BpAABBManager.h

// 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) 2008-2022 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_AABBMANAGER_H
#define BP_AABBMANAGER_H
 
#include "foundation/PxHashSet.h"
#include "foundation/PxHashMap.h"
#include "BpAABBManagerTasks.h"
#include "BpAABBManagerBase.h"
 
namespace physx
{
namespace Cm
{
    class FlushPool;
}
 
namespace Bp
{
    struct BroadPhasePair;
 
    // PT: TODO: revisit this.....
    class Aggregate;
    class PersistentPairs;
    class PersistentActorAggregatePair;
    class PersistentAggregateAggregatePair;
    class PersistentSelfCollisionPairs;
 
    struct AggPair
    {
        PX_FORCE_INLINE AggPair() {}
        PX_FORCE_INLINE AggPair(ShapeHandle index0, ShapeHandle index1) : mIndex0(index0), mIndex1(index1)  {}
        ShapeHandle mIndex0;
        ShapeHandle mIndex1;
 
        PX_FORCE_INLINE bool operator==(const AggPair& p) const
        {
            return (p.mIndex0 == mIndex0) && (p.mIndex1 == mIndex1);
        }
    };
    typedef PxCoalescedHashMap<AggPair, PersistentPairs*> AggPairMap;
 
    // PT: TODO: isn't there a generic pair structure somewhere? refactor with AggPair anyway
    struct Pair
    {
        PX_FORCE_INLINE Pair(PxU32 id0, PxU32 id1) : mID0(id0), mID1(id1)   {}
        PX_FORCE_INLINE Pair(){}
 
            PX_FORCE_INLINE bool operator<(const Pair& p) const
            {
                const PxU64 value0 = *reinterpret_cast<const PxU64*>(this);
                const PxU64 value1 = *reinterpret_cast<const PxU64*>(&p);
                return value0 < value1;
            }
 
            PX_FORCE_INLINE bool operator==(const Pair& p) const
            {
                return (p.mID0 == mID0) && (p.mID1 == mID1);
            }
 
            PX_FORCE_INLINE bool operator!=(const Pair& p) const
            {
                return (p.mID0 != mID0) || (p.mID1 != mID1);
            }
 
        PxU32   mID0;
        PxU32   mID1;
    };
 
    class AABBManager;
 
    class PostBroadPhaseStage2Task : public Cm::Task
    {
        Cm::FlushPool* mFlushPool;
        AABBManager& mManager;
 
        PX_NOCOPY(PostBroadPhaseStage2Task)
    public:
 
        PostBroadPhaseStage2Task(PxU64 contextID, AABBManager& manager) : Cm::Task(contextID), mFlushPool(NULL), mManager(manager)
        {
        }
 
        virtual const char* getName() const { return "PostBroadPhaseStage2Task"; }
 
        void setFlushPool(Cm::FlushPool* pool) { mFlushPool = pool; }
 
        virtual void runInternal();
    };
 
    class ProcessAggPairsBase;
 
    class AABBManager : public AABBManagerBase
    {
                                                    PX_NOCOPY(AABBManager)
    public:
                                                        AABBManager(BroadPhase& bp, BoundsArray& boundsArray, PxFloatArrayPinned& contactDistance,
                                                                    PxU32 maxNbAggregates, PxU32 maxNbShapes, PxVirtualAllocator& allocator, PxU64 contextID,
                                                                    PxPairFilteringMode::Enum kineKineFilteringMode, PxPairFilteringMode::Enum staticKineFilteringMode);
 
