1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
|
//
// 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.
#ifndef DY_THREADCONTEXT_H
#define DY_THREADCONTEXT_H
#include "foundation/PxTransform.h"
#include "PxvConfig.h"
#include "CmBitMap.h"
#include "CmMatrix34.h"
#include "PxcThreadCoherentCache.h"
#include "DyThresholdTable.h"
#include "PsAllocator.h"
#include "PsAllocator.h"
#include "GuContactBuffer.h"
#include "DySolverConstraintDesc.h"
#include "PxvDynamics.h"
#include "DyArticulation.h"
#include "DyFrictionPatchStreamPair.h"
#include "PxcConstraintBlockStream.h"
#include "DyCorrelationBuffer.h"
namespace physx
{
struct PxsIndexedContactManager;
namespace Dy
{
/*!
Cache information specific to the software implementation(non common).
See PxcgetThreadContext.
Not thread-safe, so remember to have one object per thread!
TODO! refactor this and rename(it is a general per thread cache). Move transform cache into its own class.
*/
class ThreadContext :
public PxcThreadCoherentCache<ThreadContext, PxcNpMemBlockPool>::EntryBase
{
PX_NOCOPY(ThreadContext)
public:
#if PX_ENABLE_SIM_STATS
struct ThreadSimStats
{
void clear()
{
numActiveConstraints = 0;
numActiveDynamicBodies = 0;
numActiveKinematicBodies = 0;
numAxisSolverConstraints = 0;
}
PxU32 numActiveConstraints;
PxU32 numActiveDynamicBodies;
PxU32 numActiveKinematicBodies;
PxU32 numAxisSolverConstraints;
};
#endif
//TODO: tune cache size based on number of active objects.
ThreadContext(PxcNpMemBlockPool* memBlockPool);
void reset();
void resizeArrays(PxU32 frictionConstraintDescCount, PxU32 articulationCount);
PX_FORCE_INLINE Ps::Array<ArticulationSolverDesc>& getArticulations() { return mArticulations; }
#if PX_ENABLE_SIM_STATS
PX_FORCE_INLINE ThreadSimStats& getSimStats()
{
return mThreadSimStats;
}
#endif
Gu::ContactBuffer mContactBuffer;
// temporary buffer for correlation
PX_ALIGN(16, CorrelationBuffer mCorrelationBuffer);
FrictionPatchStreamPair mFrictionPatchStreamPair; // patch streams
PxsConstraintBlockManager mConstraintBlockManager; // for when this thread context is "lead" on an island
PxcConstraintBlockStream mConstraintBlockStream; // constraint block pool
// this stuff is just used for reformatting the solver data. Hopefully we should have a more
// sane format for this when the dust settles - so it's just temporary. If we keep this around
// here we should move these from public to private
PxU32 mNumDifferentBodyConstraints;
PxU32 mNumDifferentBodyFrictionConstraints;
PxU32 mNumSelfConstraints;
PxU32 mNumSelfFrictionConstraints;
PxU32 mNumSelfConstraintBlocks;
PxU32 mNumSelfConstraintFrictionBlocks;
Ps::Array<PxU32> mConstraintsPerPartition;
Ps::Array<PxU32> mFrictionConstraintsPerPartition;
Ps::Array<PxU32> mPartitionNormalizationBitmap;
PxsBodyCore** mBodyCoreArray;
PxsRigidBody** mRigidBodyArray;
Articulation** mArticulationArray;
Cm::SpatialVector* motionVelocityArray;
PxU32* bodyRemapTable;
PxU32* mNodeIndexArray;
//Constraint info for normal constraint sovler
PxSolverConstraintDesc* contactConstraintDescArray;
PxU32 contactDescArraySize;
PxSolverConstraintDesc* orderedContactConstraints;
PxConstraintBatchHeader* contactConstraintBatchHeaders;
PxU32 numContactConstraintBatches;
//Constraint info for partitioning
PxSolverConstraintDesc* tempConstraintDescArray;
//Additional constraint info for 1d/2d friction model
Ps::Array<PxSolverConstraintDesc> frictionConstraintDescArray;
Ps::Array<PxConstraintBatchHeader> frictionConstraintBatchHeaders;
//Info for tracking compound contact managers (temporary data - could use scratch memory!)
Ps::Array<CompoundContactManager> compoundConstraints;
//Used for sorting constraints. Temporary, could use scratch memory
Ps::Array<const PxsIndexedContactManager*> orderedContactList;
Ps::Array<const PxsIndexedContactManager*> tempContactList;
Ps::Array<PxU32> sortIndexArray;
PxU32 numDifferentBodyBatchHeaders;
PxU32 numSelfConstraintBatchHeaders;
PxU32 mOrderedContactDescCount;
PxU32 mOrderedFrictionDescCount;
PxU32 mConstraintSize;
PxU32 mAxisConstraintCount;
SelfConstraintBlock* mSelfConstraintBlocks;
SelfConstraintBlock* mSelfConstraintFrictionBlocks;
PxU32 mMaxPartitions;
PxU32 mMaxFrictionPartitions;
PxU32 mMaxSolverPositionIterations;
PxU32 mMaxSolverVelocityIterations;
PxU32 mMaxArticulationLength;
PxU32 mMaxArticulationSolverLength;
PxSolverConstraintDesc* mContactDescPtr;
PxSolverConstraintDesc* mStartContactDescPtr;
PxSolverConstraintDesc* mFrictionDescPtr;
private:
Ps::Array<ArticulationSolverDesc> mArticulations;
#if PX_ENABLE_SIM_STATS
ThreadSimStats mThreadSimStats;
#endif
public:
};
}
}
#endif //DY_THREADCONTEXT_H
|