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ScScene.cpp
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ScScene.cpp
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// 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) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#define NOMINMAX
#include "common/PxProfileZone.h"
#include "foundation/PxTime.h"
#include "ScPhysics.h"
#include "ScScene.h"
#include "BpAABBManager.h"
#include "BpBroadPhase.h"
#include "ScStaticSim.h"
#include "ScConstraintSim.h"
#include "ScConstraintProjectionManager.h"
#include "ScConstraintCore.h"
#include "ScArticulationCore.h"
#include "ScArticulationJointCore.h"
#include "ScArticulationTendonCore.h"
#include "ScArticulationSensor.h"
#include "ScArticulationSim.h"
#include "ScArticulationJointSim.h"
#include "foundation/PxTime.h"
#include "ScArticulationTendonSim.h"
#include "ScArticulationSensorSim.h"
#include "ScConstraintInteraction.h"
#include "ScTriggerInteraction.h"
#include "ScSimStats.h"
#include "ScTriggerPairs.h"
#include "ScObjectIDTracker.h"
#include "PxvManager.h"
#include "PxvGlobals.h"
#include "DyContext.h"
#include "PxsCCD.h"
#include "PxsSimpleIslandManager.h"
#include "ScSimulationController.h"
#include "ScSqBoundsManager.h"
#include "ScElementSim.h"
#if defined(__APPLE__) && defined(__POWERPC__)
#include <ppc_intrinsics.h>
#endif
#if PX_SUPPORT_GPU_PHYSX
#include "PxPhysXGpu.h"
#include "PxsKernelWrangler.h"
#include "PxsHeapMemoryAllocator.h"
#include "cudamanager/PxCudaContextManager.h"
#endif
#include "PxsMemoryManager.h"
////////////
#include "PxvNphaseImplementationContext.h"
#include "ScShapeInteraction.h"
#include "ScElementInteractionMarker.h"
#include "PxsContext.h"
#include "PxRigidDynamic.h"
#include "PxvDynamics.h"
#include "DyFeatherstoneArticulation.h"
#if PX_SUPPORT_GPU_PHYSX
#include "PxSoftBody.h"
#include "ScSoftBodySim.h"
#include "DySoftBody.h"
#if PX_ENABLE_FEATURES_UNDER_CONSTRUCTION
#include "PxFEMCloth.h"
#include "PxHairSystem.h"
#endif
#include "ScFEMClothSim.h"
#include "DyFEMCloth.h"
#include "ScParticleSystemSim.h"
#include "DyParticleSystem.h"
#include "ScHairSystemSim.h"
#include "DyHairSystem.h"
#endif
#include "CmPtrTable.h"
#include "CmTransformUtils.h"
using namespace physx;
using namespace physx::Cm;
using namespace physx::Dy;
PX_IMPLEMENT_OUTPUT_ERROR
namespace physx {
namespace Sc {
class LLArticulationRCPool : public PxPool<FeatherstoneArticulation, PxAlignedAllocator<64> >
{
public:
LLArticulationRCPool() {}
};
#if PX_SUPPORT_GPU_PHYSX
class LLSoftBodyPool : public PxPool<SoftBody, PxAlignedAllocator<64> >
{
public:
LLSoftBodyPool() {}
};
class LLFEMClothPool : public PxPool<FEMCloth, PxAlignedAllocator<64> >
{
public:
LLFEMClothPool() {}
};
class LLParticleSystemPool : public PxPool<ParticleSystem, PxAlignedAllocator<64> >
{
public:
LLParticleSystemPool() {}
};
class LLHairSystemPool : public PxPool<HairSystem, PxAlignedAllocator<64> >
{
public:
LLHairSystemPool() {}
};
#endif
static const char* sFilterShaderDataMemAllocId = "SceneDesc filterShaderData";
}}
void PxcClearContactCacheStats();
void PxcDisplayContactCacheStats();
class ScAfterIntegrationTask : public Cm::Task
{
public:
static const PxU32 MaxTasks = 256;
private:
const PxNodeIndex* const mIndices;
const PxU32 mNumBodies;
PxsContext* mContext;
Context* mDynamicsContext;
PxsTransformCache& mCache;
Sc::Scene& mScene;
public:
ScAfterIntegrationTask(const PxNodeIndex* const indices, PxU32 numBodies, PxsContext* context, Context* dynamicsContext, PxsTransformCache& cache, Sc::Scene& scene) :
Cm::Task (scene.getContextId()),
mIndices (indices),
mNumBodies (numBodies),
mContext (context),
mDynamicsContext(dynamicsContext),
mCache (cache),
mScene (scene)
{
}
virtual void runInternal()
{
const PxU32 rigidBodyOffset = Sc::BodySim::getRigidBodyOffset();
Sc::BodySim* bpUpdates[MaxTasks];
Sc::BodySim* ccdBodies[MaxTasks];
Sc::BodySim* activateBodies[MaxTasks];
Sc::BodySim* deactivateBodies[MaxTasks];
PxU32 nbBpUpdates = 0, nbCcdBodies = 0;
IG::SimpleIslandManager& manager = *mScene.getSimpleIslandManager();
const IG::IslandSim& islandSim = manager.getAccurateIslandSim();
Bp::BoundsArray& boundsArray = mScene.getBoundsArray();
Sc::BodySim* frozen[MaxTasks], * unfrozen[MaxTasks];
PxU32 nbFrozen = 0, nbUnfrozen = 0;
PxU32 nbActivated = 0, nbDeactivated = 0;
for(PxU32 i = 0; i < mNumBodies; i++)
{
PxsRigidBody* rigid = islandSim.getRigidBody(mIndices[i]);
Sc::BodySim* bodySim = reinterpret_cast<Sc::BodySim*>(reinterpret_cast<PxU8*>(rigid) - rigidBodyOffset);
//This move to PxgPostSolveWorkerTask for the gpu dynamic
//bodySim->sleepCheck(mDt, mOneOverDt, mEnableStabilization);
PxsBodyCore& bodyCore = bodySim->getBodyCore().getCore();
//If we got in this code, then this is an active object this frame. The solver computed the new wakeCounter and we
//commit it at this stage. We need to do it this way to avoid a race condition between the solver and the island gen, where
//the island gen may have deactivated a body while the solver decided to change its wake counter.