        virtual                                         ~AABBManager() {}
 
        // AABBManagerBase
        virtual         void                            destroy()   PX_OVERRIDE;
        virtual         AggregateHandle                 createAggregate(BoundsIndex index, Bp::FilterGroup::Enum group, void* userData, PxU32 maxNumShapes, PxAggregateFilterHint filterHint)   PX_OVERRIDE;
        virtual         bool                            destroyAggregate(BoundsIndex& index, Bp::FilterGroup::Enum& group, AggregateHandle aggregateHandle) PX_OVERRIDE;
        virtual         bool                            addBounds(BoundsIndex index, PxReal contactDistance, Bp::FilterGroup::Enum group, void* userdata, AggregateHandle aggregateHandle, ElementType::Enum volumeType)    PX_OVERRIDE;
        virtual         bool                            removeBounds(BoundsIndex index) PX_OVERRIDE;
        virtual         void                            updateBPFirstPass(PxU32 numCpuTasks, Cm::FlushPool& flushPool, bool hasContactDistanceUpdated, PxBaseTask* continuation)    PX_OVERRIDE;
        virtual         void                            updateBPSecondPass(PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, PxBaseTask* continuation)  PX_OVERRIDE;
        virtual         void                            postBroadPhase(PxBaseTask*, Cm::FlushPool& flushPool)   PX_OVERRIDE;
        virtual         void                            reallocateChangedAABBMgActorHandleMap(const PxU32 size) PX_OVERRIDE;
        virtual         void                            visualize(PxRenderOutput& out)  PX_OVERRIDE;
        virtual         void                            releaseDeferredAggregateIds()   PX_OVERRIDE{}
        //~AABBManagerBase
 
                        void                            preBpUpdate_CPU(PxU32 numCpuTasks);
 
                        // PT: TODO: what is that BpCacheData for?
                        BpCacheData*                    getBpCacheData();
                        void                            putBpCacheData(BpCacheData*);
                        void                            resetBpCacheData();
 
                        PxMutex                         mMapLock;
    private:
                        //void reserveShapeSpace(PxU32 nbShapes);
 
                        void                            postBpStage2(PxBaseTask*, Cm::FlushPool&);
                        void                            postBpStage3(PxBaseTask*);
 
                        PostBroadPhaseStage2Task                                    mPostBroadPhase2;
                        Cm::DelegateTask<AABBManager, &AABBManager::postBpStage3>   mPostBroadPhase3;
 
                        PreBpUpdateTask                 mPreBpUpdateTask;
 
                        PxU32                           mTimestamp;
                        PxU32                           mFirstFreeAggregate;
                        PxArray<Aggregate*>             mAggregates;        // PT: indexed by AggregateHandle
                        PxArray<Aggregate*>             mDirtyAggregates;
 
                        AggPairMap                      mActorAggregatePairs;
                        AggPairMap                      mAggregateAggregatePairs;
 
                        PxArray<ProcessAggPairsBase*>   mAggPairTasks;
 
                        PxHashSet<Pair>                 mCreatedPairs;
 
                        PxSList                         mBpThreadContextPool;
 
        PX_FORCE_INLINE Aggregate*                      getAggregateFromHandle(AggregateHandle handle)
                                                        {
                                                            PX_ASSERT(handle<mAggregates.size());
                                                            return mAggregates[handle];
                                                        }
 
                        void                            startAggregateBoundsComputationTasks(PxU32 nbToGo, PxU32 numCpuTasks, Cm::FlushPool& flushPool);
                        PersistentActorAggregatePair*   createPersistentActorAggregatePair(ShapeHandle volA, ShapeHandle volB);
                    PersistentAggregateAggregatePair*   createPersistentAggregateAggregatePair(ShapeHandle volA, ShapeHandle volB);
                        void                            updatePairs(PersistentPairs& p, BpCacheData* data = NULL);
                        void                            handleOriginShift();
 
    public:
                        void                            processBPCreatedPair(const BroadPhasePair& pair);
                        void                            processBPDeletedPair(const BroadPhasePair& pair);
 
        friend class PersistentActorAggregatePair;
        friend class PersistentAggregateAggregatePair;
        friend class ProcessSelfCollisionPairsParallel;
        friend class PostBroadPhaseStage2Task;
    };
 
} //namespace Bp
} //namespace physx
 
#endif //BP_AABBMANAGER_H