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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) 2008-2018 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
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