Init

physx/source/lowlevel/common/include/pipeline/PxcConstraintBlockStream.h

@@ -0,0 +1,156 @@
+//
+// 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) 2008-2021 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 PXC_CONSTRAINTBLOCKPOOL_H
+#define PXC_CONSTRAINTBLOCKPOOL_H
+
+#include "PxvConfig.h"
+#include "PsArray.h"
+#include "PsMutex.h"
+#include "PxcNpMemBlockPool.h"
+
+namespace physx
+{
+class PxsConstraintBlockManager
+{
+public:
+	PxsConstraintBlockManager(PxcNpMemBlockPool & blockPool):
+		mBlockPool(blockPool)
+	{
+	}
+
+	PX_FORCE_INLINE	void reset()
+	{
+		mBlockPool.releaseConstraintBlocks(mTrackingArray);
+	}
+
+	PxcNpMemBlockArray	mTrackingArray;
+	PxcNpMemBlockPool&	mBlockPool;
+
+private:
+	PxsConstraintBlockManager& operator=(const PxsConstraintBlockManager&);
+};
+
+class PxcConstraintBlockStream
+{
+	PX_NOCOPY(PxcConstraintBlockStream)
+public:
+	PxcConstraintBlockStream(PxcNpMemBlockPool & blockPool) :
+		mBlockPool	(blockPool),
+		mBlock		(NULL),
+		mUsed		(0)
+	{
+	}
+
+	PX_FORCE_INLINE	PxU8*				reserve(PxU32 size, PxsConstraintBlockManager& manager)
+										{
+											size = (size+15)&~15;
+											if(size>PxcNpMemBlock::SIZE)
+												return mBlockPool.acquireExceptionalConstraintMemory(size);
+
+											if(mBlock == NULL || size+mUsed>PxcNpMemBlock::SIZE)
+											{
+												mBlock = mBlockPool.acquireConstraintBlock(manager.mTrackingArray);
+												PX_ASSERT(0==mBlock || mBlock->data == reinterpret_cast<PxU8*>(mBlock));
+												mUsed = size;
+												return reinterpret_cast<PxU8*>(mBlock);
+											}
+											PX_ASSERT(mBlock && mBlock->data == reinterpret_cast<PxU8*>(mBlock));
+											PxU8* PX_RESTRICT result = mBlock->data+mUsed;
+											mUsed += size;
+											return result;
+										}
+
+	PX_FORCE_INLINE	void				reset()
+										{
+											mBlock = NULL;
+											mUsed = 0;
+										}
+
+	PX_FORCE_INLINE PxcNpMemBlockPool&	getMemBlockPool()	{ return mBlockPool;	}
+
+private:
+			PxcNpMemBlockPool&			mBlockPool;
+			PxcNpMemBlock*				mBlock;	// current constraint block
+			PxU32						mUsed;	// number of bytes used in constraint block
+			//Tracking peak allocations
+			PxU32						mPeakUsed;
+};
+
+class PxcContactBlockStream
+{
+	PX_NOCOPY(PxcContactBlockStream)
+public:
+	PxcContactBlockStream(PxcNpMemBlockPool & blockPool):
+		mBlockPool(blockPool),
+		mBlock(NULL),
+		mUsed(0)
+	{
+	}
+
+	PX_FORCE_INLINE	PxU8*				reserve(PxU32 size)
+										{
+											size = (size+15)&~15;
+
+											if(size>PxcNpMemBlock::SIZE)
+												return mBlockPool.acquireExceptionalConstraintMemory(size);
+
+											PX_ASSERT(size <= PxcNpMemBlock::SIZE);
+
+											if(mBlock == NULL || size+mUsed>PxcNpMemBlock::SIZE)
+											{
+												mBlock = mBlockPool.acquireContactBlock();
+												PX_ASSERT(0==mBlock || mBlock->data == reinterpret_cast<PxU8*>(mBlock));
+												mUsed = size;
+												return reinterpret_cast<PxU8*>(mBlock);
+											}
+											PX_ASSERT(mBlock && mBlock->data == reinterpret_cast<PxU8*>(mBlock));
+											PxU8* PX_RESTRICT result = mBlock->data+mUsed;
+											mUsed += size;
+											return result;
+										}
+
+	PX_FORCE_INLINE	void				reset()
+										{
+											mBlock = NULL;
+											mUsed = 0;
+										}
+
+	PX_FORCE_INLINE PxcNpMemBlockPool&	getMemBlockPool()	{ return mBlockPool;	}
+
+private:
+			PxcNpMemBlockPool&			mBlockPool;