bodyCore.wakeCounter = bodyCore.solverWakeCounter;
PxsRigidBody& llBody = bodySim->getLowLevelBody();
const PxIntBool isFrozen = bodySim->isFrozen();
if(!isFrozen)
{
bpUpdates[nbBpUpdates++] = bodySim;
// PT: TODO: remove duplicate "isFrozen" test inside updateCached
// bodySim->updateCached(NULL);
bodySim->updateCached(mCache, boundsArray);
}
if(llBody.isFreezeThisFrame() && isFrozen)
frozen[nbFrozen++] = bodySim;
else if(llBody.isUnfreezeThisFrame())
unfrozen[nbUnfrozen++] = bodySim;
if(bodyCore.mFlags & PxRigidBodyFlag::eENABLE_CCD)
ccdBodies[nbCcdBodies++] = bodySim;
if(llBody.isActivateThisFrame())
{
PX_ASSERT(!llBody.isDeactivateThisFrame());
activateBodies[nbActivated++] = bodySim;
}
else if(llBody.isDeactivateThisFrame())
{
deactivateBodies[nbDeactivated++] = bodySim;
}
llBody.clearAllFrameFlags();
}
if(nbBpUpdates)
{
mCache.setChangedState();
boundsArray.setChangedState();
}
if(nbBpUpdates>0 || nbFrozen > 0 || nbCcdBodies>0 || nbActivated>0 || nbDeactivated>0)
{
//Write active bodies to changed actor map
mContext->getLock().lock();
PxBitMapPinned& changedAABBMgrHandles = mScene.getAABBManager()->getChangedAABBMgActorHandleMap();
for(PxU32 i = 0; i < nbBpUpdates; i++)
{
// PT: ### changedMap pattern #1
PxU32 nbElems = bpUpdates[i]->getNbElements();
Sc::ElementSim** elems = bpUpdates[i]->getElements();
while (nbElems--)
{
Sc::ShapeSim* sim = static_cast<Sc::ShapeSim*>(*elems++);
// PT: TODO: what's the difference between this test and "isInBroadphase" as used in bodySim->updateCached ?
// PT: Also, shouldn't it be "isInAABBManager" rather than BP ?
if (sim->getFlags()&PxU32(PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eTRIGGER_SHAPE)) // TODO: need trigger shape here?
changedAABBMgrHandles.growAndSet(sim->getElementID());
}
}
PxArray<Sc::BodySim*>& sceneCcdBodies = mScene.getCcdBodies();
for (PxU32 i = 0; i < nbCcdBodies; i++)
sceneCcdBodies.pushBack(ccdBodies[i]);
for(PxU32 i=0;i<nbFrozen;i++)
{
PX_ASSERT(frozen[i]->isFrozen());
frozen[i]->freezeTransforms(&changedAABBMgrHandles);
}
for(PxU32 i=0;i<nbUnfrozen;i++)
{
PX_ASSERT(!unfrozen[i]->isFrozen());
unfrozen[i]->createSqBounds();
}
for(PxU32 i = 0; i < nbActivated; ++i)
activateBodies[i]->notifyNotReadyForSleeping();
for(PxU32 i = 0; i < nbDeactivated; ++i)
deactivateBodies[i]->notifyReadyForSleeping();
mContext->getLock().unlock();
}
}
virtual const char* getName() const
{
return "ScScene.afterIntegrationTask";
}
private:
PX_NOCOPY(ScAfterIntegrationTask)
};
static const bool gUseNewTaskAllocationScheme = false;
class ScSimulationControllerCallback : public PxsSimulationControllerCallback
{
Sc::Scene* mScene;
public:
ScSimulationControllerCallback(Sc::Scene* scene) : mScene(scene)
{
}
virtual void updateScBodyAndShapeSim(PxBaseTask* continuation)
{
PxsContext* contextLL = mScene->getLowLevelContext();
IG::SimpleIslandManager* islandManager = mScene->getSimpleIslandManager();
Dy::Context* dynamicContext = mScene->getDynamicsContext();
Cm::FlushPool& flushPool = contextLL->getTaskPool();
const PxU32 MaxBodiesPerTask = ScAfterIntegrationTask::MaxTasks;
PxsTransformCache& cache = contextLL->getTransformCache();
const IG::IslandSim& islandSim = islandManager->getAccurateIslandSim();
/*const*/ PxU32 numBodies = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
const PxNodeIndex*const nodeIndices = islandSim.getActiveNodes(IG::Node::eRIGID_BODY_TYPE);
const PxU32 rigidBodyOffset = Sc::BodySim::getRigidBodyOffset();
if(!gUseNewTaskAllocationScheme)
{
PxU32 nbShapes = 0;
PxU32 startIdx = 0;
for (PxU32 i = 0; i < numBodies; i++)
{
if (nbShapes >= MaxBodiesPerTask)
{
ScAfterIntegrationTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ScAfterIntegrationTask)), ScAfterIntegrationTask(nodeIndices + startIdx, i - startIdx,
contextLL, dynamicContext, cache, *mScene));
task->setContinuation(continuation);
task->removeReference();
startIdx = i;
nbShapes = 0;
}
PxsRigidBody* rigid = islandSim.getRigidBody(nodeIndices[i]);
Sc::BodySim* bodySim = reinterpret_cast<Sc::BodySim*>(reinterpret_cast<PxU8*>(rigid) - rigidBodyOffset);
nbShapes += PxMax(1u, bodySim->getNbShapes()); //Always add at least 1 shape in, even if the body has zero shapes because there is still some per-body overhead
}
if (nbShapes)
{
ScAfterIntegrationTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ScAfterIntegrationTask)), ScAfterIntegrationTask(nodeIndices + startIdx, numBodies - startIdx,
contextLL, dynamicContext, cache, *mScene));
task->setContinuation(continuation);
task->removeReference();
}
}
else
{
// PT:
const PxU32 numCpuTasks = continuation->getTaskManager()->getCpuDispatcher()->getWorkerCount();
PxU32 nbPerTask;
if(numCpuTasks)
nbPerTask = numBodies > numCpuTasks ? numBodies / numCpuTasks : numBodies;
else
nbPerTask = numBodies;
// PT: we need to respect that limit even with a single thread, because of hardcoded buffer limits in ScAfterIntegrationTask.
