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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.
#ifndef PT_PARTICLE_SYSTEM_SIM_CPU_H
#define PT_PARTICLE_SYSTEM_SIM_CPU_H
#include "PxPhysXConfig.h"
#if PX_USE_PARTICLE_SYSTEM_API
#include "PtParticleSystemSim.h"
#include "PtDynamics.h"
#include "PtCollision.h"
#include "PtGridCellVector.h"
#include "PsAllocator.h"
#include "PtParticleData.h"
#include "CmTask.h"
#include "PtContextCpu.h"
namespace physx
{
class PxParticleDeviceExclusiveAccess;
class PxBaseTask;
namespace Pt
{
class Context;
struct ConstraintPair;
class SpatialHash;
class ParticleShapeCpu;
class ParticleSystemSimCpu : public ParticleSystemSim
{
PX_NOCOPY(ParticleSystemSimCpu)
public:
//---------------------------
// Implements ParticleSystemSim
virtual ParticleSystemState& getParticleStateV();
virtual void getSimParticleDataV(ParticleSystemSimDataDesc& simParticleData, bool devicePtr) const;
virtual void getShapesUpdateV(ParticleShapeUpdateResults& updateResults) const;
virtual void setExternalAccelerationV(const PxVec3& v);
virtual const PxVec3& getExternalAccelerationV() const;
virtual void setSimulationTimeStepV(PxReal value);
virtual PxReal getSimulationTimeStepV() const;
virtual void setSimulatedV(bool);
virtual Ps::IntBool isSimulatedV() const;
virtual void addInteractionV(const ParticleShape&, ShapeHandle, BodyHandle, bool, bool)
{
}
virtual void removeInteractionV(const ParticleShape& particleShape, ShapeHandle shape, BodyHandle body,
bool isDynamic, bool isDyingRb, bool ccdBroadphase);
virtual void onRbShapeChangeV(const ParticleShape& particleShape, ShapeHandle shape);
virtual void flushBufferedInteractionUpdatesV()
{
}
virtual void passCollisionInputV(ParticleCollisionUpdateInput input);
#if PX_SUPPORT_GPU_PHYSX
virtual Ps::IntBool isGpuV() const
{
return false;
}
virtual void enableDeviceExclusiveModeGpuV()
{
PX_ASSERT(0);
}
virtual PxParticleDeviceExclusiveAccess* getDeviceExclusiveAccessGpuV() const
{
PX_ASSERT(0);
return NULL;
}
#endif
//~Implements ParticleSystemSim
//---------------------------
ParticleSystemSimCpu(ContextCpu* context, PxU32 index);
virtual ~ParticleSystemSimCpu();
void init(ParticleData& particleData, const ParticleSystemParameter& parameter);
void clear();
ParticleData* obtainParticleState();
PX_FORCE_INLINE ContextCpu& getContext() const
{
return mContext;
}
PX_FORCE_INLINE void getPacketBounds(const GridCellVector& coord, PxBounds3& bounds);
PX_FORCE_INLINE PxReal computeViscosityMultiplier(PxReal viscosityStd, PxReal particleMassStd, PxReal radius6Std);
PX_FORCE_INLINE PxU32 getIndex() const
{
return mIndex;
}
void packetShapesUpdate(physx::PxBaseTask* continuation);
void packetShapesFinalization(physx::PxBaseTask* continuation);
void dynamicsUpdate(physx::PxBaseTask* continuation);
void collisionUpdate(physx::PxBaseTask* continuation);
void collisionFinalization(physx::PxBaseTask* continuation);
void spatialHashUpdateSections(physx::PxBaseTask* continuation);
physx::PxBaseTask& schedulePacketShapesUpdate(const ParticleShapesUpdateInput& input,
physx::PxBaseTask& continuation);
physx::PxBaseTask& scheduleDynamicsUpdate(physx::PxBaseTask& continuation);
physx::PxBaseTask& scheduleCollisionUpdate(physx::PxBaseTask& continuation);
private:
void remapShapesToPackets(ParticleShape* const* shapes, PxU32 numShapes);
void clearParticleConstraints();
void initializeParameter();
void updateDynamicsParameter();
void updateCollisionParameter();
void removeTwoWayRbReferences(const ParticleShapeCpu& particleShape, const PxsBodyCore* rigidBody);
void setCollisionCacheInvalid(const ParticleShapeCpu& particleShape, const Gu::GeometryUnion& geometry);
private:
ContextCpu& mContext;
ParticleData* mParticleState;
const ParticleSystemParameter* mParameter;
Ps::IntBool mSimulated;
TwoWayData* mFluidTwoWayData;
ParticleShape** mCreatedDeletedParticleShapes; // Handles of created and deleted particle packet shapes.
