// number of particle copies that fit in shared memory (0, 1, or 2)
uint32_t mNumSharedPositions;
// iteration data
float mIterDt;
uint32_t mNumIterations;
const CuIterationData* mIterationData;
float mTetherConstraintStiffness;
// wind data
float mDragCoefficient;
float mLiftCoefficient;
float mRotation[9];
// motion constraint data
const float* mStartMotionConstraints;
float* mTargetMotionConstraints;
const float* mHostMotionConstraints;
float mMotionConstraintStiffness;
// separation constraint data
const float* mStartSeparationConstraints;
float* mTargetSeparationConstraints;
const float* mHostSeparationConstraints;
// particle acceleration data
float* mParticleAccelerations;
const float* mHostParticleAccelerations;
// rest positions
const float* mRestPositions;
// collision data
const float* mStartCollisionSpheres;
const float* mTargetCollisionSpheres;
const float* mStartCollisionPlanes;
const float* mTargetCollisionPlanes;
const float* mStartCollisionTriangles;
const float* mTargetCollisionTriangles;
float mSelfCollisionStiffness;
float mParticleBounds[6]; // maxX, -minX, maxY, ...
uint32_t mSleepPassCounter;
uint32_t mSleepTestCounter;
float mStiffnessExponent;
};
// per-iteration data (stored in pinned memory)
struct CuIterationData
{
CuIterationData()
{
} // not initializing!
#ifndef __CUDACC__
explicit CuIterationData(const IterationState<Simd4f>&);
#endif
float mIntegrationTrafo[24];
float mWind[3];
uint32_t mIsTurning;
};
}
}
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