Inheritance diagram for physx::Dy::DynamicsTGSContext:

Collaboration diagram for physx::Dy::DynamicsTGSContext:

Public Member Functions
void	destroy ()
	Destroys this DynamicsContext.

PX_FORCE_INLINE Cm::FlushPool &	getTaskPool ()
	Returns the static world solver body.

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

PX_FORCE_INLINE PxReal	getLengthScale () 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 DynamicsTGSContext *	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 lengthScale)
	Creates a DynamicsContext associated with a PxsContext.

Protected Member Functions
	DynamicsTGSContext (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 lengthScale)
	Constructor for DynamicsContext.

virtual	~DynamicsTGSContext ()
	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, PxTGSSolverBodyVel *solverBodies)
	fills in a PxSolverConstraintDesc from an indexed interaction

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

void	solveIsland (const SolverIslandObjectsStep &objects, const PxsIslandIndices &counts, const PxU32 solverBodyOffset, IG::SimpleIslandManager &islandManager, PxU32 bodyRemapTable, PxsMaterialManager materialManager, PxsContactManagerOutputIterator &iterator, PxBaseTask *continuation)

void	prepareBodiesAndConstraints (const SolverIslandObjectsStep &objects, IG::SimpleIslandManager &islandManager, IslandContextStep &islandContext)

void	setupDescs (IslandContextStep &islandContext, const SolverIslandObjectsStep &objects, PxU32 *mBodyRemapTable, PxU32 mSolverBodyOffset, PxsContactManagerOutputIterator &outputs)

void	preIntegrateBodies (PxsBodyCore bodyArray, PxsRigidBody originalBodyArray, PxTGSSolverBodyVel solverBodyVelPool, PxTGSSolverBodyTxInertia solverBodyTxInertia, PxTGSSolverBodyData solverBodyDataPool2, PxU32 nodeIndexArray, const PxU32 bodyCount, const PxVec3 &gravity, const PxReal dt, PxU32 &posIters, PxU32 &velIters, PxU32 iteration)

void	setupArticulations (IslandContextStep &islandContext, const PxVec3 &gravity, const PxReal dt, PxU32 &posIters, PxU32 &velIters, PxBaseTask *continuation)

PxU32	setupArticulationInternalConstraints (IslandContextStep &islandContext, PxReal dt, PxReal invStepDt)

void	createSolverConstraints (PxSolverConstraintDesc contactDescPtr, PxConstraintBatchHeader headers, const PxU32 nbHeaders, PxsContactManagerOutputIterator &outputs, Dy::ThreadContext &islandThreadContext, Dy::ThreadContext &threadContext, PxReal stepDt, PxReal totalDt, PxReal invStepDt, const PxReal biasCoefficient, PxI32 velIters)

void	solveConstraintsIteration (const PxSolverConstraintDesc const contactDescPtr, const PxConstraintBatchHeader const batchHeaders, const PxU32 nbHeaders, PxReal invStepDt, const PxTGSSolverBodyTxInertia *const solverTxInertia, const PxReal elapsedTime, const PxReal minPenetration, SolverContext &cache)

template<bool TSync>
void	solveConcludeConstraintsIteration (const PxSolverConstraintDesc const contactDescPtr, const PxConstraintBatchHeader const batchHeaders, const PxU32 nbHeaders, PxTGSSolverBodyTxInertia *solverTxInertia, const PxReal elapsedTime, SolverContext &cache, const PxU32 iterCount)

template<bool Sync>
void	parallelSolveConstraints (const PxSolverConstraintDesc const contactDescPtr, const PxConstraintBatchHeader const batchHeaders, const PxU32 nbHeaders, PxTGSSolverBodyTxInertia *solverTxInertia, const PxReal elapsedTime, const PxReal minPenetration, SolverContext &cache, const PxU32 iterCount)

void	writebackConstraintsIteration (const PxConstraintBatchHeader const hdrs, const PxSolverConstraintDesc const contactDescPtr, const PxU32 nbHeaders)

void	parallelWritebackConstraintsIteration (const PxSolverConstraintDesc const contactDescPtr, const PxConstraintBatchHeader const batchHeaders, const PxU32 nbHeaders)

void	integrateBodies (const SolverIslandObjectsStep &objects, const PxU32 count, PxTGSSolverBodyVel vels, PxTGSSolverBodyTxInertia txInertias, const PxTGSSolverBodyData *const bodyDatas, PxReal dt, PxReal invTotalDt, bool averageBodies, const PxReal ratio)

void	parallelIntegrateBodies (PxTGSSolverBodyVel vels, PxTGSSolverBodyTxInertia txInertias, const PxTGSSolverBodyData *const bodyDatas, const PxU32 count, PxReal dt, const PxU32 iteration, PxReal invTotalDt, bool average, const PxReal ratio)

void	copyBackBodies (const SolverIslandObjectsStep &objects, PxTGSSolverBodyVel vels, PxTGSSolverBodyTxInertia txInertias, PxTGSSolverBodyData *solverBodyData, PxReal invDt, IG::IslandSim &islandSim, PxU32 startIdx, PxU32 endIdx)

void	updateArticulations (Dy::ThreadContext &threadContext, const PxU32 startIdx, const PxU32 endIdx, PxReal dt)