+			PxcNpMemBlock*				mBlock;	// current constraint block
+			PxU32						mUsed;	// number of bytes used in constraint block
+};
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcContactCache.h

@@ -0,0 +1,66 @@
+//
+// 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) 2008-2021 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 PXC_CONTACT_CACHE_H
+#define PXC_CONTACT_CACHE_H
+
+#include "foundation/PxTransform.h"
+#include "PxvConfig.h"
+#include "PxcContactMethodImpl.h"
+
+namespace physx
+{
+	class PxcNpThreadContext;
+
+	bool PxcCacheLocalContacts(	PxcNpThreadContext& context, Gu::Cache& pairContactCache,
+								const PxTransform& tm0, const PxTransform& tm1,
+								const PxcContactMethod conMethod,
+								const Gu::GeometryUnion& shape0, const Gu::GeometryUnion& shape1);
+
+	struct PxcLocalContactsCache
+	{
+		PxTransform	mTransform0;
+		PxTransform	mTransform1;
+		PxU16		mNbCachedContacts;
+		bool		mUseFaceIndices;
+		bool		mSameNormal;
+
+		PX_FORCE_INLINE void operator = (const PxcLocalContactsCache& other)
+		{
+			mTransform0			= other.mTransform0;
+			mTransform1			= other.mTransform1;
+			mNbCachedContacts	= other.mNbCachedContacts;
+			mUseFaceIndices		= other.mUseFaceIndices;
+			mSameNormal			= other.mSameNormal;
+		}
+	};
+
+}
+
+#endif  // PXC_CONTACT_CACHE_H

physx/source/lowlevel/common/include/pipeline/PxcMaterialMethodImpl.h

@@ -0,0 +1,69 @@
+//
+// 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) 2008-2021 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 PXC_MATERIALMETHOD_H
+#define PXC_MATERIALMETHOD_H
+
+#include "geometry/PxGeometry.h"
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+
+struct PxsShapeCore;
+struct PxsMaterialInfo;
+class PxcNpThreadContext;
+
+#define MATERIAL_METHOD_ARGS			\
+	const PxsShapeCore* shape0,			\
+	const PxsShapeCore* shape1,			\
+	PxcNpThreadContext& pairContext,	\
+	PxsMaterialInfo* materialInfo
+
+
+#define SINGLE_MATERIAL_METHOD_ARGS			\
+	const PxsShapeCore* shape,				\
+	const PxU32	index,						\
+	PxcNpThreadContext& pairContext,		\
+	PxsMaterialInfo* materialInfo			
+
+/*!
+Method prototype for fetch material routines
+*/
+typedef bool (*PxcGetMaterialMethod) (MATERIAL_METHOD_ARGS);
+
+typedef bool (*PxcGetSingleMaterialMethod) (SINGLE_MATERIAL_METHOD_ARGS);
+
+extern PxcGetMaterialMethod g_GetMaterialMethodTable[][PxGeometryType::eGEOMETRY_COUNT];
+
+extern PxcGetSingleMaterialMethod g_GetSingleMaterialMethodTable[PxGeometryType::eGEOMETRY_COUNT];
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpBatch.h

@@ -0,0 +1,50 @@
+//
+// 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) 2008-2021 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 PXC_NP_BATCH_H
+#define PXC_NP_BATCH_H
+
+#include "PxvConfig.h"
+
+namespace physx
+{
+	struct PxcNpWorkUnit;
+	class PxcNpThreadContext;
+	struct PxsContactManagerOutput;
+
+	namespace Gu
+	{
+		struct Cache;
+	}
+
+	void PxcDiscreteNarrowPhase(PxcNpThreadContext& context, const PxcNpWorkUnit& cmInput, Gu::Cache& cache, PxsContactManagerOutput& output);
+	void PxcDiscreteNarrowPhasePCM(PxcNpThreadContext& context, const PxcNpWorkUnit& cmInput, Gu::Cache& cache, PxsContactManagerOutput& output);
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpCache.h

@@ -0,0 +1,154 @@
+//
+// 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) 2008-2021 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 PXC_NPCACHE_H
+#define PXC_NPCACHE_H
