941 lines
32 KiB
C++
941 lines
32 KiB
C++
//
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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 PXS_ISLAND_SIM_H
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#define PXS_ISLAND_SIM_H
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#include "CmPhysXCommon.h"
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#include "foundation/PxAssert.h"
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#include "PsArray.h"
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#include "CmBitMap.h"
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#include "CmPriorityQueue.h"
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#include "CmBlockArray.h"
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#include "PxsIslandNodeIndex.h"
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namespace physx
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{
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namespace Dy
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{
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struct Constraint;
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class ArticulationV;
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}
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namespace Sc
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{
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class ArticulationSim;
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}
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class PxsContactManager;
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class PxsRigidBody;
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struct PartitionEdge;
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namespace IG
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{
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//This index is
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#define IG_INVALID_ISLAND 0xFFFFFFFFu
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#define IG_INVALID_EDGE 0xFFFFFFFFu
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#define IG_INVALID_LINK 0xFFu
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typedef PxU32 IslandId;
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typedef PxU32 EdgeIndex;
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typedef PxU32 EdgeInstanceIndex;
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class IslandSim;
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struct Edge
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{
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//Edge instances can be implicitly calculated based on this edge index, which is an offset into the array of edges.
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//From that, the child edge index is simply the
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//The constraint or contact referenced by this edge
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enum EdgeType
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{
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eCONTACT_MANAGER,
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eCONSTRAINT,
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eEDGE_TYPE_COUNT
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};
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enum EdgeState
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{
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eINSERTED =1<<0,
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ePENDING_DESTROYED =1<<1,
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eACTIVE =1<<2,
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eIN_DIRTY_LIST =1<<3,
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eDESTROYED =1<<4,
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eREPORT_ONLY_DESTROY=1<<5,
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eACTIVATING =1<<6
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};
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//NodeIndex mNode1, mNode2;
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EdgeType mEdgeType;
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PxU16 mEdgeState;
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EdgeIndex mNextIslandEdge, mPrevIslandEdge;
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PX_FORCE_INLINE void setInserted() { mEdgeState |= (eINSERTED); }
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PX_FORCE_INLINE void clearInserted() { mEdgeState &= (~eINSERTED); }
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PX_FORCE_INLINE void clearDestroyed() { mEdgeState &=(~eDESTROYED);}
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PX_FORCE_INLINE void setPendingDestroyed() { mEdgeState |= ePENDING_DESTROYED; }
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PX_FORCE_INLINE void clearPendingDestroyed() { mEdgeState &= (~ePENDING_DESTROYED); }
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PX_FORCE_INLINE void activateEdge() { mEdgeState |= eACTIVE; }
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PX_FORCE_INLINE void deactivateEdge() { mEdgeState &= (~eACTIVE); }
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PX_FORCE_INLINE void markInDirtyList() { mEdgeState |= (eIN_DIRTY_LIST); }
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PX_FORCE_INLINE void clearInDirtyList() { mEdgeState &= (~eIN_DIRTY_LIST); }
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PX_FORCE_INLINE void setReportOnlyDestroy() { mEdgeState |= (eREPORT_ONLY_DESTROY); }
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PX_FORCE_INLINE void clearReportOnlyDestroy() { mEdgeState &= (~eREPORT_ONLY_DESTROY); }
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public:
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Edge() : mEdgeType(Edge::eCONTACT_MANAGER), mEdgeState(eDESTROYED),
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mNextIslandEdge(IG_INVALID_EDGE), mPrevIslandEdge(IG_INVALID_EDGE)
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{
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}
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PX_FORCE_INLINE bool isInserted() const { return !!(mEdgeState & eINSERTED);}
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PX_FORCE_INLINE bool isDestroyed() const { return !!(mEdgeState & eDESTROYED); }
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PX_FORCE_INLINE bool isPendingDestroyed() const { return !!(mEdgeState & ePENDING_DESTROYED); }
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PX_FORCE_INLINE bool isActive() const { return !!(mEdgeState & eACTIVE); }
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PX_FORCE_INLINE bool isInDirtyList() const { return !!(mEdgeState & eIN_DIRTY_LIST); }
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PX_FORCE_INLINE EdgeType getEdgeType() const { return mEdgeType; }
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//PX_FORCE_INLINE const NodeIndex getIndex1() const { return mNode1; }
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//PX_FORCE_INLINE const NodeIndex getIndex2() const { return mNode2; }
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PX_FORCE_INLINE bool isReportOnlyDestroy() { return !!(mEdgeState & eREPORT_ONLY_DESTROY); }
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};
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struct EdgeInstance
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{
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EdgeInstanceIndex mNextEdge, mPrevEdge; //The next edge instance in this node's list of edge instances
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EdgeInstance() : mNextEdge(IG_INVALID_EDGE), mPrevEdge(IG_INVALID_EDGE)
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{
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}
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};
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template<typename Handle>
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class HandleManager
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{
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Ps::Array<Handle> mFreeHandles;
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Handle mCurrentHandle;
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public:
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HandleManager() : mFreeHandles(PX_DEBUG_EXP("FreeHandles")), mCurrentHandle(0)
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{
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}
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~HandleManager(){}
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Handle getHandle()
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{
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if(mFreeHandles.size())
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{
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Handle handle = mFreeHandles.popBack();
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PX_ASSERT(isValidHandle(handle));
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return handle;
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}
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return mCurrentHandle++;
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}
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bool isNotFreeHandle(Handle handle)
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{
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for(PxU32 a = 0; a < mFreeHandles.size(); ++a)
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{
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if(mFreeHandles[a] == handle)
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return false;
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}
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return true;
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}
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void freeHandle(Handle handle)
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{
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PX_ASSERT(isValidHandle(handle));
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PX_ASSERT(isNotFreeHandle(handle));
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if(handle == mCurrentHandle)
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mCurrentHandle--;
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else
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mFreeHandles.pushBack(handle);
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}
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bool isValidHandle(Handle handle)
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{
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return handle < mCurrentHandle;
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}
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PX_FORCE_INLINE PxU32 getTotalHandles() const { return mCurrentHandle; }
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};
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class Node
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{
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public:
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enum NodeType
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{
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eRIGID_BODY_TYPE,
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eARTICULATION_TYPE,
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eTYPE_COUNT
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};
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enum State
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{
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eREADY_FOR_SLEEPING = 1u << 0, //! Ready to go to sleep
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eACTIVE = 1u << 1, //! Active
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eKINEMATIC = 1u << 2, //! Kinematic
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eDELETED = 1u << 3, //! Is pending deletion
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eDIRTY = 1u << 4, //! Is dirty (i.e. lost a connection)
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eACTIVATING = 1u << 5, //! Is in the activating list
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eDEACTIVATING = 1u << 6 //! It is being forced to deactivate this frame
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};
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EdgeInstanceIndex mFirstEdgeIndex;
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PxU8 mFlags;
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PxU8 mType;
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PxU16 mStaticTouchCount;
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//PxU32 mActiveNodeIndex; //! Look-up for this node in the active nodes list, activating list or deactivating list...
