Encapsules the data used by the constraint solver. More...

#include <DyDynamics.h>

Inheritance diagram for physx::Dy::DynamicsContext:

Collaboration diagram for physx::Dy::DynamicsContext:

Public Member Functions
void	destroy ()
	Destroys this DynamicsContext.

PX_FORCE_INLINE PxSolverBody &	getWorldSolverBody ()
	Returns the static world solver body.

PX_FORCE_INLINE Cm::FlushPool &	getTaskPool ()

PX_FORCE_INLINE ThresholdStream &	getThresholdStream ()

PX_FORCE_INLINE PxvSimStats &	getSimStats ()

virtual PX_CATCH_UNDEFINED_ENABLE_SIM_STATS void	update (IG::SimpleIslandManager &simpleIslandManager, PxBaseTask continuation, PxBaseTask lostTouchTask, PxvNphaseImplementationContext *nPhase, const PxU32 maxPatchesPerCM, const PxU32 maxArticulationLinks, const PxReal dt, const PxVec3 &gravity, PxBitMapPinned &changedHandleMap)
	The entry point for the constraint solver.

void	updatePostKinematic (IG::SimpleIslandManager &simpleIslandManager, PxBaseTask continuation, PxBaseTask lostTouchTask, const PxU32 maxLinks)

virtual void	processLostPatches (IG::SimpleIslandManager &, PxsContactManager *, PxU32, PxsContactManagerOutputCounts )

virtual void	processFoundPatches (IG::SimpleIslandManager &, PxsContactManager *, PxU32, PxsContactManagerOutputCounts )

virtual void	updateBodyCore (PxBaseTask *continuation)
	This method copy gpu solver body data to cpu body core.

virtual void	setSimulationController (PxsSimulationController *simulationController)

virtual void	mergeResults ()
	This method combines the results of several islands, e.g. constructing scene-level simulation statistics and merging together threshold streams for contact notification.

virtual void	getDataStreamBase (void &, void &, void *&)

virtual PxSolverType::Enum	getSolverType () const

PX_FORCE_INLINE ThreadContext *	getThreadContext ()
	Allocates and returns a thread context object.

void	putThreadContext (ThreadContext *context)
	Returns a thread context to the thread context pool.

PX_FORCE_INLINE PxU32	getKinematicCount () const

PX_FORCE_INLINE PxU64	getContextId () const

Public Member Functions inherited from physx::Dy::Context
PX_FORCE_INLINE PxReal	getMaxBiasCoefficient () const

PX_FORCE_INLINE void	setMaxBiasCoefficient (PxReal coeff)

PX_FORCE_INLINE PxReal	getBounceThreshold () const
	Returns the bounce threshold.

PX_FORCE_INLINE PxReal	getFrictionOffsetThreshold () const
	Returns the friction offset threshold.

PX_FORCE_INLINE PxReal	getCorrelationDistance () const
	Returns the correlation distance.

PX_FORCE_INLINE PxReal	getCCDSeparationThreshold () const
	Returns the CCD separation threshold.

PX_FORCE_INLINE PxReal	getLengthScale () const
	Returns the length scale.

PX_FORCE_INLINE void	setBounceThreshold (PxReal f)
	Sets the bounce threshold.

PX_FORCE_INLINE void	setCorrelationDistance (PxReal f)
	Sets the correlation distance.

PX_FORCE_INLINE void	setFrictionOffsetThreshold (PxReal offset)
	Sets the friction offset threshold.

PX_FORCE_INLINE void	setCCDSeparationThreshold (PxReal offset)
	Sets the friction offset threshold.

PX_FORCE_INLINE PxU32	getSolverBatchSize () const
	Returns the solver batch size.

PX_FORCE_INLINE void	setSolverBatchSize (PxU32 f)
	Sets the solver batch size.

PX_FORCE_INLINE PxU32	getSolverArticBatchSize () const
	Returns the solver batch size.

PX_FORCE_INLINE void	setSolverArticBatchSize (PxU32 f)
	Sets the solver batch size.

PX_FORCE_INLINE PxU32	getMaxSolverConstraintSize () const
	Returns the maximum solver constraint size.

PX_FORCE_INLINE PxFrictionType::Enum	getFrictionType () const
	Returns the friction model being used.

PX_FORCE_INLINE ThresholdStream &	getThresholdStream ()
	Returns the threshold stream.

PX_FORCE_INLINE ThresholdStream &	getForceChangedThresholdStream ()

PX_FORCE_INLINE ThresholdTable &	getThresholdTable ()
	Returns the threshold table.