+
+#include "foundation/PxMemory.h"
+
+#include "PsIntrinsics.h"
+#include "PxcNpCacheStreamPair.h"
+
+#include "PsPool.h"
+#include "PsFoundation.h"
+#include "GuContactMethodImpl.h"
+#include "PsUtilities.h"
+
+namespace physx
+{
+
+template <typename T>
+void PxcNpCacheWrite(PxcNpCacheStreamPair& streams,
+					 Gu::Cache& cache,
+					 const T& payload,
+					 PxU32 bytes, 
+					 const PxU8* data)
+{
+	const PxU32 payloadSize = (sizeof(payload)+3)&~3;
+	cache.mCachedSize = Ps::to16((payloadSize + 4 + bytes + 0xF)&~0xF);
+
+	PxU8* ls = streams.reserve(cache.mCachedSize);
+	cache.mCachedData = ls;
+	if(ls==NULL || (reinterpret_cast<PxU8*>(-1))==ls)
+	{
+		if(ls==NULL)
+		{
+			PX_WARN_ONCE(
+				"Reached limit set by PxSceneDesc::maxNbContactDataBlocks - ran out of buffer space for narrow phase. "
+				"Either accept dropped contacts or increase buffer size allocated for narrow phase by increasing PxSceneDesc::maxNbContactDataBlocks.");
+			return;
+		}
+		else
+		{
+			PX_WARN_ONCE(
+				"Attempting to allocate more than 16K of contact data for a single contact pair in narrowphase. "
+				"Either accept dropped contacts or simplify collision geometry.");
+			cache.mCachedData = NULL;
+			ls = NULL;
+			return;
+		}
+	}
+
+	*reinterpret_cast<T*>(ls) = payload;
+	*reinterpret_cast<PxU32*>(ls+payloadSize) = bytes;
+	if(data)
+		PxMemCopy(ls+payloadSize+sizeof(PxU32), data, bytes);
+}
+
+
+template <typename T>
+PxU8* PxcNpCacheWriteInitiate(PxcNpCacheStreamPair& streams, Gu::Cache& cache, const T& payload, PxU32 bytes)
+{
+	PX_UNUSED(payload);
+
+	const PxU32 payloadSize = (sizeof(payload)+3)&~3;
+	cache.mCachedSize = Ps::to16((payloadSize + 4 + bytes + 0xF)&~0xF);
+
+	PxU8* ls = streams.reserve(cache.mCachedSize);
+	cache.mCachedData = ls;
+	if(NULL==ls || reinterpret_cast<PxU8*>(-1)==ls)
+	{
+		if(NULL==ls)
+		{
+			PX_WARN_ONCE(
+				"Reached limit set by PxSceneDesc::maxNbContactDataBlocks - ran out of buffer space for narrow phase. "
+				"Either accept dropped contacts or increase buffer size allocated for narrow phase by increasing PxSceneDesc::maxNbContactDataBlocks.");
+		}
+		else
+		{
+			PX_WARN_ONCE(
+				"Attempting to allocate more than 16K of contact data for a single contact pair in narrowphase. "
+				"Either accept dropped contacts or simplify collision geometry.");
+			cache.mCachedData = NULL;
+			ls = NULL;
+		}
+	}
+	return ls;
+}
+
+template <typename T>
+PX_FORCE_INLINE void PxcNpCacheWriteFinalize(PxU8* ls, const T& payload, PxU32 bytes, const PxU8* data)
+{
+	const PxU32 payloadSize = (sizeof(payload)+3)&~3;
+	*reinterpret_cast<T*>(ls) = payload;
+	*reinterpret_cast<PxU32*>(ls+payloadSize) = bytes;
+	if(data)
+		PxMemCopy(ls+payloadSize+sizeof(PxU32), data, bytes);
+}
+
+
+template <typename T>
+PX_FORCE_INLINE PxU8* PxcNpCacheRead(Gu::Cache& cache, T*& payload)
+{
+	PxU8* ls = cache.mCachedData;
+	payload = reinterpret_cast<T*>(ls);
+	const PxU32 payloadSize = (sizeof(T)+3)&~3;
+	return reinterpret_cast<PxU8*>(ls+payloadSize+sizeof(PxU32));
+}
+
+template <typename T>
+const PxU8* PxcNpCacheRead2(Gu::Cache& cache, T& payload, PxU32& bytes)
+{
+	const PxU8* ls = cache.mCachedData;
+	if(ls==NULL)
+	{
+		bytes = 0;
+		return NULL;
+	}
+
+	const PxU32 payloadSize = (sizeof(payload)+3)&~3;
+	payload = *reinterpret_cast<const T*>(ls);
+	bytes = *reinterpret_cast<const PxU32*>(ls+payloadSize);
+	PX_ASSERT(cache.mCachedSize == ((payloadSize + 4 + bytes+0xF)&~0xF));