if(nbPerTask>MaxBodiesPerTask)
nbPerTask = MaxBodiesPerTask;
PxU32 start = 0;
while(numBodies)
{
const PxU32 nb = numBodies < nbPerTask ? numBodies : nbPerTask;
ScAfterIntegrationTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ScAfterIntegrationTask)), ScAfterIntegrationTask(nodeIndices+start, nb,
contextLL, dynamicContext, cache, *mScene));
start += nb;
numBodies -= nb;
task->setContinuation(continuation);
task->removeReference();
}
}
}
virtual PxU32 getNbCcdBodies()
{
return mScene->getCcdBodies().size();
}
};
class PxgUpdateBodyAndShapeStatusTask : public Cm::Task
{
public:
static const PxU32 MaxTasks = 2048;
private:
const PxNodeIndex* const mNodeIndices;
const PxU32 mNumBodies;
Sc::Scene& mScene;
void** mRigidBodyLL;
PxU32* mActivatedBodies;
PxU32* mDeactivatedBodies;
PxI32& mCCDBodyWriteIndex;
public:
PxgUpdateBodyAndShapeStatusTask(const PxNodeIndex* const indices, PxU32 numBodies, void** rigidBodyLL, PxU32* activatedBodies, PxU32* deactivatedBodies, Sc::Scene& scene, PxI32& ccdBodyWriteIndex) :
Cm::Task (scene.getContextId()),
mNodeIndices (indices),
mNumBodies (numBodies),
mScene (scene),
mRigidBodyLL (rigidBodyLL),
mActivatedBodies (activatedBodies),
mDeactivatedBodies (deactivatedBodies),
mCCDBodyWriteIndex (ccdBodyWriteIndex)
{
}
virtual void runInternal()
{
IG::SimpleIslandManager& islandManager = *mScene.getSimpleIslandManager();
const IG::IslandSim& islandSim = islandManager.getAccurateIslandSim();
PxU32 nbCcdBodies = 0;
PxArray<Sc::BodySim*>& sceneCcdBodies = mScene.getCcdBodies();
Sc::BodySim* ccdBodies[MaxTasks];
const size_t bodyOffset = PX_OFFSET_OF_RT(Sc::BodySim, getLowLevelBody());
for(PxU32 i=0; i<mNumBodies; ++i)
{
const PxU32 nodeIndex = mNodeIndices[i].index();
PxsRigidBody* rigidLL = reinterpret_cast<PxsRigidBody*>(mRigidBodyLL[nodeIndex]);
PxsBodyCore* bodyCore = &rigidLL->getCore();
bodyCore->wakeCounter = bodyCore->solverWakeCounter;
//we can set the frozen/unfrozen flag in GPU, but we have copied the internalflags
//from the solverbodysleepdata to pxsbodycore, so we just need to clear the frozen flag in here
rigidLL->clearAllFrameFlags();
PX_ASSERT(mActivatedBodies[nodeIndex] <= 1);
PX_ASSERT(mDeactivatedBodies[nodeIndex] <= 1);
if(mActivatedBodies[nodeIndex])
{
PX_ASSERT(bodyCore->wakeCounter > 0.0f);
islandManager.activateNode(mNodeIndices[i]);
}
else if(mDeactivatedBodies[nodeIndex])
{
//KS - the CPU code can reset the wake counter due to lost touches in parallel with the solver, so we need to verify
//that the wakeCounter is still 0 before deactivating the node
if (bodyCore->wakeCounter == 0.0f)
{
islandManager.deactivateNode(mNodeIndices[i]);
}
}
if (bodyCore->mFlags & PxRigidBodyFlag::eENABLE_CCD)
{
PxsRigidBody* rigidBody = islandSim.getRigidBody(mNodeIndices[i]);
Sc::BodySim* bodySim = reinterpret_cast<Sc::BodySim*>(reinterpret_cast<PxU8*>(rigidBody) - bodyOffset);
ccdBodies[nbCcdBodies++] = bodySim;
}
}
if(nbCcdBodies > 0)
{
PxI32 startIndex = PxAtomicAdd(&mCCDBodyWriteIndex, PxI32(nbCcdBodies)) - PxI32(nbCcdBodies);
for(PxU32 a = 0; a < nbCcdBodies; ++a)
{
sceneCcdBodies[startIndex + a] = ccdBodies[a];
}
}
}
virtual const char* getName() const
{
return "ScScene.PxgUpdateBodyAndShapeStatusTask";
}
private:
PX_NOCOPY(PxgUpdateBodyAndShapeStatusTask)
};
class PxgSimulationControllerCallback : public PxsSimulationControllerCallback
{
Sc::Scene* mScene;
PxI32 mCcdBodyWriteIndex;
public:
PxgSimulationControllerCallback(Sc::Scene* scene) : mScene(scene), mCcdBodyWriteIndex(0)
{
}
virtual void updateScBodyAndShapeSim(PxBaseTask* continuation)
{
IG::SimpleIslandManager* islandManager = mScene->getSimpleIslandManager();
PxsSimulationController* simulationController = mScene->getSimulationController();