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NodeIndex mNextNode, mPrevNode;
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//A counter for the number of active references to this body. Whenever an edge is activated, this is incremented.
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//Whenver an edge is deactivated, this is decremented. This is used for kinematic bodies to determine if they need
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//to be in the active kinematics list
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PxU32 mActiveRefCount;
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//A node can correspond with either a rigid body or an articulation or softBody
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union
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{
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PxsRigidBody* mRigidBody;
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Dy::ArticulationV* mLLArticulation;
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};
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PX_FORCE_INLINE Node() : mFirstEdgeIndex(IG_INVALID_EDGE), mFlags(eDELETED), mType(eRIGID_BODY_TYPE),
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mStaticTouchCount(0), mActiveRefCount(0), mRigidBody(NULL)
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{
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}
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PX_FORCE_INLINE ~Node() {}
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PX_FORCE_INLINE void reset()
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{
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mFirstEdgeIndex = IG_INVALID_EDGE;
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mFlags = eDELETED;
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mRigidBody = NULL;
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mActiveRefCount = 0;
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mStaticTouchCount = 0;
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}
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PX_FORCE_INLINE void setRigidBody(PxsRigidBody* body) { mRigidBody = body; }
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PX_FORCE_INLINE PxsRigidBody* getRigidBody() const { return mRigidBody; }
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PX_FORCE_INLINE Dy::ArticulationV* getArticulation() const { return mLLArticulation; }
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PX_FORCE_INLINE void setActive() { mFlags |= eACTIVE; }
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PX_FORCE_INLINE void clearActive() { mFlags &= ~eACTIVE; }
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PX_FORCE_INLINE void setActivating() { mFlags |= eACTIVATING; }
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PX_FORCE_INLINE void clearActivating() { mFlags &= ~eACTIVATING; }
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PX_FORCE_INLINE void setDeactivating() { mFlags |= eDEACTIVATING; }
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PX_FORCE_INLINE void clearDeactivating() { mFlags &= (~eDEACTIVATING); }
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//Activates a body/node.
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PX_FORCE_INLINE void setIsReadyForSleeping() { mFlags |= eREADY_FOR_SLEEPING; }
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PX_FORCE_INLINE void clearIsReadyForSleeping(){ mFlags &= (~eREADY_FOR_SLEEPING);}
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PX_FORCE_INLINE void setIsDeleted(){mFlags |= eDELETED; }
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PX_FORCE_INLINE void setKinematicFlag() {PX_ASSERT(!isKinematic()); mFlags |= eKINEMATIC;}
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PX_FORCE_INLINE void clearKinematicFlag(){ PX_ASSERT(isKinematic()); mFlags &= (~eKINEMATIC);}
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PX_FORCE_INLINE void markDirty(){mFlags |= eDIRTY;}
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PX_FORCE_INLINE void clearDirty(){mFlags &= (~eDIRTY);}
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public:
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PX_FORCE_INLINE bool isActive() const { return !!(mFlags & eACTIVE); }
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PX_FORCE_INLINE bool isActiveOrActivating() const { return !!(mFlags & (eACTIVE | eACTIVATING)); }
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PX_FORCE_INLINE bool isActivating() const { return !!(mFlags & eACTIVATING); }
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PX_FORCE_INLINE bool isDeactivating() const { return !!(mFlags & eDEACTIVATING); }
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PX_FORCE_INLINE bool isKinematic() const { return !!(mFlags & eKINEMATIC); }
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PX_FORCE_INLINE bool isDeleted() const { return !!(mFlags & eDELETED); }
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PX_FORCE_INLINE bool isDirty() const { return !!(mFlags & eDIRTY); }
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PX_FORCE_INLINE bool isReadyForSleeping() const { return !!(mFlags & eREADY_FOR_SLEEPING); }
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PX_FORCE_INLINE NodeType getNodeType() const { return NodeType(mType); }
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friend class SimpleIslandManager;
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};
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struct Island
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{
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NodeIndex mRootNode;
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NodeIndex mLastNode;
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PxU32 mSize[Node::eTYPE_COUNT];
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PxU32 mActiveIndex;
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EdgeIndex mFirstEdge[Edge::eEDGE_TYPE_COUNT], mLastEdge[Edge::eEDGE_TYPE_COUNT];
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PxU32 mEdgeCount[Edge::eEDGE_TYPE_COUNT];
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Island() : mActiveIndex(IG_INVALID_ISLAND)
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{
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for(PxU32 a = 0; a < Edge::eEDGE_TYPE_COUNT; ++a)
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{
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mFirstEdge[a] = IG_INVALID_EDGE;
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mLastEdge[a] = IG_INVALID_EDGE;
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mEdgeCount[a] = 0;
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}
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for(PxU32 a = 0; a < Node::eTYPE_COUNT; ++a)
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{
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mSize[a] = 0;
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}
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}
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};
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struct TraversalState
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{
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NodeIndex mNodeIndex;
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PxU32 mCurrentIndex;
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PxU32 mPrevIndex;
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PxU32 mDepth;
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TraversalState()
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{
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}
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TraversalState(NodeIndex nodeIndex, PxU32 currentIndex, PxU32 prevIndex, PxU32 depth) :
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mNodeIndex(nodeIndex), mCurrentIndex(currentIndex), mPrevIndex(prevIndex), mDepth(depth)
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{
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}
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};
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struct QueueElement
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{
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TraversalState* mState;
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PxU32 mHopCount;
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QueueElement()
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{
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}
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QueueElement(TraversalState* state, PxU32 hopCount) : mState(state), mHopCount(hopCount)
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{
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}
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};
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struct NodeComparator
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{
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NodeComparator()
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{
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}
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bool operator() (const QueueElement& node0, const QueueElement& node1) const
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{
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return node0.mHopCount < node1.mHopCount;
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}
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private:
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NodeComparator& operator = (const NodeComparator&);
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};
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class IslandSim
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{
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HandleManager<IslandId> mIslandHandles; //! Handle manager for islands
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Ps::Array<Node> mNodes; //! The nodes used in the constraint graph
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Ps::Array<PxU32> mActiveNodeIndex; //! The active node index for each node
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Cm::BlockArray<Edge> mEdges;
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Cm::BlockArray<EdgeInstance> mEdgeInstances; //! Edges used to connect nodes in the constraint graph
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Ps::Array<Island> mIslands; //! The array of islands
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Ps::Array<PxU32> mIslandStaticTouchCount; //! Array of static touch counts per-island
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Ps::Array<NodeIndex> mActiveNodes[Node::eTYPE_COUNT]; //! An array of active nodes
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Ps::Array<NodeIndex> mActiveKinematicNodes; //! An array of active or referenced kinematic nodes
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Ps::Array<EdgeIndex> mActivatedEdges[Edge::eEDGE_TYPE_COUNT]; //! An array of active edges
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PxU32 mActiveEdgeCount[Edge::eEDGE_TYPE_COUNT];
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Ps::Array<PxU32> mHopCounts; //! The observed number of "hops" from a given node to its root node. May be inaccurate but used to accelerate searches.
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Ps::Array<NodeIndex> mFastRoute; //! The observed last route from a given node to the root node. We try the fast route (unless its broken) before trying others.
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Ps::Array<IslandId> mIslandIds; //! The array of per-node island ids
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Cm::BitMap mIslandAwake; //! Indicates whether an island is awake or not
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Cm::BitMap mActiveContactEdges;
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//An array of active islands
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Ps::Array<IslandId> mActiveIslands;
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PxU32 mInitialActiveNodeCount[Edge::eEDGE_TYPE_COUNT];
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Ps::Array<NodeIndex> mNodesToPutToSleep[Node::eTYPE_COUNT];
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//Input to this frame's island management (changed nodes/edges)
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//Input list of changes observed this frame. If there no changes, no work to be done.