+	return reinterpret_cast<const PxU8*>(ls+payloadSize+sizeof(PxU32));
+}
+
+}
+
+#endif // #ifndef PXC_NPCACHE_H

physx/source/lowlevel/common/include/pipeline/PxcNpCacheStreamPair.h

@@ -0,0 +1,63 @@
+//
+// 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) 2008-2021 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 PXC_NPCACHESTREAMPAIR_H
+#define PXC_NPCACHESTREAMPAIR_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "PxvConfig.h"
+#include "PxcNpMemBlockPool.h"
+
+namespace physx
+{
+
+static const PxU32 PXC_NPCACHE_BLOCK_SIZE = 16384;
+
+
+struct PxcNpCacheStreamPair
+{
+public:
+	PxcNpCacheStreamPair(PxcNpMemBlockPool& blockPool);
+
+	// reserve can fail and return null.
+	PxU8*					reserve(PxU32 byteCount);
+	void					reset();
+private:
+	PxcNpMemBlockPool&	mBlockPool;
+	PxcNpMemBlock*		mBlock;
+	PxU32				mUsed;
+private:
+	PxcNpCacheStreamPair& operator=(const PxcNpCacheStreamPair&);
+};
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpContactPrepShared.h

@@ -0,0 +1,57 @@
+//
+// 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) 2008-2021 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 PXC_NPCONTACTPREPSHARED_H
+#define PXC_NPCONTACTPREPSHARED_H
+
+namespace physx
+{
+class PxcNpThreadContext;
+struct PxsMaterialInfo;
+class PxsMaterialManager;
+class PxsConstraintBlockManager;
+class PxcConstraintBlockStream;
+struct PxsContactManagerOutput;
+
+namespace Gu
+{
+	struct ContactPoint;
+}
+
+static const PxReal PXC_SAME_NORMAL = 0.999f; //Around 6 degrees
+
+PxU32 writeCompressedContact(const Gu::ContactPoint* const PX_RESTRICT contactPoints, const PxU32 numContactPoints, PxcNpThreadContext* threadContext,
+									PxU8& writtenContactCount, PxU8*& outContactPatches, PxU8*& outContactPoints, PxU16& compressedContactSize, PxReal*& contactForces, PxU32 contactForceByteSize,
+									const PxsMaterialManager* materialManager, bool hasModifiableContacts, bool forceNoResponse, PxsMaterialInfo* PX_RESTRICT pMaterial, PxU8& numPatches,
+									PxU32 additionalHeaderSize = 0,  PxsConstraintBlockManager* manager = NULL, PxcConstraintBlockStream* blockStream = NULL, bool insertAveragePoint = false,
+									PxcDataStreamPool* pool = NULL, PxcDataStreamPool* patchStreamPool = NULL, PxcDataStreamPool* forcePool = NULL, const bool isMeshType = false);
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpMemBlockPool.h

@@ -0,0 +1,119 @@
+//
+// 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) 2008-2021 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 PXC_NP_MEM_BLOCK_POOL_H
+#define PXC_NP_MEM_BLOCK_POOL_H
+
+#include "PxvConfig.h"
+#include "PsArray.h"
+#include "PxcScratchAllocator.h"
+
+namespace physx
+{
+struct PxcNpMemBlock
+{
+	enum
+	{
+		SIZE = 16384
+	};
+	PxU8 data[SIZE];
+};
+
+typedef Ps::Array<PxcNpMemBlock*> PxcNpMemBlockArray;
+
+class PxcNpMemBlockPool
+{
+	PX_NOCOPY(PxcNpMemBlockPool)
+public:
+	PxcNpMemBlockPool(PxcScratchAllocator& allocator);
+	~PxcNpMemBlockPool();
+
+	void			init(PxU32 initial16KDataBlocks, PxU32 maxBlocks);
+	void			flush();
+	void			setBlockCount(PxU32 count);
+	PxU32			getUsedBlockCount() const;
+	PxU32			getMaxUsedBlockCount() const;
+	PxU32			getPeakConstraintBlockCount() const;
+	void			releaseUnusedBlocks();
+
+	PxcNpMemBlock*	acquireConstraintBlock();
+	PxcNpMemBlock*	acquireConstraintBlock(PxcNpMemBlockArray& memBlocks);
+	PxcNpMemBlock*	acquireContactBlock();
+	PxcNpMemBlock*	acquireFrictionBlock();
