328 lines
13 KiB
C
328 lines
13 KiB
C
|
//
|
||
|
|
// 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) 2008-2019 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 BP_BROADPHASE_H
|
||
|
|
#define BP_BROADPHASE_H
|
||
|
|
|
||
|
|
#include "foundation/PxUnionCast.h"
|
||
|
|
#include "PxBroadPhase.h"
|
||
|
|
#include "BpAABBManager.h"
|
||
|
|
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
class PxcScratchAllocator;
|
||
|
|
|
||
|
|
namespace Bp
|
||
|
|
{
|
||
|
|
|
||
|
|
class BroadPhaseUpdateData;
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Base broad phase class. Functions only relevant to MBP.
|
||
|
|
*/
|
||
|
|
class BroadPhaseBase
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
BroadPhaseBase() {}
|
||
|
|
virtual ~BroadPhaseBase() {}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets broad-phase caps.
|
||
|
|
|
||
|
|
\param[out] caps Broad-phase caps
|
||
|
|
\return True if success
|
||
|
|
*/
|
||
|
|
virtual bool getCaps(PxBroadPhaseCaps& caps) const
|
||
|
|
{
|
||
|
|
caps.maxNbRegions = 0;
|
||
|
|
caps.maxNbObjects = 0;
|
||
|
|
caps.needsPredefinedBounds = false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Returns number of regions currently registered in the broad-phase.
|
||
|
|
|
||
|
|
\return Number of regions
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbRegions() const
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gets broad-phase regions.
|
||
|
|
|
||
|
|
\param[out] userBuffer Returned broad-phase regions
|
||
|
|
\param[in] bufferSize Size of userBuffer
|
||
|
|
\param[in] startIndex Index of first desired region, in [0 ; getNbRegions()[
|
||
|
|
\return Number of written out regions
|
||
|
|
*/
|
||
|
|
virtual PxU32 getRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const
|
||
|
|
{
|
||
|
|
PX_UNUSED(userBuffer);
|
||
|
|
PX_UNUSED(bufferSize);
|
||
|
|
PX_UNUSED(startIndex);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Adds a new broad-phase region.
|
||
|
|
|
||
|
|
The bounds for the new region must be non-empty, otherwise an error occurs and the call is ignored.
|
||
|
|
|
||
|
|
The total number of regions is limited to 256. If that number is exceeded, the call is ignored.
|
||
|
|
|
||
|
|
The newly added region will be automatically populated with already existing SDK objects that touch it, if the
|
||
|
|
'populateRegion' parameter is set to true. Otherwise the newly added region will be empty, and it will only be
|
||
|
|
populated with objects when those objects are added to the simulation, or updated if they already exist.
|
||
|
|
|
||
|
|
Using 'populateRegion=true' has a cost, so it is best to avoid it if possible. In particular it is more efficient
|
||
|
|
to create the empty regions first (with populateRegion=false) and then add the objects afterwards (rather than
|
||
|
|
the opposite).
|
||
|
|
|
||
|
|
Objects automatically move from one region to another during their lifetime. The system keeps tracks of what
|
||
|
|
regions a given object is in. It is legal for an object to be in an arbitrary number of regions. However if an
|
||
|
|
object leaves all regions, or is created outside of all regions, several things happen:
|
||
|
|
- collisions get disabled for this object
|
||
|
|
- if a PxBroadPhaseCallback object is provided, an "out-of-bounds" event is generated via that callback
|
||
|
|
- if a PxBroadPhaseCallback object is not provided, a warning/error message is sent to the error stream
|
||
|
|
|
||
|
|
If an object goes out-of-bounds and user deletes it during the same frame, neither the out-of-bounds event nor the
|
||
|
|
error message is generated.
|
||
|
|
|
||
|
|
If an out-of-bounds object, whose collisions are disabled, re-enters a valid broadphase region, then collisions
|
||
|
|
are re-enabled for that object.
|
||
|
|
|
||
|
|
\param[in] region User-provided region data
|
||
|
|
\param[in] populateRegion True to automatically populate the newly added region with existing objects touching it
|
||
|
|
|
||
|
|
\return Handle for newly created region, or 0xffffffff in case of failure.
|
||
|
|
*/
|
||
|
|
virtual PxU32 addRegion(const PxBroadPhaseRegion& region, bool populateRegion, const PxBounds3* boundsArray, const PxReal* contactDistance)
|
||
|
|
{
|
||
|
|
PX_UNUSED(region);
|
||
|
|
PX_UNUSED(populateRegion);
|
||
|
|
PX_UNUSED(boundsArray);
|
||
|
|
PX_UNUSED(contactDistance);
|
||
|
|
return 0xffffffff;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Removes a new broad-phase region.
