285 lines
9.2 KiB
C
285 lines
9.2 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef BP_BROADPHASE_SAP_AUX_H
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#define BP_BROADPHASE_SAP_AUX_H
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#include "foundation/PxAssert.h"
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#include "CmPhysXCommon.h"
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#include "PsIntrinsics.h"
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#include "PsUserAllocated.h"
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#include "BpBroadPhase.h"
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#include "BpBroadPhaseUpdate.h"
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#include "CmBitMap.h"
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#include "PxcScratchAllocator.h"
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namespace physx
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{
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namespace Bp
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{
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#define NUM_SENTINELS 2
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#define BP_SAP_USE_PREFETCH 1//prefetch in batchUpdate
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#define BP_SAP_USE_OVERLAP_TEST_ON_REMOVES 1// "Useless" but faster overall because seriously reduces number of calls (from ~10000 to ~3 sometimes!)
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//Set 1 to test for group ids in batchCreate/batchUpdate so we can avoid group id test in ComputeCreatedDeletedPairsLists
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//Set 0 to neglect group id test in batchCreate/batchUpdate and delay test until ComputeCreatedDeletedPairsLists
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#define BP_SAP_TEST_GROUP_ID_CREATEUPDATE 1
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#define MAX_BP_HANDLE 0x3fffffff
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#define PX_REMOVED_BP_HANDLE 0x3ffffffd
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#define MAX_BP_PAIRS_MESSAGE "Only 4294967296 broadphase pairs are supported. This limit has been exceeded and some pairs will be dropped \n"
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PX_FORCE_INLINE void setMinSentinel(ValType& v, BpHandle& d)
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{
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v = 0x00000000;//0x00800000; //0x00800000 is -FLT_MAX but setting it to 0 means we don't crash when we get a value outside the float range.
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d = (BP_INVALID_BP_HANDLE & ~1);
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}
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PX_FORCE_INLINE void setMaxSentinel(ValType& v, BpHandle& d)
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{
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v = 0xffffffff;//0xff7fffff; //0xff7fffff is +FLT_MAX but setting it to 0xffffffff means we don't crash when we get a value outside the float range.
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d = BP_INVALID_BP_HANDLE;
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}
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PX_FORCE_INLINE BpHandle setData(PxU32 owner_box_id, const bool is_max)
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{
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BpHandle d = BpHandle(owner_box_id<<1);
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if(is_max) d |= 1;
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return d;
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}
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PX_FORCE_INLINE bool isSentinel(const BpHandle& d)
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{
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return (d&~1)==(BP_INVALID_BP_HANDLE & ~1);
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}
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PX_FORCE_INLINE BpHandle isMax(const BpHandle& d)
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{
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return BpHandle(d & 1);
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}
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PX_FORCE_INLINE BpHandle getOwner(const BpHandle& d)
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{
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return BpHandle(d>>1);
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}
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class SapBox1D
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{
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public:
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PX_FORCE_INLINE SapBox1D() {}
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PX_FORCE_INLINE ~SapBox1D() {}
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BpHandle mMinMax[2];//mMinMax[0]=min, mMinMax[1]=max
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};
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class SapPairManager
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{
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public:
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SapPairManager();
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~SapPairManager();
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void init(const PxU32 size);
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void release();
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void shrinkMemory();
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const BroadPhasePair* AddPair (BpHandle id0, BpHandle id1, const PxU8 state);
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bool RemovePair (BpHandle id0, BpHandle id1);
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bool RemovePairs (const Cm::BitMap& removedAABBs);
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const BroadPhasePair* FindPair (BpHandle id0, BpHandle id1) const;
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PX_FORCE_INLINE PxU32 GetPairIndex(const BroadPhasePair* PX_RESTRICT pair) const
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{
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return (PxU32((size_t(pair) - size_t(mActivePairs)))/sizeof(BroadPhasePair));
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}
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BpHandle* mHashTable;
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BpHandle* mNext;
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PxU32 mHashSize;
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PxU32 mHashCapacity;
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PxU32 mMinAllowedHashCapacity;
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BroadPhasePair* mActivePairs;
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PxU8* mActivePairStates;
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PxU32 mNbActivePairs;
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PxU32 mActivePairsCapacity;
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PxU32 mMask;
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BroadPhasePair* FindPair (BpHandle id0, BpHandle id1, PxU32 hash_value) const;
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void RemovePair (BpHandle id0, BpHandle id1, PxU32 hash_value, PxU32 pair_index);
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void reallocPairs(const bool allocRequired);
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enum
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{
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PAIR_INARRAY=1,
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PAIR_REMOVED=2,
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PAIR_NEW=4,
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PAIR_UNKNOWN=8
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};
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PX_FORCE_INLINE bool IsInArray(const BroadPhasePair* PX_RESTRICT pair) const
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{
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const PxU8 state=mActivePairStates[pair-mActivePairs];
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return state & PAIR_INARRAY ? true : false;
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}
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PX_FORCE_INLINE bool IsRemoved(const BroadPhasePair* PX_RESTRICT pair) const
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{
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const PxU8 state=mActivePairStates[pair-mActivePairs];