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Ps::Array<EdgeIndex> mDirtyEdges[Edge::eEDGE_TYPE_COUNT];
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//Dirty nodes. These nodes lost at least one connection so we need to recompute islands from these nodes
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//Ps::Array<NodeIndex> mDirtyNodes;
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Cm::BitMap mDirtyMap;
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PxU32 mLastMapIndex;
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//An array of nodes to activate
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Ps::Array<NodeIndex> mActivatingNodes;
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Ps::Array<EdgeIndex> mDestroyedEdges;
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Ps::Array<IslandId> mTempIslandIds;
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//Temporary, transient data used for traversals. TODO - move to PxsSimpleIslandManager. Or if we keep it here, we can
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//process multiple island simulations in parallel
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Cm::PriorityQueue<QueueElement, NodeComparator>
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mPriorityQueue; //! Priority queue used for graph traversal
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Ps::Array<TraversalState> mVisitedNodes; //! The list of nodes visited in the current traversal
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Cm::BitMap mVisitedState; //! Indicates whether a node has been visited
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Ps::Array<EdgeIndex> mIslandSplitEdges[Edge::eEDGE_TYPE_COUNT];
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Ps::Array<EdgeIndex> mDeactivatingEdges[Edge::eEDGE_TYPE_COUNT];
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Ps::Array<PartitionEdge*>* mFirstPartitionEdges;
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Cm::BlockArray<NodeIndex>& mEdgeNodeIndices;
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Ps::Array<physx::PartitionEdge*>* mDestroyedPartitionEdges;
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PxU32* mNpIndexPtr;
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PxU64 mContextId;
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public:
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IslandSim(Ps::Array<PartitionEdge*>* firstPartitionEdges, Cm::BlockArray<NodeIndex>& edgeNodeIndices, Ps::Array<PartitionEdge*>* destroyedPartitionEdges, PxU64 contextID);
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~IslandSim() {}
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void resize(const PxU32 nbNodes, const PxU32 nbContactManagers, const PxU32 nbConstraints);
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void addRigidBody(PxsRigidBody* body, bool isKinematic, bool isActive, NodeIndex nodeIndex);
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void addArticulation(Sc::ArticulationSim* articulation, Dy::ArticulationV* llArtic, bool isActive, NodeIndex nodeIndex);
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void addContactManager(PxsContactManager* manager, NodeIndex nodeHandle1, NodeIndex nodeHandle2, EdgeIndex handle);
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void addConstraint(Dy::Constraint* constraint, NodeIndex nodeHandle1, NodeIndex nodeHandle2, EdgeIndex handle);
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void activateNode(NodeIndex index);
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void deactivateNode(NodeIndex index);
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void putNodeToSleep(NodeIndex index);
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void removeConnection(EdgeIndex edgeIndex);
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PX_FORCE_INLINE PxU32 getNbNodes() const { return mNodes.size(); }
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PX_FORCE_INLINE PxU32 getNbActiveNodes(Node::NodeType type) const { return mActiveNodes[type].size(); }