PxsContext* contextLL = mScene->getLowLevelContext();
IG::IslandSim& islandSim = islandManager->getAccurateIslandSim();
const PxU32 numBodies = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
const PxNodeIndex*const nodeIndices = islandSim.getActiveNodes(IG::Node::eRIGID_BODY_TYPE);
PxU32* activatedBodies = simulationController->getActiveBodies();
PxU32* deactivatedBodies = simulationController->getDeactiveBodies();
//PxsRigidBody** rigidBodyLL = simulationController->getRigidBodies();
void** rigidBodyLL = simulationController->getRigidBodies();
Cm::FlushPool& flushPool = contextLL->getTaskPool();
PxArray<Sc::BodySim*>& ccdBodies = mScene->getCcdBodies();
ccdBodies.forceSize_Unsafe(0);
ccdBodies.reserve(numBodies);
ccdBodies.forceSize_Unsafe(numBodies);
mCcdBodyWriteIndex = 0;
for(PxU32 i = 0; i < numBodies; i+=PxgUpdateBodyAndShapeStatusTask::MaxTasks)
{
PxgUpdateBodyAndShapeStatusTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(PxgUpdateBodyAndShapeStatusTask)), PxgUpdateBodyAndShapeStatusTask(nodeIndices + i,
PxMin(PxgUpdateBodyAndShapeStatusTask::MaxTasks, numBodies - i), rigidBodyLL, activatedBodies, deactivatedBodies, *mScene, mCcdBodyWriteIndex));
task->setContinuation(continuation);
task->removeReference();
}
PxU32* unfrozenShapeIndices = simulationController->getUnfrozenShapes();
PxU32* frozenShapeIndices = simulationController->getFrozenShapes();
const PxU32 nbFrozenShapes = simulationController->getNbFrozenShapes();
const PxU32 nbUnfrozenShapes = simulationController->getNbUnfrozenShapes();
PxsShapeSim** shapeSimsLL = simulationController->getShapeSims();
const size_t shapeOffset = PX_OFFSET_OF_RT(Sc::ShapeSim, getLLShapeSim());
for(PxU32 i=0; i<nbFrozenShapes; ++i)
{
const PxU32 shapeIndex = frozenShapeIndices[i];
PxsShapeSim* shapeLL = shapeSimsLL[shapeIndex];
Sc::ShapeSim* shape = reinterpret_cast<Sc::ShapeSim*>(reinterpret_cast<PxU8*>(shapeLL) - shapeOffset);
shape->destroySqBounds();
}
for(PxU32 i=0; i<nbUnfrozenShapes; ++i)
{
const PxU32 shapeIndex = unfrozenShapeIndices[i];
PxsShapeSim* shapeLL = shapeSimsLL[shapeIndex];
Sc::ShapeSim* shape = reinterpret_cast<Sc::ShapeSim*>(reinterpret_cast<PxU8*>(shapeLL) - shapeOffset);
shape->createSqBounds();
}
#if PX_SUPPORT_GPU_PHYSX
if (simulationController->hasFEMCloth())
{
//KS - technically, there's a race condition calling activateNode/deactivateNode, but we know that it is
//safe because these deactivate/activate calls came from the solver. This means that we know that the
//actors are active currently, so at most we are just clearing/setting the ready for sleeping flag.
//None of the more complex logic that touching shared state will be executed.
const PxU32 nbActivatedCloth = simulationController->getNbActivatedFEMCloth();
Dy::FEMCloth** activatedCloths = simulationController->getActivatedFEMCloths();
for (PxU32 i = 0; i < nbActivatedCloth; ++i)
{
PxNodeIndex nodeIndex = activatedCloths[i]->getFEMClothSim()->getNodeIndex();
islandManager->activateNode(nodeIndex);
}
const PxU32 nbDeactivatedCloth = simulationController->getNbDeactivatedFEMCloth();
Dy::FEMCloth** deactivatedCloths = simulationController->getDeactivatedFEMCloths();
for (PxU32 i = 0; i < nbDeactivatedCloth; ++i)
{
PxNodeIndex nodeIndex = deactivatedCloths[i]->getFEMClothSim()->getNodeIndex();
islandManager->deactivateNode(nodeIndex);
}
}
if (simulationController->hasSoftBodies())
{
//KS - technically, there's a race condition calling activateNode/deactivateNode, but we know that it is
//safe because these deactivate/activate calls came from the solver. This means that we know that the
//actors are active currently, so at most we are just clearing/setting the ready for sleeping flag.