PxU32 mNumCreatedParticleShapes;
PxU32 mNumDeletedParticleShapes;
PxU32* mPacketParticlesIndices; // Dense array of sorted particle indices.
PxU32 mNumPacketParticlesIndices;
ConstraintBuffers mConstraintBuffers; // Particle constraints.
ParticleOpcodeCache* mOpcodeCacheBuffer; // Opcode cache.
PxVec3* mTransientBuffer; // force in SPH , collision normal
PxVec3* mCollisionVelocities;
// Spatial ordering, packet generation
SpatialHash* mSpatialHash;
// Dynamics update
Dynamics mDynamics;
// Collision update
Collision mCollision;
PxReal mSimulationTimeStep;
bool mIsSimulated;
PxVec3 mExternalAcceleration; // This includes the gravity of the scene
PxU32 mIndex;
// pipeline tasks
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::packetShapesUpdate> PacketShapesUpdateTask;
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::packetShapesFinalization> PacketShapesFinalizationTask;
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::dynamicsUpdate> DynamicsUpdateTask;
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::collisionUpdate> CollisionUpdateTask;
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::collisionFinalization> CollisionFinalizationTask;
typedef Cm::DelegateTask<ParticleSystemSimCpu, &ParticleSystemSimCpu::spatialHashUpdateSections> SpatialHashUpdateSectionsTask;
PacketShapesUpdateTask mPacketShapesUpdateTask;
PacketShapesFinalizationTask mPacketShapesFinalizationTask;
DynamicsUpdateTask mDynamicsUpdateTask;
CollisionUpdateTask mCollisionUpdateTask;
CollisionFinalizationTask mCollisionFinalizationTask;
SpatialHashUpdateSectionsTask mSpatialHashUpdateSectionsTask;
ParticleShapesUpdateInput mPacketShapesUpdateTaskInput;
ParticleCollisionUpdateInput mCollisionUpdateTaskInput;
Ps::AlignedAllocator<16, Ps::ReflectionAllocator<char> > mAlign16;
friend class Collision;
friend class Dynamics;
};
//----------------------------------------------------------------------------//
/*!
Compute AABB of a packet given its coordinates.
Enlarge the bounding box such that a particle on the current boundary could
travel the maximum distance and would still be inside the enlarged volume.
*/
PX_FORCE_INLINE void ParticleSystemSimCpu::getPacketBounds(const GridCellVector& coord, PxBounds3& bounds)
{
PxVec3 gridOrigin(static_cast<PxReal>(coord.x), static_cast<PxReal>(coord.y), static_cast<PxReal>(coord.z));
gridOrigin *= mCollision.getParameter().packetSize;
PxVec3 collisionRangeVec(mCollision.getParameter().collisionRange);
bounds.minimum = gridOrigin - collisionRangeVec;
bounds.maximum = gridOrigin + PxVec3(mCollision.getParameter().packetSize) + collisionRangeVec;
}
PX_FORCE_INLINE PxReal
ParticleSystemSimCpu::computeViscosityMultiplier(PxReal viscosityStd, PxReal particleMassStd, PxReal radius6Std)
{
PxReal wViscosityLaplacianScalarStd = 45.0f / (PxPi * radius6Std);
return (wViscosityLaplacianScalarStd * viscosityStd * particleMassStd);
}
} // namespace Pt
} // namespace physx
#endif // PX_USE_PARTICLE_SYSTEM_API
#endif // PT_PARTICLE_SYSTEM_SIM_CPU_H
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