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PX_FORCE_INLINE const NodeIndex* getActiveNodes(Node::NodeType type) const { return mActiveNodes[type].begin(); }
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PX_FORCE_INLINE PxU32 getNbActiveKinematics() const { return mActiveKinematicNodes.size(); }
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PX_FORCE_INLINE const NodeIndex* getActiveKinematics() const { return mActiveKinematicNodes.begin(); }
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PX_FORCE_INLINE PxU32 getNbNodesToActivate(Node::NodeType type) const { return mActiveNodes[type].size() - mInitialActiveNodeCount[type]; }
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PX_FORCE_INLINE const NodeIndex* getNodesToActivate(Node::NodeType type) const { return mActiveNodes[type].begin() + mInitialActiveNodeCount[type]; }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbNodesToDeactivate(Node::NodeType type) const { return mNodesToPutToSleep[type].size(); }
|
|
|
|
PX_FORCE_INLINE const NodeIndex* getNodesToDeactivate(Node::NodeType type) const { return mNodesToPutToSleep[type].begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbActivatedEdges(Edge::EdgeType type) const { return mActivatedEdges[type].size(); }
|
|
|
|
PX_FORCE_INLINE const EdgeIndex* getActivatedEdges(Edge::EdgeType type) const { return mActivatedEdges[type].begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbActiveEdges(Edge::EdgeType type) const { return mActiveEdgeCount[type]; }
|
|
|
|
PX_FORCE_INLINE PartitionEdge* getFirstPartitionEdge(IG::EdgeIndex edgeIndex) const { return (*mFirstPartitionEdges)[edgeIndex]; }
|
|
PX_FORCE_INLINE void setFirstPartitionEdge(IG::EdgeIndex edgeIndex, PartitionEdge* partitionEdge) { (*mFirstPartitionEdges)[edgeIndex] = partitionEdge; }
|
|
|
|
//PX_FORCE_INLINE const EdgeIndex* getActiveEdges(Edge::EdgeType type) const { return mActiveEdges[type].begin(); }
|
|
|
|
PX_FORCE_INLINE PxsRigidBody* getRigidBody(NodeIndex nodeIndex) const
|
|
{
|
|
const Node& node = mNodes[nodeIndex.index()];
|
|
PX_ASSERT(node.mType == Node::eRIGID_BODY_TYPE);
|
|
return node.mRigidBody;
|
|
}
|
|
|
|
PX_FORCE_INLINE Dy::ArticulationV* getLLArticulation(NodeIndex nodeIndex) const
|
|
{
|
|
const Node& node = mNodes[nodeIndex.index()];
|
|
PX_ASSERT(node.mType == Node::eARTICULATION_TYPE);
|
|
return node.mLLArticulation;
|
|
}
|
|
|
|
PX_FORCE_INLINE void clearDeactivations()
|
|
{
|
|
mNodesToPutToSleep[0].forceSize_Unsafe(0);
|
|
mNodesToPutToSleep[1].forceSize_Unsafe(0);
|
|
|
|
mDeactivatingEdges[0].forceSize_Unsafe(0);
|
|
mDeactivatingEdges[1].forceSize_Unsafe(0);
|
|
}
|
|
|
|
PX_FORCE_INLINE const Island& getIsland(IG::IslandId islandIndex) const { return mIslands[islandIndex]; }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbActiveIslands() const { return mActiveIslands.size(); }
|
|
PX_FORCE_INLINE const IslandId* getActiveIslands() const { return mActiveIslands.begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbDeactivatingEdges(const IG::Edge::EdgeType edgeType) const { return mDeactivatingEdges[edgeType].size(); }
|
|
PX_FORCE_INLINE const EdgeIndex* getDeactivatingEdges(const IG::Edge::EdgeType edgeType) const { return mDeactivatingEdges[edgeType].begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbDestroyedEdges() const { return mDestroyedEdges.size(); }
|
|
PX_FORCE_INLINE const EdgeIndex* getDestroyedEdges() const { return mDestroyedEdges.begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbDestroyedPartitionEdges() const { return mDestroyedPartitionEdges->size(); }
|
|
PX_FORCE_INLINE const PartitionEdge*const * getDestroyedPartitionEdges() const { return mDestroyedPartitionEdges->begin(); }
|
|
PX_FORCE_INLINE PartitionEdge** getDestroyedPartitionEdges() { return mDestroyedPartitionEdges->begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbDirtyEdges(IG::Edge::EdgeType type) const { return mDirtyEdges[type].size(); }
|
|
PX_FORCE_INLINE const EdgeIndex* getDirtyEdges(IG::Edge::EdgeType type) const { return mDirtyEdges[type].begin(); }
|
|
|
|