//None of the more complex logic that touching shared state will be executed.
const PxU32 nbDeactivatedSB = simulationController->getNbDeactivatedSoftbodies();
Dy::SoftBody** deactivatedSB = simulationController->getDeactivatedSoftbodies();
for (PxU32 i = 0; i < nbDeactivatedSB; ++i)
{
PxNodeIndex nodeIndex = deactivatedSB[i]->getSoftBodySim()->getNodeIndex();
islandManager->deactivateNode(nodeIndex);
}
const PxU32 nbActivatedSB = simulationController->getNbActivatedSoftbodies();
Dy::SoftBody** activatedSB = simulationController->getActivatedSoftbodies();
for (PxU32 i = 0; i < nbActivatedSB; ++i)
{
PxNodeIndex nodeIndex = activatedSB[i]->getSoftBodySim()->getNodeIndex();
islandManager->activateNode(nodeIndex);
}
}
if (simulationController->hasHairSystems())
{
// comment from KS regarding race condition applies here, too
const PxU32 nbDeactivatedHS = simulationController->getNbDeactivatedHairSystems();
Dy::HairSystem** deactivatedHS = simulationController->getDeactivatedHairSystems();
for (PxU32 i = 0; i < nbDeactivatedHS; ++i)
{
PxNodeIndex nodeIndex = deactivatedHS[i]->getHairSystemSim()->getNodeIndex();
islandManager->deactivateNode(nodeIndex);
}
const PxU32 nbActivatedHS = simulationController->getNbActivatedHairSystems();
Dy::HairSystem** activatedHS = simulationController->getActivatedHairSystems();
for (PxU32 i = 0; i < nbActivatedHS; ++i)
{
PxNodeIndex nodeIndex = activatedHS[i]->getHairSystemSim()->getNodeIndex();
islandManager->activateNode(nodeIndex);
}
}
#endif
}
virtual PxU32 getNbCcdBodies()
{
return PxU32(mCcdBodyWriteIndex);
}
};
static Bp::AABBManagerBase* createAABBManagerCPU(const PxSceneDesc& desc, Bp::BroadPhase* broadPhase, Bp::BoundsArray* boundsArray, PxFloatArrayPinned* contactDistances, PxVirtualAllocator& allocator, PxU64 contextID)
{
return PX_NEW(Bp::AABBManager)(*broadPhase, *boundsArray, *contactDistances,
desc.limits.maxNbAggregates, desc.limits.maxNbStaticShapes + desc.limits.maxNbDynamicShapes, allocator, contextID,
desc.kineKineFilteringMode, desc.staticKineFilteringMode);
}
#if PX_SUPPORT_GPU_PHYSX
static Bp::AABBManagerBase* createAABBManagerGPU(PxsKernelWranglerManager* kernelWrangler, PxCudaContextManager* cudaContextManager, PxsHeapMemoryAllocatorManager* heapMemoryAllocationManager,
const PxSceneDesc& desc, Bp::BroadPhase* broadPhase, Bp::BoundsArray* boundsArray, PxFloatArrayPinned* contactDistances, PxVirtualAllocator& allocator, PxU64 contextID)
{
return PxvGetPhysXGpu(true)->createGpuAABBManager(
kernelWrangler,
cudaContextManager,
desc.gpuComputeVersion,
desc.gpuDynamicsConfig,
heapMemoryAllocationManager,
*broadPhase, *boundsArray, *contactDistances,
desc.limits.maxNbAggregates, desc.limits.maxNbStaticShapes + desc.limits.maxNbDynamicShapes, allocator, contextID,
desc.kineKineFilteringMode, desc.staticKineFilteringMode);
}
#endif
Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
mContextId (contextID),
mActiveBodies ("sceneActiveBodies"),
mActiveKinematicBodyCount (0),
mActiveDynamicBodyCount (0),
mActiveKinematicsCopy (NULL),
mActiveKinematicsCopyCapacity (0),
mPointerBlock8Pool ("scenePointerBlock8Pool"),
mPointerBlock16Pool ("scenePointerBlock16Pool"),
mPointerBlock32Pool ("scenePointerBlock32Pool"),
mLLContext (NULL),
mAABBManager (NULL),
mCCDContext (NULL),
mNumFastMovingShapes (0),
mCCDPass (0),
mSimpleIslandManager (NULL),
mDynamicsContext (NULL),
mMemoryManager (NULL),
#if PX_SUPPORT_GPU_PHYSX
mGpuWranglerManagers (NULL),
mHeapMemoryAllocationManager (NULL),
#endif
mSimulationController (NULL),
mSimulationControllerCallback (NULL),
mGravity (PxVec3(0.0f)),
mBodyGravityDirty (true),
mDt (0),
mOneOverDt (0),
mTimeStamp (1), // PT: has to start to 1 to fix determinism bug. I don't know why yet but it works.
mReportShapePairTimeStamp (0),
mTriggerBufferAPI ("sceneTriggerBufferAPI"),
mArticulations ("sceneArticulations"),
#if PX_SUPPORT_GPU_PHYSX
mSoftBodies ("sceneSoftBodies"),
mFEMCloths ("sceneFEMCloths"),
mParticleSystems ("sceneParticleSystems"),
mHairSystems ("sceneHairSystems"),
#endif
mBrokenConstraints ("sceneBrokenConstraints"),
mActiveBreakableConstraints ("sceneActiveBreakableConstraints"),
mMemBlock128Pool ("PxsContext ConstraintBlock128Pool"),
