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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.
#include "DyThreadContext.h"
#include "PsBitUtils.h"
namespace physx
{
namespace Dy
{
ThreadContext::ThreadContext(PxcNpMemBlockPool* memBlockPool):
mFrictionPatchStreamPair(*memBlockPool),
mConstraintBlockManager (*memBlockPool),
mConstraintBlockStream (*memBlockPool),
mNumDifferentBodyConstraints(0),
mNumSelfConstraints(0),
mNumSelfConstraintBlocks(0),
mConstraintsPerPartition(PX_DEBUG_EXP("ThreadContext::mConstraintsPerPartition")),
mFrictionConstraintsPerPartition(PX_DEBUG_EXP("ThreadContext::frictionsConstraintsPerPartition")),
mPartitionNormalizationBitmap(PX_DEBUG_EXP("ThreadContext::mPartitionNormalizationBitmap")),
frictionConstraintDescArray(PX_DEBUG_EXP("ThreadContext::solverFrictionConstraintArray")),
frictionConstraintBatchHeaders(PX_DEBUG_EXP("ThreadContext::frictionConstraintBatchHeaders")),
compoundConstraints(PX_DEBUG_EXP("ThreadContext::compoundConstraints")),
orderedContactList(PX_DEBUG_EXP("ThreadContext::orderedContactList")),
tempContactList(PX_DEBUG_EXP("ThreadContext::tempContactList")),
sortIndexArray(PX_DEBUG_EXP("ThreadContext::sortIndexArray")),
mConstraintSize (0),
mAxisConstraintCount(0),
mSelfConstraintBlocks(NULL),
mMaxPartitions(0),
mMaxSolverPositionIterations(0),
mMaxSolverVelocityIterations(0),
mMaxArticulationLength(0),
mContactDescPtr(NULL),
mFrictionDescPtr(NULL),
mArticulations(PX_DEBUG_EXP("ThreadContext::articulations"))
{
#if PX_ENABLE_SIM_STATS
mThreadSimStats.clear();
#endif
//Defaulted to have space for 16384 bodies
mPartitionNormalizationBitmap.reserve(512);
//Defaulted to have space for 128 partitions (should be more-than-enough)
mConstraintsPerPartition.reserve(128);
}
void ThreadContext::resizeArrays(PxU32 frictionConstraintDescCount, PxU32 articulationCount)
{
// resize resizes smaller arrays to the exact target size, which can generate a lot of churn
frictionConstraintDescArray.forceSize_Unsafe(0);
frictionConstraintDescArray.reserve((frictionConstraintDescCount+63)&~63);
mArticulations.forceSize_Unsafe(0);
mArticulations.reserve(PxMax<PxU32>(Ps::nextPowerOfTwo(articulationCount), 16));
mArticulations.forceSize_Unsafe(articulationCount);
mContactDescPtr = contactConstraintDescArray;
mFrictionDescPtr = frictionConstraintDescArray.begin();
}
void ThreadContext::reset()
{
// TODO: move these to the PxcNpThreadContext
mFrictionPatchStreamPair.reset();
mConstraintBlockStream.reset();
mContactDescPtr = contactConstraintDescArray;
mFrictionDescPtr = frictionConstraintDescArray.begin();
mAxisConstraintCount = 0;
mMaxSolverPositionIterations = 0;
mMaxSolverVelocityIterations = 0;
mNumDifferentBodyConstraints = 0;
mNumSelfConstraints = 0;
mSelfConstraintBlocks = NULL;
mNumSelfConstraintBlocks = 0;
mConstraintSize = 0;
}
}
}
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