PX_FORCE_INLINE const Edge& getEdge(const EdgeIndex edgeIndex) const { return mEdges[edgeIndex]; }
|
|
|
|
PX_FORCE_INLINE Edge& getEdge(const EdgeIndex edgeIndex) { return mEdges[edgeIndex]; }
|
|
|
|
PX_FORCE_INLINE const Node& getNode(const NodeIndex& nodeIndex) const { return mNodes[nodeIndex.index()]; }
|
|
|
|
PX_FORCE_INLINE const Island& getIsland(const NodeIndex& nodeIndex) const { PX_ASSERT(mIslandIds[nodeIndex.index()] != IG_INVALID_ISLAND); return mIslands[mIslandIds[nodeIndex.index()]]; }
|
|
|
|
PX_FORCE_INLINE PxU32 getIslandStaticTouchCount(const NodeIndex& nodeIndex) const { PX_ASSERT(mIslandIds[nodeIndex.index()] != IG_INVALID_ISLAND); return mIslandStaticTouchCount[mIslandIds[nodeIndex.index()]]; }
|
|
|
|
PX_FORCE_INLINE const Cm::BitMap& getActiveContactManagerBitmap() const { return mActiveContactEdges; }
|
|
|
|
PX_FORCE_INLINE PxU32 getActiveNodeIndex(const NodeIndex& nodeIndex) const { PxU32 activeNodeIndex = mActiveNodeIndex[nodeIndex.index()]; return activeNodeIndex;}
|
|
|
|
PX_FORCE_INLINE const PxU32* getActiveNodeIndex() const { return mActiveNodeIndex.begin(); }
|
|
|
|
PX_FORCE_INLINE PxU32 getNbActiveNodeIndex() const { return mActiveNodeIndex.size(); }
|
|
|
|
void setKinematic(IG::NodeIndex nodeIndex);
|
|
|
|
void setDynamic(IG::NodeIndex nodeIndex);
|
|
|
|
PX_FORCE_INLINE void setEdgeNodeIndexPtr(PxU32* ptr) { mNpIndexPtr = ptr; }
|
|
|
|
PX_FORCE_INLINE NodeIndex getNodeIndex1(IG::EdgeIndex index) const { return mEdgeNodeIndices[2 * index]; }
|
|
PX_FORCE_INLINE NodeIndex getNodeIndex2(IG::EdgeIndex index) const { return mEdgeNodeIndices[2 * index + 1]; }
|
|
|
|
PX_FORCE_INLINE PxU32* getEdgeNodeIndexPtr() const { return mNpIndexPtr; }
|
|
PX_FORCE_INLINE PxU64 getContextId() const { return mContextId; }
|
|
|
|
PxU32 getNbIslands() const { return mIslandStaticTouchCount.size(); }
|
|
|
|
const PxU32* getIslandStaticTouchCount() const { return mIslandStaticTouchCount.begin(); }
|
|
|
|
const PxU32* getIslandIds() const { return mIslandIds.begin(); }
|
|
|
|
bool checkInternalConsistency();
|
|
|
|
private:
|
|
|
|
void insertNewEdges();
|
|
void removeDestroyedEdges();
|
|
void wakeIslands();
|
|
void wakeIslands2();
|
|
void processNewEdges();
|
|
void processLostEdges(Ps::Array<NodeIndex>& destroyedNodes, bool allowDeactivation, bool permitKinematicDeactivation, PxU32 dirtyNodeLimit);
|
|
|
|
void removeConnectionInternal(EdgeIndex edgeIndex);
|
|
|
|
void addConnection(NodeIndex nodeHandle1, NodeIndex nodeHandle2, Edge::EdgeType edgeType, EdgeIndex handle);
|
|
|
|
void addConnectionToGraph(EdgeIndex index);
|
|
void removeConnectionFromGraph(EdgeIndex edgeIndex);
|
|
void connectEdge(EdgeInstance& instance, EdgeInstanceIndex edgeIndex, Node& source, NodeIndex destination);
|
|
void disconnectEdge(EdgeInstance& instance, EdgeInstanceIndex edgeIndex, Node& node);
|
|
|
|
//Merges 2 islands together. The returned id is the id of the merged island
|
|
IslandId mergeIslands(IslandId island0, IslandId island1, NodeIndex node0, NodeIndex node1);
|
|
|
|
void mergeIslandsInternal(Island& island0, Island& island1, IslandId islandId0, IslandId islandId1, NodeIndex node0, NodeIndex node1);
|
|
|
|
|
|
IslandSim& operator = (const IslandSim&);
|
|
IslandSim(const IslandSim&);
|
|
|
|
void unwindRoute(PxU32 traversalIndex, NodeIndex lastNode, PxU32 hopCount, IslandId id);
|
|
|
|
void activateIsland(IslandId island);
|
|
|
|
void deactivateIsland(IslandId island);
|
|
|
|
bool canFindRoot(NodeIndex startNode, NodeIndex targetNode, Ps::Array<NodeIndex>* visitedNodes);
|
|
|
|
bool tryFastPath(NodeIndex startNode, NodeIndex targetNode, IslandId islandId);
|
|
|
|
bool findRoute(NodeIndex startNode, NodeIndex targetNode, IslandId islandId);
|
|
|
|
bool isPathTo(NodeIndex startNode, NodeIndex targetNode);
|
|
|
|
void addNode(bool isActive, bool isKinematic, Node::NodeType type, NodeIndex nodeIndex);
|
|
|
|
void activateNodeInternal(NodeIndex index);
|
|
void deactivateNodeInternal(NodeIndex index);
|
|
|
|
PX_FORCE_INLINE void notifyReadyForSleeping(const NodeIndex nodeIndex)
|
|
{
|
|
Node& node = mNodes[nodeIndex.index()];