mMemBlock256Pool ("PxsContext ConstraintBlock256Pool"),
mMemBlock384Pool ("PxsContext ConstraintBlock384Pool"),
mNPhaseCore (NULL),
mKineKineFilteringMode (desc.kineKineFilteringMode),
mStaticKineFilteringMode (desc.staticKineFilteringMode),
mSleepBodies ("sceneSleepBodies"),
mWokeBodies ("sceneWokeBodies"),
mEnableStabilization (desc.flags & PxSceneFlag::eENABLE_STABILIZATION),
mActiveActors ("clientActiveActors"),
mFrozenActors ("clientFrozenActors"),
mClientPosePreviewBodies ("clientPosePreviewBodies"),
mClientPosePreviewBuffer ("clientPosePreviewBuffer"),
mSimulationEventCallback (NULL),
mBroadPhaseCallback (NULL),
mInternalFlags (SceneInternalFlag::eSCENE_DEFAULT),
mPublicFlags (desc.flags),
mStaticAnchor (NULL),
mBatchRemoveState (NULL),
mLostTouchPairs ("sceneLostTouchPairs"),
mOutOfBoundsIDs ("sceneOutOfBoundsIds"),
mVisualizationParameterChanged (false),
mMaxNbArticulationLinks (0),
mNbRigidStatics (0),
mNbRigidDynamics (0),
mNbRigidKinematic (0),
mSecondPassNarrowPhase (contextID, this, "ScScene.secondPassNarrowPhase"),
mPostNarrowPhase (contextID, this, "ScScene.postNarrowPhase"),
mFinalizationPhase (contextID, this, "ScScene.finalizationPhase"),
mUpdateCCDMultiPass (contextID, this, "ScScene.updateCCDMultiPass"),
mAfterIntegration (contextID, this, "ScScene.afterIntegration"),
mConstraintProjection (contextID, this, "ScScene.constraintProjection"),
mPostSolver (contextID, this, "ScScene.postSolver"),
mSolver (contextID, this, "ScScene.rigidBodySolver"),
mUpdateBodies (contextID, this, "ScScene.updateBodies"),
mUpdateShapes (contextID, this, "ScScene.updateShapes"),
mUpdateSimulationController (contextID, this, "ScScene.updateSimulationController"),
mUpdateDynamics (contextID, this, "ScScene.updateDynamics"),
mProcessLostContactsTask (contextID, this, "ScScene.processLostContact"),
mProcessLostContactsTask2 (contextID, this, "ScScene.processLostContact2"),
mProcessLostContactsTask3 (contextID, this, "ScScene.processLostContact3"),
mDestroyManagersTask (contextID, this, "ScScene.destroyManagers"),
mLostTouchReportsTask (contextID, this, "ScScene.lostTouchReports"),
mUnregisterInteractionsTask (contextID, this, "ScScene.unregisterInteractions"),
mProcessNarrowPhaseLostTouchTasks(contextID, this, "ScScene.processNpLostTouchTask"),
mProcessNPLostTouchEvents (contextID, this, "ScScene.processNPLostTouchEvents"),
mPostThirdPassIslandGenTask (contextID, this, "ScScene.postThirdPassIslandGenTask"),
mPostIslandGen (contextID, this, "ScScene.postIslandGen"),
mIslandGen (contextID, this, "ScScene.islandGen"),
mPreRigidBodyNarrowPhase (contextID, this, "ScScene.preRigidBodyNarrowPhase"),
mSetEdgesConnectedTask (contextID, this, "ScScene.setEdgesConnectedTask"),
mFetchPatchEventsTask (contextID, this, "ScScene.fetchPatchEventsTask"),
mProcessLostPatchesTask (contextID, this, "ScScene.processLostSolverPatchesTask"),
mProcessFoundPatchesTask (contextID, this, "ScScene.processFoundSolverPatchesTask"),
mUpdateBoundAndShapeTask (contextID, this, "ScScene.updateBoundsAndShapesTask"),
mRigidBodyNarrowPhase (contextID, this, "ScScene.rigidBodyNarrowPhase"),
mRigidBodyNPhaseUnlock (contextID, this, "ScScene.unblockNarrowPhase"),
mPostBroadPhase (contextID, this, "ScScene.postBroadPhase"),
mPostBroadPhaseCont (contextID, this, "ScScene.postBroadPhaseCont"),
mPostBroadPhase2 (contextID, this, "ScScene.postBroadPhase2"),
mPostBroadPhase3 (contextID, this, "ScScene.postBroadPhase3"),
mPreallocateContactManagers (contextID, this, "ScScene.preallocateContactManagers"),
mIslandInsertion (contextID, this, "ScScene.islandInsertion"),
mRegisterContactManagers (contextID, this, "ScScene.registerContactManagers"),
mRegisterInteractions (contextID, this, "ScScene.registerInteractions"),
mRegisterSceneInteractions (contextID, this, "ScScene.registerSceneInteractions"),
mBroadPhase (contextID, this, "ScScene.broadPhase"),
mAdvanceStep (contextID, this, "ScScene.advanceStep"),
mCollideStep (contextID, this, "ScScene.collideStep"),
mBpFirstPass (contextID, this, "ScScene.broadPhaseFirstPass"),
mBpSecondPass (contextID, this, "ScScene.broadPhaseSecondPass"),
mBpUpdate (contextID, this, "ScScene.updateBroadPhase"),
mPreIntegrate (contextID, this, "ScScene.preIntegrate"),