|
||
|
|
|
||
|
|
If the region still contains objects, and if those objects do not overlap any region any more, they are not
|
||
|
|
automatically removed from the simulation. Instead, the PxBroadPhaseCallback::onObjectOutOfBounds notification
|
||
|
|
is used for each object. Users are responsible for removing the objects from the simulation if this is the
|
||
|
|
desired behavior.
|
||
|
|
|
||
|
|
If the handle is invalid, or if a valid handle is removed twice, an error message is sent to the error stream.
|
||
|
|
|
||
|
|
\param[in] handle Region's handle, as returned by PxScene::addBroadPhaseRegion.
|
||
|
|
\return True if success
|
||
|
|
*/
|
||
|
|
virtual bool removeRegion(PxU32 handle)
|
||
|
|
{
|
||
|
|
PX_UNUSED(handle);
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
\brief Return the number of objects that are not in any region.
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbOutOfBoundsObjects() const
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
\brief Return an array of objects that are not in any region.
|
||
|
|
*/
|
||
|
|
virtual const PxU32* getOutOfBoundsObjects() const
|
||
|
|
{
|
||
|
|
return NULL;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
\brief Structure used to report created and deleted broadphase pairs
|
||
|
|
\note The indices mVolA and mVolB correspond to the bounds indices
|
||
|
|
BroadPhaseUpdateData::mCreated used by BroadPhase::update
|
||
|
|
@see BroadPhase::getCreatedPairs, BroadPhase::getDeletedPairs
|
||
|
|
*/
|
||
|
|
struct BroadPhasePair
|
||
|
|
{
|
||
|
|
BroadPhasePair(ShapeHandle volA, ShapeHandle volB) :
|
||
|
|
mVolA (PxMin(volA, volB)),
|
||
|
|
mVolB (PxMax(volA, volB))
|
||
|
|
{
|
||
|
|
}
|
||
|
|
BroadPhasePair() :
|
||
|
|
mVolA (BP_INVALID_BP_HANDLE),
|
||
|
|
mVolB (BP_INVALID_BP_HANDLE)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
ShapeHandle mVolA; // NB: mVolA < mVolB
|
||
|
|
ShapeHandle mVolB;
|
||
|
|
};
|
||
|
|
|
||
|
|
class BroadPhase : public BroadPhaseBase
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
virtual PxBroadPhaseType::Enum getType() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Instantiate a BroadPhase instance.
|
||
|
|
\param[in] bpType - the bp type (either mbp or sap). This is typically specified in PxSceneDesc.
|
||
|
|
\param[in] maxNbRegions is the expected maximum number of broad-phase regions.
|
||
|
|
\param[in] maxNbBroadPhaseOverlaps is the expected maximum number of broad-phase overlaps.
|
||
|
|
\param[in] maxNbStaticShapes is the expected maximum number of static shapes.
|
||
|
|
\param[in] maxNbDynamicShapes is the expected maximum number of dynamic shapes.
|
||
|
|
\param[in] contextID is the context ID parameter sent to the profiler
|
||
|
|
\return The instantiated BroadPhase.
|
||
|
|
\note maxNbRegions is only used if mbp is the chosen broadphase (PxBroadPhaseType::eMBP)
|
||
|
|
\note maxNbRegions, maxNbBroadPhaseOverlaps, maxNbStaticShapes and maxNbDynamicShapes are typically specified in PxSceneLimits
|
||
|
|
*/
|
||
|
|
static BroadPhase* create(
|
||
|
|
const PxBroadPhaseType::Enum bpType,
|
||
|
|
const PxU32 maxNbRegions,
|
||
|
|
const PxU32 maxNbBroadPhaseOverlaps,
|
||
|
|
const PxU32 maxNbStaticShapes,
|
||
|
|
const PxU32 maxNbDynamicShapes,
|
||
|
|
PxU64 contextID);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Shutdown of the broadphase.
|
||
|
|
*/
|
||
|
|
virtual void destroy() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Update the broadphase and compute the lists of created/deleted pairs.
|
||
|
|
|
||
|
|
\param[in] numCpuTasks the number of cpu tasks that can be used for the broadphase update.
|
||
|
|
|
||
|
|
\param[in] scratchAllocator - a PxcScratchAllocator instance used for temporary memory allocations.
|
||
|
|
This must be non-null.
|
||
|
|
|
||
|
|
\param[in] updateData a description of changes to the collection of aabbs since the last broadphase update.
|
||
|
|
The changes detail the indices of the bounds that have been added/updated/removed as well as an array of all
|
||
|
|
bound coordinates and an array of group ids used to filter pairs with the same id.
|
||
|
|
@see BroadPhaseUpdateData
|
||
|
|
|
||
|
|
\param[in] continuation the task that is in the queue to be executed immediately after the broadphase has completed its update. NULL is not supported.
|
||
|
|
\param[in] nPhaseUnlockTask this task will have its ref count decremented when it is safe to permit NP to run in parallel with BP. NULL is supported.