PX_FORCE_INLINE void	setFrictionType (PxFrictionType::Enum f)
	Sets the friction model to be used.

PX_FORCE_INLINE PxcDataStreamPool &	getContactStreamPool ()

PX_FORCE_INLINE PxcDataStreamPool &	getPatchStreamPool ()

PX_FORCE_INLINE PxcDataStreamPool &	getForceStreamPool ()

PX_FORCE_INLINE PxPinnedArray< Dy::ConstraintWriteback > &	getConstraintWriteBackPool ()

PX_FORCE_INLINE PxReal	getDt () const
	Returns the current frame's timestep.

PX_FORCE_INLINE PxReal	getInvDt () const
	Returns 1/(current frame's timestep)

PX_FORCE_INLINE PxVec3	getGravity () const

void	createThresholdStream (PxVirtualAllocatorCallback &callback)

void	createForceChangeThresholdStream (PxVirtualAllocatorCallback &callback)

void	setStateDirty (bool dirty)

bool	isStateDirty ()

void	setSuppressReadback (bool suppressReadback)

bool	getSuppressReadback ()

void	setDt (const PxReal dt)

Static Public Member Functions
static DynamicsContext *	create (PxcNpMemBlockPool memBlockPool, PxcScratchAllocator &scratchAllocator, Cm::FlushPool &taskPool, PxvSimStats &simStats, PxTaskManager taskManager, PxVirtualAllocatorCallback allocator, PxsMaterialManager materialManager, IG::SimpleIslandManager *islandManager, PxU64 contextID, const bool enableStabilization, const bool useEnhancedDeterminism, const PxReal maxBiasCoefficient, const bool frictionEveryIteration, const PxReal lengthScale)
	Creates a DynamicsContext associated with a PxsContext.

Protected Member Functions
	DynamicsContext (PxcNpMemBlockPool memBlockPool, PxcScratchAllocator &scratchAllocator, Cm::FlushPool &taskPool, PxvSimStats &simStats, PxTaskManager taskManager, PxVirtualAllocatorCallback allocator, PxsMaterialManager materialManager, IG::SimpleIslandManager *islandManager, PxU64 contextID, const bool enableStabilization, const bool useEnhancedDeterminism, const PxReal maxBiasCoefficient, const bool frictionEveryIteration, const PxReal lengthScale)
	Constructor for DynamicsContext.

virtual	~DynamicsContext ()
	Destructor for DynamicsContext.

void	computeUnconstrainedVelocity (PxsRigidBody *atom) const
	Computes the unconstrained velocity for a given PxsRigidBody.

void	setDescFromIndices (PxSolverConstraintDesc &desc, const IG::IslandSim &islandSim, const PxsIndexedInteraction &constraint, const PxU32 solverBodyOffset)
	fills in a PxSolverConstraintDesc from an indexed interaction

void	setDescFromIndices (PxSolverConstraintDesc &desc, IG::EdgeIndex edgeIndex, const IG::SimpleIslandManager &islandManager, PxU32 *bodyRemapTable, const PxU32 solverBodyOffset)

void	preIntegrationParallel (const PxF32 dt, PxsBodyCore const bodyArray, PxsRigidBody const originalBodyArray, PxU32 const nodeIndexArray, PxU32 bodyCount, PxSolverBody solverBodyPool, PxSolverBodyData solverBodyDataPool, Cm::SpatialVector motionVelocityArray, PxU32 &maxSolverPositionIterations, PxU32 &maxSolverVelocityIterations, PxBaseTask &integrateTask)
	Compute the unconstrained velocity for set of bodies in parallel. This function may spawn additional tasks.

void	solveParallel (SolverIslandParams &params, IG::IslandSim &islandSim, Cm::SpatialVectorF Z, Cm::SpatialVectorF deltaV)
	Solves an island in parallel.

void	integrateCoreParallel (SolverIslandParams &params, Cm::SpatialVectorF *deltaV, IG::IslandSim &islandSim)

void	resetThreadContexts ()
	Resets the thread contexts.

PX_FORCE_INLINE PxcScratchAllocator &	getScratchAllocator ()
	Returns the scratch memory allocator.

	PX_ALIGN (16, PxSolverBody mWorldSolverBody)
	Body to represent the world static body.

	PX_ALIGN (16, PxSolverBodyData mWorldSolverBodyData)
	Body data to represent the world static body.