+	PxcNpMemBlock*	acquireNpCacheBlock();
+
+	PxU8*			acquireExceptionalConstraintMemory(PxU32 size);
+
+	void			acquireConstraintMemory();
+	void			releaseConstraintMemory();
+	void			releaseConstraintBlocks(PxcNpMemBlockArray& memBlocks);
+	void			releaseContacts();
+	void			swapFrictionStreams();
+	void			swapNpCacheStreams();
+
+	void			flushUnused();
+	
+private:
+
+
+	Ps::Mutex				mLock;
+	PxcNpMemBlockArray		mConstraints;
+	PxcNpMemBlockArray		mContacts[2];
+	PxcNpMemBlockArray		mFriction[2];
+	PxcNpMemBlockArray		mNpCache[2];
+	PxcNpMemBlockArray		mScratchBlocks;
+	Ps::Array<PxU8*>		mExceptionalConstraints;
+
+	PxcNpMemBlockArray		mUnused;
+
+	PxU32					mNpCacheActiveStream;
+	PxU32					mFrictionActiveStream;
+	PxU32					mCCDCacheActiveStream;
+	PxU32					mContactIndex;
+	PxU32					mAllocatedBlocks;
+	PxU32					mMaxBlocks;
+	PxU32					mInitialBlocks;
+	PxU32					mUsedBlocks;
+	PxU32					mMaxUsedBlocks;
+	PxcNpMemBlock*			mScratchBlockAddr;
+	PxU32					mNbScratchBlocks;
+	PxcScratchAllocator&	mScratchAllocator;
+
+	PxU32					mPeakConstraintAllocations;
+	PxU32					mConstraintAllocations;
+
+	PxcNpMemBlock*	acquire(PxcNpMemBlockArray& trackingArray, PxU32* allocationCount = NULL, PxU32* peakAllocationCount = NULL, bool isScratchAllocation = false);
+	void			release(PxcNpMemBlockArray& deadArray, PxU32* allocationCount = NULL);
+};
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpThreadContext.h

@@ -0,0 +1,212 @@
+//
+// 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) 2008-2021 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 PXC_NPTHREADCONTEXT_H
+#define PXC_NPTHREADCONTEXT_H
+
+#include "geometry/PxGeometry.h"
+#include "geomutils/GuContactBuffer.h"
+
+#include "PxvConfig.h"
+#include "CmScaling.h"
+#include "CmRenderOutput.h"
+#include "PxcNpCacheStreamPair.h"
+#include "PxcConstraintBlockStream.h"
+#include "PxcThreadCoherentCache.h"
+#include "CmBitMap.h"
+#include "../pcm/GuPersistentContactManifold.h"
+
+namespace physx
+{
+
+class PxsTransformCache;
+class PxsMaterialManager;
+
+namespace Sc
+{
+	class BodySim;
+}
+   
+/*!
+Per-thread context used by contact generation routines.
+*/
+
+struct PxcDataStreamPool
+{
+	PxU8* mDataStream;
+	PxI32 mSharedDataIndex;
+	PxU32 mDataStreamSize;
+	PxU32 mSharedDataIndexGPU;
+
+	bool isOverflown()	const
+	{
+		//FD: my expectaton is that reading those variables is atomic, shared indices are non-decreasing, 
+		//so we can only get a false overflow alert because of concurrency issues, which is not a big deal as it means 
+		//it did overflow a bit later  
+		return mSharedDataIndex + mSharedDataIndexGPU >= mDataStreamSize;
+	}
+};
+
+struct PxcNpContext
+{
+	private:
+												PX_NOCOPY(PxcNpContext)
+	public:
+
+												PxcNpContext() :
+													mNpMemBlockPool			(mScratchAllocator),
+													mMeshContactMargin		(0.0f),
+													mToleranceLength		(0.0f),
+													mCreateContactStream	(false),
+													mContactStreamPool		(NULL),
+													mPatchStreamPool		(NULL),
+													mForceAndIndiceStreamPool(NULL),
+													mMaterialManager		(NULL)
+												{
+												}
+
+					PxcScratchAllocator			mScratchAllocator;
+					PxcNpMemBlockPool			mNpMemBlockPool;
+					PxReal						mMeshContactMargin;
+					PxReal						mToleranceLength;
+					Cm::RenderBuffer			mRenderBuffer;
+					bool						mCreateContactStream; // flag to enforce that contacts are stored persistently per workunit. Used for PVD.
