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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.
#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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