Protected Member Functions inherited from physx::Dy::Context
	Context (IG::SimpleIslandManager islandManager, PxVirtualAllocatorCallback allocatorCallback, PxvSimStats &simStats, bool enableStabilization, bool useEnhancedDeterminism, const PxReal maxBiasCoefficient, const PxReal lengthScale)

Protected Attributes
PxcThreadCoherentCache< ThreadContext, PxcNpMemBlockPool >	mThreadContextPool
	A thread context pool.

SolverConstraintDescPool	mSolverConstraintDescPool
	Solver constraint desc array.

SolverConstraintDescPool	mOrderedSolverConstraintDescPool
	Ordered sover constraint desc array (after partitioning)

SolverConstraintDescPool	mTempSolverConstraintDescPool
	A temporary array of constraint descs used for partitioning.

PxArray< PxConstraintBatchHeader >	mContactConstraintBatchHeaders
	An array of contact constraint batch headers.

PxArray< Cm::SpatialVector >	mMotionVelocityArray
	Array of motion velocities for all bodies in the scene.

PxArray< PxsBodyCore * >	mBodyCoreArray
	Array of body core pointers for all bodies in the scene.

PxArray< PxsRigidBody * >	mRigidBodyArray
	Array of rigid body pointers for all bodies in the scene.

PxArray< FeatherstoneArticulation * >	mArticulationArray
	Array of articulation pointers for all articulations in the scene.

SolverBodyPool	mSolverBodyPool
	Global pool for solver bodies. Kinematic bodies are at the start, and then dynamic bodies.

SolverBodyDataPool	mSolverBodyDataPool
	Global pool for solver body data. Kinematic bodies are at the start, and then dynamic bodies.

ThresholdStream *	mExceededForceThresholdStream [2]

PxArray< PxU32 >	mExceededForceThresholdStreamMask

SolverCore *	mSolverCore [PxFrictionType::eFRICTION_COUNT]
	Interface to the solver core.

PxArray< PxU32 >	mSolverBodyRemapTable

PxArray< PxU32 >	mNodeIndexArray

PxArray< PxsIndexedContactManager >	mContactList

PxU32	mKinematicCount
	The total number of kinematic bodies in the scene.

PxI32	mThresholdStreamOut
	Atomic counter for the number of threshold stream elements.

PxsMaterialManager *	mMaterialManager

PxsContactManagerOutputIterator	mOutputIterator

Protected Attributes inherited from physx::Dy::Context
ThresholdStream *	mThresholdStream

ThresholdStream *	mForceChangedThresholdStream

ThresholdTable	mThresholdTable

IG::SimpleIslandManager *	mIslandManager

PxsSimulationController *	mSimulationController

PxReal	mDt
	Time-step.

PxReal	mInvDt
	1/time-step.

PxReal	mMaxBiasCoefficient

const bool	mEnableStabilization

const bool	mUseEnhancedDeterminism

PxVec3	mGravity

PxU32	mMaxSolverConstraintSize
	max solver constraint size

PxReal	mBounceThreshold
	Threshold controlling the relative velocity at which the solver transitions between restitution and bias for solving normal contact constraint.

PxReal	mFrictionOffsetThreshold
	Threshold controlling whether friction anchors are constructed or not. If the separation is above mFrictionOffsetThreshold, the contact will not be considered to become a friction anchor.

PxReal	mCCDSeparationThreshold
	Threshold controlling whether distant contacts are processed using bias, restitution or a combination of the two. This only has effect on pairs involving bodies that have enabled speculative CCD simulation mode.

PxReal	mCorrelationDistance
	Threshold for controlling friction correlation.

PxReal	mLengthScale
	The length scale from PxTolerancesScale::length.

PxU32	mSolverBatchSize
	The minimum size of an island to generate a solver task chain.

PxU32	mSolverArticBatchSize
	The minimum number of articulations required to generate a solver task chain.

PxFrictionType::Enum	mFrictionType
	The current friction model being used.

PxcDataStreamPool	mContactStreamPool
	Structure to encapsulate contact stream allocations. Used by GPU solver to reference pre-allocated pinned host memory.

PxcDataStreamPool	mPatchStreamPool
	Struct to encapsulate the contact patch stream allocations. Used by GPU solver to reference pre-allocated pinned host memory.

PxcDataStreamPool	mForceStreamPool
	Structure to encapsulate force stream allocations. Used by GPU solver to reference pre-allocated pinned host memory for force reports.

PxPinnedArray< Dy::ConstraintWriteback >	mConstraintWriteBackPool
	Structure to encapsulate constraint write back allocations. Used by GPU/CPU solver to reference pre-allocated pinned host memory for breakable joint reports.