|
|
//PX_ASSERT(node.isActive());
|
|
node.setIsReadyForSleeping();
|
|
}
|
|
|
|
PX_FORCE_INLINE void notifyNotReadyForSleeping(const NodeIndex nodeIndex)
|
|
{
|
|
Node& node = mNodes[nodeIndex.index()];
|
|
PX_ASSERT(node.isActive() || node.isActivating());
|
|
node.clearIsReadyForSleeping();
|
|
}
|
|
|
|
PX_FORCE_INLINE void markIslandActive(IslandId islandId)
|
|
{
|
|
Island& island = mIslands[islandId];
|
|
PX_ASSERT(!mIslandAwake.test(islandId));
|
|
PX_ASSERT(island.mActiveIndex == IG_INVALID_ISLAND);
|
|
|
|
mIslandAwake.set(islandId);
|
|
island.mActiveIndex = mActiveIslands.size();
|
|
mActiveIslands.pushBack(islandId);
|
|
}
|
|
|
|
PX_FORCE_INLINE void markIslandInactive(IslandId islandId)
|
|
{
|
|
Island& island = mIslands[islandId];
|
|
PX_ASSERT(mIslandAwake.test(islandId));
|
|
PX_ASSERT(island.mActiveIndex != IG_INVALID_ISLAND);
|
|
PX_ASSERT(mActiveIslands[island.mActiveIndex] == islandId);
|
|
IslandId replaceId = mActiveIslands[mActiveIslands.size()-1];
|
|
PX_ASSERT(mIslandAwake.test(replaceId));
|
|
Island& replaceIsland = mIslands[replaceId];
|
|
replaceIsland.mActiveIndex = island.mActiveIndex;
|
|
mActiveIslands[island.mActiveIndex] = replaceId;
|
|
mActiveIslands.forceSize_Unsafe(mActiveIslands.size()-1);
|
|
island.mActiveIndex = IG_INVALID_ISLAND;
|
|
mIslandAwake.reset(islandId);
|
|
}
|
|
|
|
PX_FORCE_INLINE void markKinematicActive(NodeIndex index)
|
|
{
|
|
Node& node = mNodes[index.index()];
|
|
PX_ASSERT(node.isKinematic());
|
|
if(node.mActiveRefCount == 0 && mActiveNodeIndex[index.index()] == IG_INVALID_NODE)
|
|
{
|
|
//PX_ASSERT(mActiveNodeIndex[index.index()] == IG_INVALID_NODE);
|
|
//node.mActiveNodeIndex = mActiveKinematicNodes.size();
|
|
mActiveNodeIndex[index.index()] = mActiveKinematicNodes.size();
|
|
mActiveKinematicNodes.pushBack(index);
|
|
}
|
|
}
|
|
|
|
PX_FORCE_INLINE void markKinematicInactive(NodeIndex index)
|
|
{
|
|
Node& node = mNodes[index.index()];
|
|
PX_ASSERT(node.isKinematic());
|
|
PX_ASSERT(mActiveNodeIndex[index.index()] != IG_INVALID_NODE);
|
|
PX_ASSERT(mActiveKinematicNodes[mActiveNodeIndex[index.index()]].index() == index.index());
|
|
|
|
if(node.mActiveRefCount == 0)
|
|
{
|
|
//Only remove from active kinematic list if it has no active contacts referencing it *and* it is asleep
|
|
if(mActiveNodeIndex[index.index()] != IG_INVALID_NODE)
|
|
{
|
|
//Need to verify active node index because there is an edge case where a node could be woken, then put to
|
|
//sleep in the same frame. This would mean that it would not have an active index at this stage.
|
|
NodeIndex replaceIndex = mActiveKinematicNodes.back();
|
|
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == mActiveKinematicNodes.size()-1);
|
|
mActiveNodeIndex[replaceIndex.index()] = mActiveNodeIndex[index.index()];
|
|
mActiveKinematicNodes[mActiveNodeIndex[index.index()]] = replaceIndex;
|
|
mActiveKinematicNodes.forceSize_Unsafe(mActiveKinematicNodes.size()-1);
|
|
mActiveNodeIndex[index.index()] = IG_INVALID_NODE;
|
|
}
|
|
}
|
|
}
|
|
|
|
PX_FORCE_INLINE void markActive(NodeIndex index)
|
|
{
|
|
Node& node = mNodes[index.index()];
|
|
PX_ASSERT(!node.isKinematic());
|
|
PX_ASSERT(mActiveNodeIndex[index.index()] == IG_INVALID_NODE);
|
|
mActiveNodeIndex[index.index()] = mActiveNodes[node.mType].size();
|
|
mActiveNodes[node.mType].pushBack(index);
|
|
}
|
|
|
|
PX_FORCE_INLINE void markInactive(NodeIndex index)
|
|
{
|
|
Node& node = mNodes[index.index()];
|
|
|
|
PX_ASSERT(!node.isKinematic());
|
|
PX_ASSERT(mActiveNodeIndex[index.index()] != IG_INVALID_NODE);
|
|
|
|
Ps::Array<NodeIndex>& activeNodes = mActiveNodes[node.mType];
|
|
|
|
PX_ASSERT(activeNodes[mActiveNodeIndex[index.index()]].index() == index.index());
|
|
const PxU32 initialActiveNodeCount = mInitialActiveNodeCount[node.mType];
|
|
|
|
if(mActiveNodeIndex[index.index()] < initialActiveNodeCount)
|
|
{
|
|
//It's in the initial active node set. We retain a list of active nodes, where the existing active nodes
|
|
//are at the beginning of the array and the newly activated nodes are at the end of the array...
