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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) 2008-2016 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 PT_COLLISION_H
#define PT_COLLISION_H
#include "PxPhysXConfig.h"
#if PX_USE_PARTICLE_SYSTEM_API
#include "foundation/PxTransform.h"
#include "PsBitUtils.h"
#include "PtConfig.h"
#include "PtCollisionData.h"
#include "PtCollisionMethods.h"
#include "PtParticle.h"
#include "PtTwoWayData.h"
#include "PtCollisionParameters.h"
#include "PsAlignedMalloc.h"
#include "CmTask.h"
#include "PtParticleContactManagerStream.h"
namespace physx
{
class PxsRigidBody;
class PxBaseTask;
namespace Pt
{
class ParticleShape;
class BodyTransformVault;
struct W2STransformTemp;
class Collision
{
public:
Collision(class ParticleSystemSimCpu& particleSystem);
~Collision();
void updateCollision(const PxU8* contactManagerStream, physx::PxBaseTask& continuation);
// Update position and velocity of particles that have PxParticleFlag::eSPATIAL_DATA_STRUCTURE_OVERFLOW set.
void updateOverflowParticles();
PX_FORCE_INLINE CollisionParameters& getParameter()
{
return mParams;
}
private:
typedef Ps::Array<W2STransformTemp, shdfnd::AlignedAllocator<16, Ps::ReflectionAllocator<W2STransformTemp> > >
TempContactManagerArray;
struct TaskData
{
TempContactManagerArray tempContactManagers;
ParticleContactManagerStreamIterator packetBegin;
ParticleContactManagerStreamIterator packetEnd;
PxBounds3 bounds;
};
void processShapeListWithFilter(PxU32 taskDataIndex, const PxU32 skipNum = 0);
void mergeResults(physx::PxBaseTask* continuation);
void updateFluidShapeCollision(Particle* particles, TwoWayData* fluidTwoWayData, PxVec3* transientBuf,
PxVec3* collisionVelocities, ConstraintBuffers& constraintBufs,
ParticleOpcodeCache* opcodeCache, PxBounds3& worldBounds,
const PxU32* fluidShapeParticleIndices, const PxF32* restOffsets,
const W2STransformTemp* w2sTransforms, const ParticleStreamShape& streamShape);
PX_FORCE_INLINE void updateSubPacket(Particle* particlesSp, TwoWayData* fluidTwoWayData, PxVec3* transientBuf,
PxVec3* collisionVelocities, ConstraintBuffers& constraintBufs,
ParticleOpcodeCache* perParticleCacheLocal,
ParticleOpcodeCache* perParticleCacheGlobal, LocalCellHash& localCellHash,
PxBounds3& worldBounds, const PxVec3& packetCorner,
const PxU32* particleIndicesSp, const PxU32 numParticlesSp,
const ParticleStreamContactManager* contactManagers,
const W2STransformTemp* w2sTransforms, const PxU32 numContactManagers,
const PxF32* restOffsetsSp);
void updateFluidBodyContactPair(const Particle* particles, PxU32 numParticles, ParticleCollData* particleCollData,
ConstraintBuffers& constraintBufs, ParticleOpcodeCache* perParticleCacheLocal,
LocalCellHash& localCellHash, const PxVec3& packetCorner,
const ParticleStreamContactManager& contactManager,
const W2STransformTemp& w2sTransform);
void PX_FORCE_INLINE addTempW2STransform(TaskData& taskData, const ParticleStreamContactManager& cm);
private:
Collision& operator=(const Collision&);
CollisionParameters mParams;
ParticleSystemSimCpu& mParticleSystem;
TaskData mTaskData[PT_NUM_PACKETS_PARALLEL_COLLISION];
typedef Cm::DelegateTask<Collision, &Collision::mergeResults> MergeTask;
MergeTask mMergeTask;
friend class CollisionTask;
};
} // namespace Pt
} // namespace physx
#endif // PX_USE_PARTICLE_SYSTEM_API
#endif // PT_COLLISION_H
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