PxvSimStats &	mSimStats

bool	mBodyStateDirty

bool	mSuppressReadback

Friends
class	PxsSolverStartTask

class	PxsSolverAticulationsTask

class	PxsSolverSetupConstraintsTask

class	PxsSolverCreateFinalizeConstraintsTask

class	PxsSolverConstraintPartitionTask

class	PxsSolverSetupSolveTask

class	PxsSolverIntegrateTask

class	PxsSolverEndTask

class	PxsSolverConstraintPostProcessTask

class	PxsForceThresholdTask

class	SolverArticulationUpdateTask

void	solveParallel (SOLVER_PARALLEL_METHOD_ARGS)

Detailed Description

Encapsules the data used by the constraint solver.

Member Function Documentation

◆ computeUnconstrainedVelocity()

void physx::Dy::DynamicsContext::computeUnconstrainedVelocity ( PxsRigidBody * atom ) const

protected

Computes the unconstrained velocity for a given PxsRigidBody.

Parameters

[in] atom The PxsRigidBody

◆ create()

DynamicsContext * physx::Dy::DynamicsContext::create	(	PxcNpMemBlockPool *	memBlockPool,
		PxcScratchAllocator &	scratchAllocator,
		Cm::FlushPool &	taskPool,
		PxvSimStats &	simStats,
		PxTaskManager *	taskManager,
		PxVirtualAllocatorCallback *	allocator,
		PxsMaterialManager *	materialManager,
		IG::SimpleIslandManager *	islandManager,
		PxU64	contextID,
		const bool	enableStabilization,
		const bool	useEnhancedDeterminism,
		const PxReal	maxBiasCoefficient,
		const bool	frictionEveryIteration,
		const PxReal	lengthScale
	)

static

Creates a DynamicsContext associated with a PxsContext.

Returns: A pointer to the newly-created DynamicsContext.

◆ destroy()

void physx::Dy::DynamicsContext::destroy ( )

virtual

Destroys this DynamicsContext.

Implements physx::Dy::Context.

◆ getDataStreamBase()

virtual void physx::Dy::DynamicsContext::getDataStreamBase	(	void *&	,
		void *&	,
		void *&
	)

inlinevirtual

Implements physx::Dy::Context.

◆ getScratchAllocator()

PX_FORCE_INLINE PxcScratchAllocator & physx::Dy::DynamicsContext::getScratchAllocator ( )

inlineprotected

Returns the scratch memory allocator.

Returns: The scratch memory allocator.

◆ getSolverType()

virtual PxSolverType::Enum physx::Dy::DynamicsContext::getSolverType ( ) const

inlinevirtual

Implements physx::Dy::Context.

◆ getThreadContext()

PX_FORCE_INLINE ThreadContext * physx::Dy::DynamicsContext::getThreadContext ( )

inline

Allocates and returns a thread context object.

Returns: A thread context.

◆ getWorldSolverBody()

PX_FORCE_INLINE PxSolverBody & physx::Dy::DynamicsContext::getWorldSolverBody ( )

inline

Returns the static world solver body.

Returns: The static world solver body.

◆ mergeResults()

void physx::Dy::DynamicsContext::mergeResults ( )

virtual

This method combines the results of several islands, e.g. constructing scene-level simulation statistics and merging together threshold streams for contact notification.

Implements physx::Dy::Context.

◆ preIntegrationParallel()

void physx::Dy::DynamicsContext::preIntegrationParallel	(	const PxF32	dt,
		PxsBodyCore const	bodyArray,
		PxsRigidBody const	originalBodyArray,
		PxU32 const *	nodeIndexArray,
		PxU32	bodyCount,
		PxSolverBody *	solverBodyPool,
		PxSolverBodyData *	solverBodyDataPool,
		Cm::SpatialVector *	motionVelocityArray,
		PxU32 &	maxSolverPositionIterations,
		PxU32 &	maxSolverVelocityIterations,
		PxBaseTask &	integrateTask
	)

protected

Compute the unconstrained velocity for set of bodies in parallel. This function may spawn additional tasks.