|
|
//The solution is to move the node to the end of the initial active node list in this case
|
|
PxU32 activeNodeIndex = mActiveNodeIndex[index.index()];
|
|
NodeIndex replaceIndex = activeNodes[initialActiveNodeCount-1];
|
|
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == initialActiveNodeCount-1);
|
|
mActiveNodeIndex[index.index()] = mActiveNodeIndex[replaceIndex.index()];
|
|
mActiveNodeIndex[replaceIndex.index()] = activeNodeIndex;
|
|
activeNodes[activeNodeIndex] = replaceIndex;
|
|
activeNodes[mActiveNodeIndex[index.index()]] = index;
|
|
mInitialActiveNodeCount[node.mType]--;
|
|
}
|
|
|
|
PX_ASSERT(!node.isKinematic());
|
|
PX_ASSERT(mActiveNodeIndex[index.index()] != IG_INVALID_NODE);
|
|
PX_ASSERT(activeNodes[mActiveNodeIndex[index.index()]].index() == index.index());
|
|
|
|
NodeIndex replaceIndex = activeNodes.back();
|
|
PX_ASSERT(mActiveNodeIndex[replaceIndex.index()] == activeNodes.size()-1);
|
|
mActiveNodeIndex[replaceIndex.index()] = mActiveNodeIndex[index.index()];
|
|
activeNodes[mActiveNodeIndex[index.index()]] = replaceIndex;
|
|
activeNodes.forceSize_Unsafe(activeNodes.size()-1);
|
|
mActiveNodeIndex[index.index()] = IG_INVALID_NODE;
|
|
}
|
|
|
|
PX_FORCE_INLINE void markEdgeActive(EdgeIndex index)
|
|
{
|
|
Edge& edge = mEdges[index];
|
|
|
|
PX_ASSERT((edge.mEdgeState & Edge::eACTIVATING) == 0);
|
|
|
|
edge.mEdgeState |= Edge::eACTIVATING;
|
|
|
|
mActivatedEdges[edge.mEdgeType].pushBack(index);
|
|
|
|
mActiveEdgeCount[edge.mEdgeType]++;
|
|
|
|
//Set the active bit...
|
|
if(edge.mEdgeType == Edge::eCONTACT_MANAGER)
|
|
mActiveContactEdges.set(index);
|
|
|
|
NodeIndex nodeIndex1 = mEdgeNodeIndices[2 * index];
|
|
NodeIndex nodeIndex2 = mEdgeNodeIndices[2 * index + 1];
|
|
|
|
if (nodeIndex1.index() != IG_INVALID_NODE && nodeIndex2.index() != IG_INVALID_NODE)
|
|
{
|
|
PX_ASSERT((!mNodes[nodeIndex1.index()].isKinematic()) || (!mNodes[nodeIndex2.index()].isKinematic()) || edge.getEdgeType() == IG::Edge::eCONTACT_MANAGER);
|
|
{
|
|
Node& node = mNodes[nodeIndex1.index()];
|
|
|
|
if(node.mActiveRefCount == 0 && node.isKinematic() && !(node.isActive() || node.isActivating()))
|
|
{
|
|
//Add to active kinematic list
|
|
markKinematicActive(nodeIndex1);
|
|
}
|
|
node.mActiveRefCount++;
|
|
}
|
|
|
|
{
|
|
Node& node = mNodes[nodeIndex2.index()];
|
|
if(node.mActiveRefCount == 0 && node.isKinematic() && !(node.isActive() || node.isActivating()))
|
|
{
|
|
//Add to active kinematic list
|
|
markKinematicActive(nodeIndex2);
|
|
}
|
|
node.mActiveRefCount++;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void removeEdgeFromActivatingList(EdgeIndex index);
|
|
|
|
PX_FORCE_INLINE void removeEdgeFromIsland(Island& island, EdgeIndex edgeIndex)
|
|
{
|
|
Edge& edge = mEdges[edgeIndex];
|
|
if(edge.mNextIslandEdge != IG_INVALID_EDGE)
|
|
{
|
|
PX_ASSERT(mEdges[edge.mNextIslandEdge].mPrevIslandEdge == edgeIndex);
|
|
mEdges[edge.mNextIslandEdge].mPrevIslandEdge = edge.mPrevIslandEdge;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(island.mLastEdge[edge.mEdgeType] == edgeIndex);
|
|
island.mLastEdge[edge.mEdgeType] = edge.mPrevIslandEdge;
|
|
}
|
|
|
|
if(edge.mPrevIslandEdge != IG_INVALID_EDGE)
|
|
{
|
|
PX_ASSERT(mEdges[edge.mPrevIslandEdge].mNextIslandEdge == edgeIndex);
|
|
mEdges[edge.mPrevIslandEdge].mNextIslandEdge = edge.mNextIslandEdge;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(island.mFirstEdge[edge.mEdgeType] == edgeIndex);
|
|
island.mFirstEdge[edge.mEdgeType] = edge.mNextIslandEdge;
|
|
}
|
|
|
|
island.mEdgeCount[edge.mEdgeType]--;
|
|
edge.mNextIslandEdge = edge.mPrevIslandEdge = IG_INVALID_EDGE;
|
|
}
|
|
|
|
PX_FORCE_INLINE void addEdgeToIsland(Island& island, EdgeIndex edgeIndex)
|
|
{
|
|
Edge& edge = mEdges[edgeIndex];
|
|
PX_ASSERT(edge.mNextIslandEdge == IG_INVALID_EDGE && edge.mPrevIslandEdge == IG_INVALID_EDGE);
|
|
|
|
if(island.mLastEdge[edge.mEdgeType] != IG_INVALID_EDGE)
|
|
{
|
|
PX_ASSERT(mEdges[island.mLastEdge[edge.mEdgeType]].mNextIslandEdge == IG_INVALID_EDGE);
|
|
mEdges[island.mLastEdge[edge.mEdgeType]].mNextIslandEdge = edgeIndex;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(island.mFirstEdge[edge.mEdgeType] == IG_INVALID_EDGE);
|
|
island.mFirstEdge[edge.mEdgeType] = edgeIndex;
|
|
}
|
|
|
|
edge.mPrevIslandEdge = island.mLastEdge[edge.mEdgeType];
|
|