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return state & PAIR_REMOVED ? true : false;
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}
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PX_FORCE_INLINE bool IsNew(const BroadPhasePair* PX_RESTRICT pair) const
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{
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const PxU8 state=mActivePairStates[pair-mActivePairs];
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return state & PAIR_NEW ? true : false;
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}
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PX_FORCE_INLINE bool IsUnknown(const BroadPhasePair* PX_RESTRICT pair) const
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{
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const PxU8 state=mActivePairStates[pair-mActivePairs];
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return state & PAIR_UNKNOWN ? true : false;
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}
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PX_FORCE_INLINE void ClearState(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs]=0;
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}
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PX_FORCE_INLINE void SetInArray(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] |= PAIR_INARRAY;
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}
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PX_FORCE_INLINE void SetRemoved(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] |= PAIR_REMOVED;
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}
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PX_FORCE_INLINE void SetNew(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] |= PAIR_NEW;
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}
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PX_FORCE_INLINE void ClearInArray(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] &= ~PAIR_INARRAY;
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}
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PX_FORCE_INLINE void ClearRemoved(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] &= ~PAIR_REMOVED;
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}
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PX_FORCE_INLINE void ClearNew(const BroadPhasePair* PX_RESTRICT pair)
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{
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mActivePairStates[pair-mActivePairs] &= ~PAIR_NEW;
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}
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};
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struct DataArray
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{
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DataArray(BpHandle* data, PxU32 size, PxU32 capacity) : mData(data), mSize(size), mCapacity(capacity) {}
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BpHandle* mData;
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PxU32 mSize;
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PxU32 mCapacity;
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PX_NOINLINE void Resize(PxcScratchAllocator* scratchAllocator);
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PX_FORCE_INLINE void AddData(const PxU32 data, PxcScratchAllocator* scratchAllocator)
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{
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if(mSize==mCapacity)
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Resize(scratchAllocator);
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PX_ASSERT(mSize<mCapacity);
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mData[mSize++] = BpHandle(data);
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}
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};
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void addPair(const BpHandle id0, const BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray);
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void removePair(BpHandle id0, BpHandle id1, PxcScratchAllocator* scratchAllocator, SapPairManager& pairManager, DataArray& dataArray);
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void ComputeCreatedDeletedPairsLists
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(const Bp::FilterGroup::Enum* PX_RESTRICT boxGroups,
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const BpHandle* PX_RESTRICT dataArray, const PxU32 dataArraySize,
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PxcScratchAllocator* scratchAllocator,
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BroadPhasePair* & createdPairsList, PxU32& numCreatedPairs, PxU32& maxNumCreatdPairs,
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BroadPhasePair* & deletedPairsList, PxU32& numDeletedPairs, PxU32& maxNumDeletedPairs,
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PxU32&numActualDeletedPairs,
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SapPairManager& pairManager);
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void DeletePairsLists(const PxU32 numActualDeletedPairs, BroadPhasePair* deletedPairsList, SapPairManager& pairManager);
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struct BoxX
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{
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PxU32 mMinX;
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PxU32 mMaxX;
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};
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struct BoxYZ
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{
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PxU32 mMinY;
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PxU32 mMinZ;
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PxU32 mMaxY;
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PxU32 mMaxZ;
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};
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struct AuxData
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{
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AuxData(PxU32 nb, const SapBox1D*const* PX_RESTRICT boxes, const BpHandle* PX_RESTRICT indicesSorted, const Bp::FilterGroup::Enum* PX_RESTRICT groupIds);
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~AuxData();
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BoxX* mBoxX;
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BoxYZ* mBoxYZ;
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Bp::FilterGroup::Enum* mGroups;
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PxU32* mRemap;
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PxU32 mNb;
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};
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void performBoxPruningNewNew( const AuxData* PX_RESTRICT auxData, PxcScratchAllocator* scratchAllocator,
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#ifdef BP_FILTERING_USES_TYPE_IN_GROUP
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const bool* lut,
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#endif
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SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity);
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void performBoxPruningNewOld( const AuxData* PX_RESTRICT auxData0, const AuxData* PX_RESTRICT auxData1, PxcScratchAllocator* scratchAllocator,
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#ifdef BP_FILTERING_USES_TYPE_IN_GROUP
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const bool* lut,
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#endif
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SapPairManager& pairManager, BpHandle*& dataArray, PxU32& dataArraySize, PxU32& dataArrayCapacity);
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PX_FORCE_INLINE bool Intersect2D_Handle
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(const BpHandle bDir1Min, const BpHandle bDir1Max, const BpHandle bDir2Min, const BpHandle bDir2Max,
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const BpHandle cDir1Min, const BpHandle cDir1Max, const BpHandle cDir2Min, const BpHandle cDir2Max)
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{
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return (bDir1Max > cDir1Min && cDir1Max > bDir1Min &&
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bDir2Max > cDir2Min && cDir2Max > bDir2Min);
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}
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} //namespace Bp
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} //namespace physx
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#endif //BP_BROADPHASE_SAP_AUX_H
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