Parameters

[in]	dt	The timestep
[in]	bodyArray	The array of body cores
[in]	originalBodyArray	The array of PxsRigidBody
[in]	nodeIndexArray	The array of island node index
[in]	bodyCount	The number of bodies
[out]	solverBodyPool	The pool of solver bodies. These are synced with the corresponding body in bodyArray.
[out]	solverBodyDataPool	The pool of solver body data. These are synced with the corresponding body in bodyArray
[out]	motionVelocityArray	The motion velocities for the bodies
[out]	maxSolverPositionIterations	The maximum number of position iterations requested by any body in the island
[out]	maxSolverVelocityIterations	The maximum number of velocity iterations requested by any body in the island
[out]	integrateTask	The continuation task for any tasks spawned by this function.

◆ processFoundPatches()

virtual void physx::Dy::DynamicsContext::processFoundPatches	(	IG::SimpleIslandManager &	,
		PxsContactManager **	,
		PxU32	,
		PxsContactManagerOutputCounts *
	)

inlinevirtual

Implements physx::Dy::Context.

◆ processLostPatches()

virtual void physx::Dy::DynamicsContext::processLostPatches	(	IG::SimpleIslandManager &	,
		PxsContactManager **	,
		PxU32	,
		PxsContactManagerOutputCounts *
	)

inlinevirtual

Implements physx::Dy::Context.

◆ putThreadContext()

void physx::Dy::DynamicsContext::putThreadContext ( ThreadContext * context )

inline

Returns a thread context to the thread context pool.

Parameters

[in] context The thread context to return to the thread context pool.

◆ setDescFromIndices()

PX_CATCH_UNDEFINED_ENABLE_SIM_STATS void physx::Dy::DynamicsContext::setDescFromIndices	(	PxSolverConstraintDesc &	desc,
		const IG::IslandSim &	islandSim,
		const PxsIndexedInteraction &	constraint,
		const PxU32	solverBodyOffset
	)

protected

fills in a PxSolverConstraintDesc from an indexed interaction

Parameters

[in,out]	desc	The PxSolverConstraintDesc
[in]	constraint	The PxsIndexedInteraction

◆ setSimulationController()

virtual void physx::Dy::DynamicsContext::setSimulationController ( PxsSimulationController * simulationController )

inlinevirtual

Implements physx::Dy::Context.

◆ solveParallel()

void physx::Dy::DynamicsContext::solveParallel	(	SolverIslandParams &	params,
		IG::IslandSim &	islandSim,
		Cm::SpatialVectorF *	Z,
		Cm::SpatialVectorF *	deltaV
	)

protected

Solves an island in parallel.

Parameters

[in] params Solver parameter structure

◆ update()

void physx::Dy::DynamicsContext::update	(	IG::SimpleIslandManager &	simpleIslandManager,
		PxBaseTask *	continuation,
		PxBaseTask *	lostTouchTask,
		PxvNphaseImplementationContext *	nPhase,
		const PxU32	maxPatchesPerCM,
		const PxU32	maxArticulationLinks,
		const PxReal	dt,
		const PxVec3 &	gravity,
		PxBitMapPinned &	changedHandleMap
	)

virtual

The entry point for the constraint solver.

Parameters

[in]	dt	The simulation time-step
[in]	continuation	The continuation task for the solver

This method is called after the island generation has completed. Its main responsibilities are: (1) Reserving the solver body pools (2) Initializing the static and kinematic solver bodies, which are shared resources between islands. (3) Construct the solver task chains for each island

Each island is solved as an independent solver task chain in parallel.

Implements physx::Dy::Context.

◆ updateBodyCore()

void physx::Dy::DynamicsContext::updateBodyCore ( PxBaseTask * continuation )

virtual

This method copy gpu solver body data to cpu body core.

Implements physx::Dy::Context.

Member Data Documentation

◆ mSolverCore

SolverCore* physx::Dy::DynamicsContext::mSolverCore[PxFrictionType::eFRICTION_COUNT]

protected

Interface to the solver core.

Note: We currently only support PxsSolverCoreSIMD. Other cores may be added in future releases.

The documentation for this class was generated from the following files:

RavEngine/deps/physx/physx/source/lowleveldynamics/src/DyDynamics.h
RavEngine/deps/physx/physx/source/lowleveldynamics/src/DyDynamics.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ computeUnconstrainedVelocity()

◆ create()

◆ destroy()

◆ getDataStreamBase()

◆ getScratchAllocator()

◆ getSolverType()

◆ getThreadContext()

◆ getWorldSolverBody()

◆ mergeResults()

◆ preIntegrationParallel()

◆ processFoundPatches()

◆ processLostPatches()

◆ putThreadContext()

◆ setDescFromIndices()

◆ setSimulationController()

◆ solveParallel()

◆ update()

◆ updateBodyCore()

Member Data Documentation

◆ mSolverCore