|
||
|
|
|
||
|
|
\note In PX_CHECKED and PX_DEBUG build configurations illegal input data (that does not conform to the BroadPhaseUpdateData specifications) triggers
|
||
|
|
a special code-path that entirely bypasses the broadphase and issues a warning message to the error stream. No guarantees can be made about the
|
||
|
|
correctness/consistency of broadphase behavior with illegal input data in PX_RELEASE and PX_PROFILE configs because validity checks are not active
|
||
|
|
in these builds.
|
||
|
|
*/
|
||
|
|
|
||
|
|
virtual void update(const PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation, physx::PxBaseTask* nPhaseUnlockTask) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Fetch the results of any asynchronous broad phase work.
|
||
|
|
*/
|
||
|
|
virtual void fetchBroadPhaseResults(physx::PxBaseTask* nPhaseUnlockTask) = 0;
|
||
|
|
|
||
|
|
/*
|
||
|
|
\brief Return the number of created aabb overlap pairs computed in the execution of update() that has just completed.
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbCreatedPairs() const = 0;
|
||
|
|
|
||
|
|
/*
|
||
|
|
\brief Return the array of created aabb overlap pairs computed in the execution of update() that has just completed.
|
||
|
|
Note that each overlap pair is reported only on the frame when the overlap first occurs. The overlap persists
|
||
|
|
until the pair appears in the list of deleted pairs or either of the bounds in the pair is removed from the broadphase.
|
||
|
|
A created overlap must involve at least one of the bounds of the overlap pair appearing in either the created or updated list.
|
||
|
|
It is impossible for the same pair to appear simultaneously in the list of created and deleted overlap pairs.
|
||
|
|
An overlap is defined as a pair of bounds that overlap on all three axes; that is when maxA > minB and maxB > minA for all three axes.
|
||
|
|
The rule that minima(maxima) are even(odd) (see BroadPhaseUpdateData) removes the ambiguity of touching bounds.
|
||
|
|
|
||
|
|
*/
|
||
|
|
virtual BroadPhasePair* getCreatedPairs() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the number of deleted overlap pairs computed in the execution of update() that has just completed.
|
||
|
|
*/
|
||
|
|
virtual PxU32 getNbDeletedPairs() const = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the number of deleted overlap pairs computed in the execution of update() that has just completed.
|
||
|
|
Note that a deleted pair can only be reported if that pair has already appeared in the list of created pairs in an earlier update.
|
||
|
|
A lost overlap occurs when a pair of bounds previously overlapped on all three axes but have now separated on at least one axis.
|
||
|
|
A lost overlap must involve at least one of the bounds of the lost overlap pair appearing in the updated list.
|
||
|
|
Lost overlaps arising from removal of bounds from the broadphase do not appear in the list of deleted pairs.
|
||
|
|
It is impossible for the same pair to appear simultaneously in the list of created and deleted pairs.
|
||
|
|
The test for overlap is conservative throughout, meaning that deleted pairs do not include touching pairs.
|
||
|
|
*/
|
||
|
|
virtual BroadPhasePair* getDeletedPairs() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief After the broadphase has completed its update() function and the created/deleted pairs have been queried
|
||
|
|
with getCreatedPairs/getDeletedPairs it is desirable to free any memory that was temporarily acquired for the update but is
|
||
|
|
is no longer required post-update. This can be achieved with the function freeBuffers().
|
||
|
|
*/
|
||
|
|
virtual void freeBuffers() = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Adjust internal structures after all bounds have been adjusted due to a scene origin shift.
|
||
|
|
*/
|
||
|
|
virtual void shiftOrigin(const PxVec3& shift, const PxBounds3* boundsArray, const PxReal* contactDistances) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Test that the created/updated/removed lists obey the rules that
|
||
|
|
1. object ids can only feature in the created list if they have never been previously added or if they were previously removed.
|
||
|
|
2. object ids can only be added to the updated list if they have been previously added without being removed.
|
||
|
|
3. objects ids can only be added to the removed list if they have been previously added without being removed.
|
||
|
|
*/
|
||
|
|
#if PX_CHECKED
|
||
|
|
virtual bool isValid(const BroadPhaseUpdateData& updateData) const = 0;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
virtual BroadPhasePair* getBroadPhasePairs() const = 0;
|
||
|
|
|
||
|
|
virtual void deletePairs() = 0;
|
||
|
|
|
||
|
|
// PT: for unit-testing the non-GPU versions
|
||
|
|
virtual void singleThreadedUpdate(PxcScratchAllocator* /*scratchAllocator*/, const BroadPhaseUpdateData& /*updateData*/){}
|
||
|
|
};
|
||
|
|
|
||
|
|
} //namespace Bp
|
||
|
|
|
||
|
|
} //namespace physx
|
||
|
|
|
||
|
|
#endif //BP_BROADPHASE_H
|