+					PxcDataStreamPool*			mContactStreamPool;
+					PxcDataStreamPool*			mPatchStreamPool;
+					PxcDataStreamPool*			mForceAndIndiceStreamPool;
+					PxcDataStreamPool*			mConstraintWriteBackStreamPool;
+					PxsMaterialManager*			mMaterialManager;
+
+	PX_FORCE_INLINE	PxReal						getToleranceLength()		const	{ return mToleranceLength;					}
+	PX_FORCE_INLINE	void						setToleranceLength(PxReal x)		{ mToleranceLength = x;						}
+	PX_FORCE_INLINE	PxReal						getMeshContactMargin()		const	{ return mMeshContactMargin;				}
+	PX_FORCE_INLINE	void						setMeshContactMargin(PxReal x)		{ mMeshContactMargin = x;					}
+	PX_FORCE_INLINE	bool						getCreateContactStream()			{ return mCreateContactStream;				}
+
+	PX_FORCE_INLINE	PxcNpMemBlockPool&			getNpMemBlockPool()					{ return mNpMemBlockPool;					}
+	PX_FORCE_INLINE	const PxcNpMemBlockPool&	getNpMemBlockPool()			const	{ return mNpMemBlockPool;					}
+	PX_FORCE_INLINE void						setMaterialManager(PxsMaterialManager* m){ mMaterialManager = m;				}
+	PX_FORCE_INLINE PxsMaterialManager*			getMaterialManager() const			{ return mMaterialManager;					}
+
+					Cm::RenderOutput			getRenderOutput()					{ return Cm::RenderOutput(mRenderBuffer);	}
+};
+
+class PxcNpThreadContext : public PxcThreadCoherentCache<PxcNpThreadContext, PxcNpContext>::EntryBase
+{
+												PX_NOCOPY(PxcNpThreadContext)
+public:
+												PxcNpThreadContext(PxcNpContext* params);
+												~PxcNpThreadContext();
+
+#if PX_ENABLE_SIM_STATS
+					void						clearStats();
+#endif
+
+	PX_FORCE_INLINE void						setCreateContactStream(bool to)					{ mCreateContactStream = to;				}
+
+	PX_FORCE_INLINE void						addLocalNewTouchCount(PxU32 newTouchCMCount)	{ mLocalNewTouchCount += newTouchCMCount;	}
+	PX_FORCE_INLINE void						addLocalLostTouchCount(PxU32 lostTouchCMCount)	{ mLocalLostTouchCount += lostTouchCMCount;	}
+	PX_FORCE_INLINE PxU32						getLocalNewTouchCount()					const	{ return mLocalNewTouchCount;				}
+	PX_FORCE_INLINE PxU32						getLocalLostTouchCount()				const	{ return mLocalLostTouchCount;				}
+
+	PX_FORCE_INLINE void						addLocalFoundPatchCount(PxU32 foundPatchCount)	{ mLocalFoundPatchCount += foundPatchCount;	}
+	PX_FORCE_INLINE void						addLocalLostPatchCount(PxU32 lostPatchCount)	{ mLocalLostPatchCount += lostPatchCount;	}
+	PX_FORCE_INLINE PxU32						getLocalFoundPatchCount()				const	{ return mLocalFoundPatchCount;				}
+	PX_FORCE_INLINE PxU32						getLocalLostPatchCount()				const	{ return mLocalLostPatchCount;				}
+
+	PX_FORCE_INLINE Cm::BitMap&					getLocalChangeTouch()							{ return mLocalChangeTouch;					}
+
+	PX_FORCE_INLINE Cm::BitMap&					getLocalPatchChangeMap()						{ return mLocalPatchCountChange;			}
+
+	void										reset(PxU32 cmCount);
+	// debugging
+					Cm::RenderOutput 			mRenderOutput;
+
+	// dsequeira: Need to think about this block pool allocation a bit more. Ideally we'd be 
+	// taking blocks from a single pool, except that we want to be able to selectively reclaim
+	// blocks if the user needs to defragment, depending on which artifacts they're willing
+	// to tolerate, such that the blocks we don't reclaim are contiguous.