void	stepArticulations (Dy::ThreadContext &threadContext, const PxsIslandIndices &counts, PxReal dt, PxReal stepInvDt)

void	iterativeSolveIsland (const SolverIslandObjectsStep &objects, const PxsIslandIndices &counts, ThreadContext &mThreadContext, const PxReal stepDt, const PxReal invStepDt, const PxU32 posIters, const PxU32 velIters, SolverContext &cache, const PxReal ratio, const PxReal biasCoefficient)

void	iterativeSolveIslandParallel (const SolverIslandObjectsStep &objects, const PxsIslandIndices &counts, ThreadContext &mThreadContext, const PxReal stepDt, const PxU32 posIters, const PxU32 velIters, PxI32 solverCounts, PxI32 integrationCounts, PxI32 articulationIntegrationCounts, PxI32 solverProgressCount, PxI32 integrationProgressCount, PxI32 articulationProgressCount, PxU32 solverUnrollSize, PxU32 integrationUnrollSize, const PxReal ratio, const PxReal biasCoefficient)

void	endIsland (ThreadContext &mThreadContext)

void	finishSolveIsland (ThreadContext &mThreadContext, const SolverIslandObjectsStep &objects, const PxsIslandIndices &counts, IG::SimpleIslandManager &islandManager, PxBaseTask *continuation)

void	resetThreadContexts ()
	Resets the thread contexts.

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

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
PxTGSSolverBodyVel	mWorldSolverBodyVel

PxTGSSolverBodyTxInertia	mWorldSolverBodyTxInertia

PxTGSSolverBodyData	mWorldSolverBodyData2

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

SolverStepConstraintDescPool	mSolverConstraintDescPool
	Solver constraint desc array.

SolverStepConstraintDescPool	mOrderedSolverConstraintDescPool

SolverStepConstraintDescPool	mTempSolverConstraintDescPool

PxArray< PxConstraintBatchHeader >	mContactConstraintBatchHeaders

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 articulationpointers for all articulations in the scene.

SolverBodyVelDataPool	mSolverBodyVelPool

SolverBodyTxInertiaPool	mSolverBodyTxInertiaPool

SolverBodyDataStepPool	mSolverBodyDataPool2

ThresholdStream *	mExceededForceThresholdStream [2]

PxArray< PxU32 >	mExceededForceThresholdStreamMask

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	SetupDescsTask

class	PreIntegrateTask

class	SetupArticulationTask

class	SetupArticulationInternalConstraintsTask

class	SetupSolverConstraintsTask

class	SolveIslandTask

class	EndIslandTask

class	SetupSolverConstraintsSubTask

class	ParallelSolveTask

class	PreIntegrateParallelTask

class	CopyBackTask

class	UpdateArticTask

class	FinishSolveIslandTask

Member Function Documentation

◆ computeUnconstrainedVelocity()

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

protected

Computes the unconstrained velocity for a given PxsRigidBody.

Parameters

[in] atom The PxsRigidBody

◆ create()

DynamicsTGSContext * physx::Dy::DynamicsTGSContext::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	lengthScale
	)

static

Creates a DynamicsContext associated with a PxsContext.

PxBaseTask* continuation

Returns: A pointer to the newly-created DynamicsContext.

◆ destroy()

void physx::Dy::DynamicsTGSContext::destroy ( )

virtual

Destroys this DynamicsContext.

Implements physx::Dy::Context.

◆ getDataStreamBase()

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

inlinevirtual

Implements physx::Dy::Context.

◆ getScratchAllocator()

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

inlineprotected

Returns the scratch memory allocator.

Returns: The scratch memory allocator.

◆ getSolverType()

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

inlinevirtual

Implements physx::Dy::Context.

◆ getTaskPool()

PX_FORCE_INLINE Cm::FlushPool & physx::Dy::DynamicsTGSContext::getTaskPool ( )

inline

Returns the static world solver body.

Returns: The static world solver body.

◆ getThreadContext()

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

inline

Allocates and returns a thread context object.

Returns: A thread context.

◆ mergeResults()

void physx::Dy::DynamicsTGSContext::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.

◆ processFoundPatches()

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

inlinevirtual

Implements physx::Dy::Context.

◆ processLostPatches()

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

inlinevirtual

Implements physx::Dy::Context.

◆ putThreadContext()

void physx::Dy::DynamicsTGSContext::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()

void physx::Dy::DynamicsTGSContext::setDescFromIndices	(	PxSolverConstraintDesc &	desc,
		const IG::IslandSim &	islandSim,
		const PxsIndexedInteraction &	constraint,
		const PxU32	solverBodyOffset,
		PxTGSSolverBodyVel *	solverBodies
	)

protected

fills in a PxSolverConstraintDesc from an indexed interaction

Parameters

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

◆ setSimulationController()

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

inlinevirtual

Implements physx::Dy::Context.

◆ update()

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

virtual

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

Implements physx::Dy::Context.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ computeUnconstrainedVelocity()

◆ create()

◆ destroy()

◆ getDataStreamBase()

◆ getScratchAllocator()

◆ getSolverType()

◆ getTaskPool()

◆ getThreadContext()

◆ mergeResults()

◆ processFoundPatches()

◆ processLostPatches()

◆ putThreadContext()

◆ setDescFromIndices()

◆ setSimulationController()

◆ update()

◆ updateBodyCore()