mTaskPool (16384),
mTaskManager (NULL),
mCudaContextManager (desc.cudaContextManager),
mContactReportsNeedPostSolverVelocity(false),
mUseGpuDynamics(false),
mUseGpuBp (false),
mCCDBp (false),
mSimulationStage (SimulationStage::eCOMPLETE),
mTmpConstraintGroupRootBuffer (NULL),
mPosePreviewBodies ("scenePosePreviewBodies"),
mOverlapFilterTaskHead (NULL),
mIsCollisionPhaseActive (false),
mOnSleepingStateChanged (NULL)
{
for(PxU32 type = 0; type < InteractionType::eTRACKED_IN_SCENE_COUNT; ++type)
mInteractions[type].reserve(64);
for (int i=0; i < InteractionType::eTRACKED_IN_SCENE_COUNT; ++i)
mActiveInteractionCount[i] = 0;
mStats = PX_NEW(SimStats);
mConstraintIDTracker = PX_NEW(ObjectIDTracker);
mActorIDTracker = PX_NEW(ObjectIDTracker);
mElementIDPool = PX_NEW(ObjectIDTracker);
mTriggerBufferExtraData = reinterpret_cast<TriggerBufferExtraData*>(PX_ALLOC(sizeof(TriggerBufferExtraData), "ScScene::TriggerBufferExtraData"));
PX_PLACEMENT_NEW(mTriggerBufferExtraData, TriggerBufferExtraData("ScScene::TriggerPairExtraData"));
mStaticSimPool = PX_NEW(PreallocatingPool<StaticSim>)(64, "StaticSim");
mBodySimPool = PX_NEW(PreallocatingPool<BodySim>)(64, "BodySim");
mShapeSimPool = PX_NEW(PreallocatingPool<ShapeSim>)(64, "ShapeSim");
mConstraintSimPool = PX_NEW(PxPool<ConstraintSim>)("ScScene::ConstraintSim");
mConstraintInteractionPool = PX_NEW(PxPool<ConstraintInteraction>)("ScScene::ConstraintInteraction");
mLLArticulationRCPool = PX_NEW(LLArticulationRCPool);
#if PX_SUPPORT_GPU_PHYSX
mLLSoftBodyPool = PX_NEW(LLSoftBodyPool);
mLLFEMClothPool = PX_NEW(LLFEMClothPool);
mLLParticleSystemPool = PX_NEW(LLParticleSystemPool);
mLLHairSystemPool = PX_NEW(LLHairSystemPool);
#endif
mSimStateDataPool = PX_NEW(PxPool<SimStateData>)("ScScene::SimStateData");
mProjectionManager = PX_NEW(ConstraintProjectionManager)();
mSqBoundsManager = PX_NEW(SqBoundsManager);
mTaskManager = physx::PxTaskManager::createTaskManager(*PxGetErrorCallback(), desc.cpuDispatcher);
for(PxU32 i=0; i<PxGeometryType::eGEOMETRY_COUNT; i++)
mNbGeometries[i] = 0;
bool useGpuDynamics = false;
bool useGpuBroadphase = false;
#if PX_SUPPORT_GPU_PHYSX
if(desc.flags & PxSceneFlag::eENABLE_GPU_DYNAMICS)
{
if(!mCudaContextManager)
outputError<PxErrorCode::eDEBUG_WARNING>(__LINE__, "GPU solver pipeline failed, switching to software");
else if(mCudaContextManager->supportsArchSM30())
useGpuDynamics = true;
}
if(desc.broadPhaseType == PxBroadPhaseType::eGPU)
{
if(!mCudaContextManager)
outputError<PxErrorCode::eDEBUG_WARNING>(__LINE__, "GPU Bp pipeline failed, switching to software");
else if(mCudaContextManager->supportsArchSM30())
useGpuBroadphase = true;
}
#endif
mUseGpuDynamics = useGpuDynamics;
mUseGpuBp = useGpuBroadphase;
mLLContext = PX_NEW(PxsContext)(desc, mTaskManager, mTaskPool, mCudaContextManager, desc.contactPairSlabSize, contextID);
if (mLLContext == 0)
{
outputError<PxErrorCode::eINVALID_PARAMETER>(__LINE__, "Failed to create context!");
return;
}
mLLContext->setMaterialManager(&getMaterialManager());
#if PX_SUPPORT_GPU_PHYSX
if (useGpuBroadphase || useGpuDynamics)
{
PxPhysXGpu* physxGpu = PxvGetPhysXGpu(true);
// PT: this creates a PxgMemoryManager, whose host memory allocator is a PxgCudaHostMemoryAllocatorCallback
mMemoryManager = physxGpu->createGpuMemoryManager(mLLContext->getCudaContextManager());
mGpuWranglerManagers = physxGpu->createGpuKernelWranglerManager(mLLContext->getCudaContextManager(), *PxGetErrorCallback(), desc.gpuComputeVersion);
// PT: this creates a PxgHeapMemoryAllocatorManager
mHeapMemoryAllocationManager = physxGpu->createGpuHeapMemoryAllocatorManager(desc.gpuDynamicsConfig.heapCapacity, mMemoryManager, desc.gpuComputeVersion);
}
else
#endif
{
// PT: this creates a PxsDefaultMemoryManager
mMemoryManager = createDefaultMemoryManager();
}
Bp::BroadPhase* broadPhase = NULL;
//Note: broadphase should be independent of AABBManager. MBP uses it to call getBPBounds but it has
//already been passed all bounds in BroadPhase::update() so should use that instead.
// PT: above comment is obsolete: MBP now doesn't call getBPBounds anymore (except in commented out code)
// and it is instead the GPU broadphase which is not independent from the GPU AABB manager.......