+#if PX_ENABLE_SIM_STATS
+					PxU32						mDiscreteContactPairs	[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT];
+					PxU32						mModifiedContactPairs	[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT];
+#endif
+					PxcContactBlockStream 		mContactBlockStream;		// constraint block pool
+					PxcNpCacheStreamPair		mNpCacheStreamPair;			// narrow phase pairwise data cache
+
+	// Everything below here is scratch state. Most of it can even overlap.
+
+	// temporary contact buffer
+					Gu::ContactBuffer			mContactBuffer;    
+
+	PX_ALIGN(16, Gu::MultiplePersistentContactManifold		mTempManifold); 
+
+					Gu::NarrowPhaseParams		mNarrowPhaseParams;
+
+	// DS: this stuff got moved here from the PxcNpPairContext. As Pierre says:
+	////////// PT: those members shouldn't be there in the end, it's not necessary
+					Ps::Array<Sc::BodySim*>		mBodySimPool;
+					PxsTransformCache*			mTransformCache;
+					PxReal*						mContactDistance;
+					bool						mPCM;
+					bool						mContactCache;
+					bool						mCreateContactStream;	// flag to enforce that contacts are stored persistently per workunit. Used for PVD.
+					bool						mCreateAveragePoint;	// flag to enforce whether we create average points
+#if PX_ENABLE_SIM_STATS
+					PxU32						mCompressedCacheSize;
+					PxU32						mNbDiscreteContactPairsWithCacheHits;
+					PxU32						mNbDiscreteContactPairsWithContacts;
+#endif
+					PxReal						mDt; // AP: still needed for ccd
+					PxU32						mCCDPass;
+					PxU32						mCCDFaceIndex;
+
+					PxU32						mMaxPatches;
+					//PxU32						mTotalContactCount;
+					PxU32						mTotalCompressedCacheSize;
+					//PxU32						mTotalPatchCount;
+
+					PxcDataStreamPool*			mContactStreamPool;
+					PxcDataStreamPool*			mPatchStreamPool;
+					PxcDataStreamPool*			mForceAndIndiceStreamPool; //this stream is used to store the force buffer and triangle index if we are performing mesh/heightfield contact gen
+					PxcDataStreamPool*			mConstraintWriteBackStreamPool;
+					PxsMaterialManager*			mMaterialManager;
+private:
+		// change touch handling.
+					Cm::BitMap					mLocalChangeTouch;
+					Cm::BitMap					mLocalPatchCountChange;
+					PxU32						mLocalNewTouchCount;
+					PxU32						mLocalLostTouchCount;
+					PxU32						mLocalFoundPatchCount;
+					PxU32						mLocalLostPatchCount;
+};
+
+}
+
+#endif

physx/source/lowlevel/common/include/pipeline/PxcNpWorkUnit.h

@@ -0,0 +1,155 @@
+//
+// 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) 2008-2021 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 PXC_NPWORKUNIT_H
+#define PXC_NPWORKUNIT_H
+
+#include "PxcNpThreadContext.h"
+#include "PxcMaterialMethodImpl.h"
+#include "PxcNpCache.h"
+
+namespace physx
+{
+struct PxsRigidCore;
+struct PxsShapeCore;
+
+struct PxcNpWorkUnitFlag
+{
+	enum Enum
+	{
+		eOUTPUT_CONTACTS			= 1,
+		eOUTPUT_CONSTRAINTS			= 2,
+		eDISABLE_STRONG_FRICTION	= 4,
+		eARTICULATION_BODY0			= 8,
+		eARTICULATION_BODY1			= 16,
+		eDYNAMIC_BODY0				= 32,
+		eDYNAMIC_BODY1				= 64,
+		eMODIFIABLE_CONTACT			= 128,
+		eFORCE_THRESHOLD			= 256,
+		eDETECT_DISCRETE_CONTACT	= 512,
+		eHAS_KINEMATIC_ACTOR		= 1024,
+		eDISABLE_RESPONSE			= 2048,
+		eDETECT_CCD_CONTACTS		= 4096
+	};
+};
+
+struct PxcNpWorkUnitStatusFlag
+{
+	enum Enum
+	{
+		eHAS_NO_TOUCH				= (1 << 0),
+		eHAS_TOUCH					= (1 << 1),
+		//eHAS_SOLVER_CONSTRAINTS		= (1 << 2),
+		eREQUEST_CONSTRAINTS		= (1 << 3),
+		eHAS_CCD_RETOUCH			= (1 << 4),	// Marks pairs that are touching at a CCD pass and were touching at discrete collision or at a previous CCD pass already
+												// but we can not tell whether they lost contact in a pass before. We send them as pure eNOTIFY_TOUCH_CCD events to the 
+												// contact report callback if requested.
