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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) 2008-2017 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef DY_SOLVER_CORE_SHARED_H
#define DY_SOLVER_CORE_SHARED_H
#include "foundation/PxPreprocessor.h"
#include "PsVecMath.h"
#include "CmPhysXCommon.h"
#include "DySolverBody.h"
#include "DySolverContact.h"
#include "DySolverConstraint1D.h"
#include "DySolverConstraintDesc.h"
#include "PsUtilities.h"
#include "DyConstraint.h"
#include "PsAtomic.h"
namespace physx
{
namespace Dy
{
PX_FORCE_INLINE static FloatV solveDynamicContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
const FloatVArg invMassA, const FloatVArg invMassB, const FloatVArg angDom0, const FloatVArg angDom1, Vec3V& linVel0_, Vec3V& angState0_,
Vec3V& linVel1_, Vec3V& angState1_, PxF32* PX_RESTRICT forceBuffer)
{
Vec3V linVel0 = linVel0_;
Vec3V angState0 = angState0_;
Vec3V linVel1 = linVel1_;
Vec3V angState1 = angState1_;
FloatV accumulatedNormalImpulse = FZero();
const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
const Vec3V delLinVel1 = V3Scale(contactNormal, invMassB);
for(PxU32 i=0;i<nbContactPoints;i++)
{
SolverContactPoint& c = contacts[i];
Ps::prefetchLine(&contacts[i], 128);
const Vec3V raXn = c.raXn;
const Vec3V rbXn = c.rbXn;
const FloatV appliedForce = FLoad(forceBuffer[i]);
const FloatV velMultiplier = c.getVelMultiplier();
/*const FloatV targetVel = c.getTargetVelocity();
const FloatV nScaledBias = c.getScaledBias();*/
const FloatV maxImpulse = c.getMaxImpulse();
//Compute the normal velocity of the constraint.
const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
const Vec3V v1 = V3MulAdd(linVel1, contactNormal, V3Mul(angState1, rbXn));
const FloatV normalVel = V3SumElems(V3Sub(v0, v1));
const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
//KS - clamp the maximum force
const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
const FloatV _newForce = FAdd(appliedForce, _deltaF);
const FloatV newForce = FMin(_newForce, maxImpulse);
const FloatV deltaF = FSub(newForce, appliedForce);
linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
linVel1 = V3NegScaleSub(delLinVel1, deltaF, linVel1);
angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
angState1 = V3NegScaleSub(rbXn, FMul(deltaF, angDom1), angState1);
FStore(newForce, &forceBuffer[i]);
accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
}
linVel0_ = linVel0;
angState0_ = angState0;
linVel1_ = linVel1;
angState1_ = angState1;
return accumulatedNormalImpulse;
}
PX_FORCE_INLINE static FloatV solveStaticContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
const FloatVArg invMassA, const FloatVArg angDom0, Vec3V& linVel0_, Vec3V& angState0_, PxF32* PX_RESTRICT forceBuffer)
{
Vec3V linVel0 = linVel0_;
Vec3V angState0 = angState0_;
FloatV accumulatedNormalImpulse = FZero();
const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
for(PxU32 i=0;i<nbContactPoints;i++)
{
SolverContactPoint& c = contacts[i];
Ps::prefetchLine(&contacts[i],128);
const Vec3V raXn = c.raXn;
const FloatV appliedForce = FLoad(forceBuffer[i]);
const FloatV velMultiplier = c.getVelMultiplier();
/*const FloatV targetVel = c.getTargetVelocity();
const FloatV nScaledBias = c.getScaledBias();*/
const FloatV maxImpulse = c.getMaxImpulse();
const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
const FloatV normalVel = V3SumElems(v0);
const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
// still lots to do here: using loop pipelining we can interweave this code with the
// above - the code here has a lot of stalls that we would thereby eliminate
const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
const FloatV _newForce = FAdd(appliedForce, _deltaF);
const FloatV newForce = FMin(_newForce, maxImpulse);
const FloatV deltaF = FSub(newForce, appliedForce);
linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
FStore(newForce, &forceBuffer[i]);
accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
}
linVel0_ = linVel0;
angState0_ = angState0;
return accumulatedNormalImpulse;
}
PX_FORCE_INLINE static FloatV solveExtContacts(SolverContactPointExt* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
Vec3V& linVel0, Vec3V& angVel0,
Vec3V& linVel1, Vec3V& angVel1,
Vec3V& li0, Vec3V& ai0,
Vec3V& li1, Vec3V& ai1,
PxF32* PX_RESTRICT appliedForceBuffer)
{
FloatV accumulatedNormalImpulse = FZero();
for(PxU32 i=0;i<nbContactPoints;i++)
{
SolverContactPointExt& c = contacts[i];
Ps::prefetchLine(&contacts[i+1]);
const Vec3V raXn = c.raXn;
const Vec3V rbXn = c.rbXn;
const FloatV appliedForce = FLoad(appliedForceBuffer[i]);
const FloatV velMultiplier = c.getVelMultiplier();
/*const FloatV targetVel = c.getTargetVelocity();
const FloatV scaledBias = c.getScaledBias();*/
//Compute the normal velocity of the constraint.
Vec3V v = V3MulAdd(linVel0, contactNormal, V3Mul(angVel0, raXn));
v = V3Sub(v, V3MulAdd(linVel1, contactNormal, V3Mul(angVel1, rbXn)));
const FloatV normalVel = V3SumElems(v);
const FloatV biasedErr = c.getBiasedErr();//FNeg(scaledBias);
// still lots to do here: using loop pipelining we can interweave this code with the
// above - the code here has a lot of stalls that we would thereby eliminate
const FloatV deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
linVel0 = V3ScaleAdd(c.linDeltaVA, deltaF, linVel0);
angVel0 = V3ScaleAdd(c.angDeltaVA, deltaF, angVel0);
linVel1 = V3ScaleAdd(c.linDeltaVB, deltaF, linVel1);
angVel1 = V3ScaleAdd(c.angDeltaVB, deltaF, angVel1);
li0 = V3ScaleAdd(contactNormal, deltaF, li0); ai0 = V3ScaleAdd(raXn, deltaF, ai0);
li1 = V3ScaleAdd(contactNormal, deltaF, li1); ai1 = V3ScaleAdd(rbXn, deltaF, ai1);
const FloatV newAppliedForce = FAdd(appliedForce, deltaF);
FStore(newAppliedForce, &appliedForceBuffer[i]);
accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newAppliedForce);
}
return accumulatedNormalImpulse;
}
}
}
#endif //DY_SOLVER_CORE_SHARED_H
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