if(!useGpuBroadphase)
{
PxBroadPhaseType::Enum broadPhaseType = desc.broadPhaseType;
if (broadPhaseType == PxBroadPhaseType::eGPU)
broadPhaseType = PxBroadPhaseType::eABP;
broadPhase = Bp::BroadPhase::create(
broadPhaseType,
desc.limits.maxNbRegions,
desc.limits.maxNbBroadPhaseOverlaps,
desc.limits.maxNbStaticShapes,
desc.limits.maxNbDynamicShapes,
contextID);
}
#if PX_SUPPORT_GPU_PHYSX
else
{
broadPhase = PxvGetPhysXGpu(true)->createGpuBroadPhase( mGpuWranglerManagers, mLLContext->getCudaContextManager(),
desc.gpuComputeVersion, desc.gpuDynamicsConfig,
mHeapMemoryAllocationManager, contextID);
}
#endif
//create allocator
PxVirtualAllocatorCallback* allocatorCallback = mMemoryManager->getHostMemoryAllocator();
PxVirtualAllocator allocator(allocatorCallback);
mBoundsArray = PX_NEW(Bp::BoundsArray)(allocator);
mContactDistance = PX_PLACEMENT_NEW(PX_ALLOC(sizeof(PxFloatArrayPinned), "ContactDistance"), PxFloatArrayPinned)(allocator);
mHasContactDistanceChanged = false;
const bool useEnhancedDeterminism = mPublicFlags & PxSceneFlag::eENABLE_ENHANCED_DETERMINISM;
mSimpleIslandManager = PX_NEW(IG::SimpleIslandManager)(useEnhancedDeterminism, contextID);
if (!useGpuDynamics)
{
if (desc.solverType == PxSolverType::ePGS)
{
mDynamicsContext = createDynamicsContext
(&mLLContext->getNpMemBlockPool(), mLLContext->getScratchAllocator(),
mLLContext->getTaskPool(), mLLContext->getSimStats(), &mLLContext->getTaskManager(), allocatorCallback, &getMaterialManager(),
mSimpleIslandManager, contextID, mEnableStabilization, useEnhancedDeterminism, desc.maxBiasCoefficient,
!!(desc.flags & PxSceneFlag::eENABLE_FRICTION_EVERY_ITERATION), desc.getTolerancesScale().length);
}
else
{
mDynamicsContext = createTGSDynamicsContext
(&mLLContext->getNpMemBlockPool(), mLLContext->getScratchAllocator(),
mLLContext->getTaskPool(), mLLContext->getSimStats(), &mLLContext->getTaskManager(), allocatorCallback, &getMaterialManager(),
mSimpleIslandManager, contextID, mEnableStabilization, useEnhancedDeterminism,
desc.getTolerancesScale().length);
}
mLLContext->setNphaseImplementationContext(createNphaseImplementationContext(*mLLContext, &mSimpleIslandManager->getAccurateIslandSim(), allocatorCallback));
mSimulationControllerCallback = PX_NEW(ScSimulationControllerCallback)(this);
mSimulationController = PX_NEW(SimulationController)(mSimulationControllerCallback);
if (!useGpuBroadphase)
mAABBManager = createAABBManagerCPU(desc, broadPhase, mBoundsArray, mContactDistance, allocator, contextID);
#if PX_SUPPORT_GPU_PHYSX
else
mAABBManager = createAABBManagerGPU(mGpuWranglerManagers, mLLContext->getCudaContextManager(), mHeapMemoryAllocationManager, desc, broadPhase, mBoundsArray, mContactDistance, allocator, contextID);
#endif
}
else
{
#if PX_SUPPORT_GPU_PHYSX
mDynamicsContext = PxvGetPhysXGpu(true)->createGpuDynamicsContext(mLLContext->getTaskPool(), mGpuWranglerManagers, mLLContext->getCudaContextManager(),
desc.gpuDynamicsConfig, mSimpleIslandManager, desc.gpuMaxNumPartitions, desc.gpuMaxNumStaticPartitions, mEnableStabilization, useEnhancedDeterminism, desc.maxBiasCoefficient, desc.gpuComputeVersion, mLLContext->getSimStats(),
mHeapMemoryAllocationManager, !!(desc.flags & PxSceneFlag::eENABLE_FRICTION_EVERY_ITERATION), desc.solverType, desc.getTolerancesScale().length);
void* contactStreamBase = NULL;
void* patchStreamBase = NULL;
void* forceAndIndiceStreamBase = NULL;
mDynamicsContext->getDataStreamBase(contactStreamBase, patchStreamBase, forceAndIndiceStreamBase);
PxvNphaseImplementationContextUsableAsFallback* cpuNphaseImplementation = createNphaseImplementationContext(*mLLContext, &mSimpleIslandManager->getAccurateIslandSim(), allocatorCallback);
mLLContext->setNphaseFallbackImplementationContext(cpuNphaseImplementation);
PxvNphaseImplementationContext* gpuNphaseImplementation = PxvGetPhysXGpu(true)->createGpuNphaseImplementationContext(*mLLContext, mGpuWranglerManagers, cpuNphaseImplementation, desc.gpuDynamicsConfig, contactStreamBase, patchStreamBase,
forceAndIndiceStreamBase, getBoundsArray().getBounds(), &mSimpleIslandManager->getAccurateIslandSim(), mDynamicsContext, desc.gpuComputeVersion, mHeapMemoryAllocationManager, useGpuBroadphase);
mSimulationControllerCallback = PX_NEW(PxgSimulationControllerCallback)(this);
mSimulationController = PxvGetPhysXGpu(true)->createGpuSimulationController(mGpuWranglerManagers, mLLContext->getCudaContextManager(),
mDynamicsContext, gpuNphaseImplementation, broadPhase, useGpuBroadphase, mSimpleIslandManager, mSimulationControllerCallback, desc.gpuComputeVersion, mHeapMemoryAllocationManager,
desc.gpuDynamicsConfig.maxSoftBodyContacts, desc.gpuDynamicsConfig.maxFemClothContacts, desc.gpuDynamicsConfig.maxParticleContacts, desc.gpuDynamicsConfig.maxHairContacts);
mSimulationController->setBounds(mBoundsArray);
mDynamicsContext->setSimulationController(mSimulationController);
mLLContext->setNphaseImplementationContext(gpuNphaseImplementation);
mLLContext->mContactStreamPool = &mDynamicsContext->getContactStreamPool();
mLLContext->mPatchStreamPool = &mDynamicsContext->getPatchStreamPool();
mLLContext->mForceAndIndiceStreamPool = &mDynamicsContext->getForceStreamPool();
// PT: TODO: what's the difference between this allocator and "allocator" above?
PxVirtualAllocator tAllocator(mHeapMemoryAllocationManager->mMappedMemoryAllocators, PxsHeapStats::eBROADPHASE);
if (!useGpuBroadphase)
// PT: TODO: we're using a CUDA allocator in the CPU broadphase, and a different allocator for the bounds array?
mAABBManager = createAABBManagerCPU(desc, broadPhase, mBoundsArray, mContactDistance, tAllocator, contextID);
else