+		eDIRTY_MANAGER				= (1 << 5),
+		eREFRESHED_WITH_TOUCH		= (1 << 6),
+		eTOUCH_KNOWN				= eHAS_NO_TOUCH | eHAS_TOUCH	// The touch status is known (if narrowphase never ran for a pair then no flag will be set)
+	};
+};
+
+// PT: TODO: fix the inconsistent namings (mXXX) in this class
+struct PxcNpWorkUnit
+{
+	const PxsRigidCore*	rigidCore0;					// INPUT								//4		//8
+	const PxsRigidCore*	rigidCore1;					// INPUT								//8		//16
+		
+	const PxsShapeCore*	shapeCore0;					// INPUT								//12	//24
+	const PxsShapeCore*	shapeCore1;					// INPUT								//16	//32
+
+	PxU8*				ccdContacts;				// OUTPUT								//20	//40
+
+	PxU8*				frictionDataPtr;			// INOUT								//24	//48
+
+	PxU16				flags;						// INPUT								//26	//50
+	PxU8				frictionPatchCount;			// INOUT 								//27	//51
+	PxU8				statusFlags;				// OUTPUT (see PxcNpWorkUnitStatusFlag) //28	//52
+
+	PxU8				dominance0;					// INPUT								//29	//53
+	PxU8				dominance1;					// INPUT								//30	//54
+	PxU8				geomType0;					// INPUT								//31	//55
+	PxU8				geomType1;					// INPUT								//32	//56
+
+	PxU32				index;						// INPUT								//36	//60
+
+	PxReal				restDistance;				// INPUT								//40	//64
+
+	PxU32				mTransformCache0;			//										//44	//68
+	PxU32				mTransformCache1;			//										//48	//72
+	
+	PxU32				mEdgeIndex;					//inout the island gen edge index		//52	//76
+	PxU32				mNpIndex;					//INPUT									//56	//80
+
+	PxReal				mTorsionalPatchRadius;												//60	//84
+	PxReal				mMinTorsionalPatchRadius;											//64	//88
+};
+
+/*
+ * A struct to record the number of work units a particular constraint pointer references.
+ * This is created at the beginning of the constriant data and is used to bypass constraint preparation when the 
+ * bodies are not moving a lot. In this case, we can recycle the constraints and save ourselves some cycles.
+*/
+struct PxcNpWorkUnitBatch
+{
+	PxcNpWorkUnit*	mUnits[4];
+	PxU32			mSize;
+};
+
+//#if !defined(PX_P64)
+//PX_COMPILE_TIME_ASSERT(0 == (sizeof(PxcNpWorkUnit) & 0x0f));
+//#endif
+
+PX_FORCE_INLINE void PxcNpWorkUnitClearContactState(PxcNpWorkUnit& n)
+{
+	n.ccdContacts = NULL;
+}
+
+PX_FORCE_INLINE void PxcNpWorkUnitClearCachedState(PxcNpWorkUnit& n)
+{
+	n.frictionDataPtr = 0;
+	n.frictionPatchCount = 0;
+	n.ccdContacts = NULL;
+}
+
+PX_FORCE_INLINE void PxcNpWorkUnitClearFrictionCachedState(PxcNpWorkUnit& n)
+{
+	n.frictionDataPtr = 0;
+	n.frictionPatchCount = 0;
+	n.ccdContacts = NULL;
+}
+
+#if !defined(PX_P64)
+//PX_COMPILE_TIME_ASSERT(sizeof(PxcNpWorkUnit)==128);
+#endif
+}
+
+#endif