island.mLastEdge[edge.mEdgeType] = edgeIndex;
|
|
island.mEdgeCount[edge.mEdgeType]++;
|
|
}
|
|
|
|
PX_FORCE_INLINE void removeNodeFromIsland(Island& island, NodeIndex nodeIndex)
|
|
{
|
|
Node& node = mNodes[nodeIndex.index()];
|
|
if(node.mNextNode.isValid())
|
|
{
|
|
PX_ASSERT(mNodes[node.mNextNode.index()].mPrevNode.index() == nodeIndex.index());
|
|
mNodes[node.mNextNode.index()].mPrevNode = node.mPrevNode;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(island.mLastNode.index() == nodeIndex.index());
|
|
island.mLastNode = node.mPrevNode;
|
|
}
|
|
|
|
if(node.mPrevNode.isValid())
|
|
{
|
|
PX_ASSERT(mNodes[node.mPrevNode.index()].mNextNode.index() == nodeIndex.index());
|
|
mNodes[node.mPrevNode.index()].mNextNode = node.mNextNode;
|
|
}
|
|
else
|
|
{
|
|
PX_ASSERT(island.mRootNode.index() == nodeIndex.index());
|
|
island.mRootNode = node.mNextNode;
|
|
}
|
|
|
|
island.mSize[node.mType]--;
|
|
|
|
node.mNextNode = NodeIndex(); node.mPrevNode = NodeIndex();
|
|
}
|
|
|
|
//void setEdgeConnectedInternal(EdgeIndex edgeIndex);
|
|
|
|
//void setEdgeDisconnectedInternal(EdgeIndex edgeIndex);
|
|
|
|
friend class SimpleIslandManager;
|
|
friend class ThirdPassTask;
|
|
|
|
};
|
|
|
|
|
|
}
|
|
|
|
|
|
struct PartitionIndexData
|
|
{
|
|
PxU16 mPartitionIndex; //! The current partition this edge is in. Used to find the edge efficiently. PxU8 is probably too small (256 partitions max) but PxU16 should be more than enough
|
|
PxU8 mPatchIndex; //! The patch index for this partition edge. There may be multiple entries for a given edge if there are multiple patches.
|
|
PxU8 mCType; //! The type of constraint this is
|
|
PxU32 mPartitionEntryIndex; //! index of partition edges for this partition
|
|
};
|
|
|
|
struct PartitionNodeData
|
|
{
|
|
IG::NodeIndex mNodeIndex0;
|
|
IG::NodeIndex mNodeIndex1;
|
|
PxU32 mNextIndex0;
|
|
PxU32 mNextIndex1;
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};
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#define INVALID_PARTITION_INDEX 0xFFFF
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struct PartitionEdge
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{
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IG::EdgeIndex mEdgeIndex; //! The edge index into the island manager. Used to identify the contact manager/constraint
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IG::NodeIndex mNode0; //! The node index for node 0. Can be obtained from the edge index alternatively
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IG::NodeIndex mNode1; //! The node idnex for node 1. Can be obtained from the edge index alternatively
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bool mInfiniteMass0; //! Whether body 0 is kinematic
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bool mArticulation0; //! Whether body 0 is an articulation link
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bool mInfiniteMass1; //! Whether body 1 is kinematic
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bool mArticulation1; //! Whether body 1 is an articulation link
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PartitionEdge* mNextPatch; //! for the contact manager has more than 1 patch, we have next patch's edge and previous patch's edge to connect to this edge
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PxU32 mUniqueIndex; //! a unique ID for this edge
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//KS - This constructor explicitly does not set mUniqueIndex. It is filled in by the pool allocator and this constructor
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//is called afterwards. We do not want to stomp the uniqueIndex value
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PartitionEdge() : mEdgeIndex(IG_INVALID_EDGE), mInfiniteMass0(false), mArticulation0(false),
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mInfiniteMass1(false), mArticulation1(false), mNextPatch(NULL)//, mUniqueIndex(IG_INVALID_EDGE)
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{
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}
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};
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}
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#endif
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