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physx/source/scenequery/src/SqPruningStructure.cpp Normal file
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//
// 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.
#include "SqPruningStructure.h"
#include "SqAABBPruner.h"
#include "SqAABBTree.h"
#include "SqBounds.h"
#include "NpRigidDynamic.h"
#include "NpRigidStatic.h"
#include "NpShape.h"
#include "GuBounds.h"
#include "CmTransformUtils.h"
#include "CmUtils.h"
#include "ScbShape.h"
using namespace physx;
using namespace Sq;
using namespace Gu;
//////////////////////////////////////////////////////////////////////////
#define NB_OBJECTS_PER_NODE 4
//////////////////////////////////////////////////////////////////////////
PruningStructure::PruningStructure(PxBaseFlags baseFlags)
: PxPruningStructure(baseFlags)
{
}
//////////////////////////////////////////////////////////////////////////
PruningStructure::PruningStructure()
: PxPruningStructure(PxConcreteType::ePRUNING_STRUCTURE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE),
mNbActors(0), mActors(0), mValid(true)
{
for (PxU32 i = 0; i < 2; i++)
{
mNbNodes[i] = 0;
mNbObjects[i] = 0;
mAABBTreeIndices[i] = NULL;
mAABBTreeNodes[i] = NULL;
}
}
//////////////////////////////////////////////////////////////////////////
PruningStructure::~PruningStructure()
{
if(getBaseFlags() & PxBaseFlag::eOWNS_MEMORY)
{
for (PxU32 i = 0; i < 2; i++)
{
if(mAABBTreeIndices[i])
{
PX_FREE(mAABBTreeIndices[i]);
}
if (mAABBTreeNodes[i])
{
PX_FREE(mAABBTreeNodes[i]);
}
}
if(mActors)
{
PX_FREE(mActors);
}
}
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::release()
{
// if we release the pruning structure we set the pruner structure to NUUL
for (PxU32 i = 0; i < mNbActors; i++)
{
PX_ASSERT(mActors[i]);
PxType type = mActors[i]->getConcreteType();
if (type == PxConcreteType::eRIGID_STATIC)
{
static_cast<NpRigidStatic*>(mActors[i])->getShapeManager().setPruningStructure(NULL);
}
else if (type == PxConcreteType::eRIGID_DYNAMIC)
{
static_cast<NpRigidDynamic*>(mActors[i])->getShapeManager().setPruningStructure(NULL);
}
}
if(getBaseFlags() & PxBaseFlag::eOWNS_MEMORY)
{
delete this;
}
else
{
this->~PruningStructure();
}
}
template <typename ActorType>
static void getShapeBounds(PxRigidActor* actor, bool dynamic, PxBounds3* bounds, PxU32& numShapes)
{
PruningIndex::Enum treeStructure = dynamic ? PruningIndex::eDYNAMIC : PruningIndex::eSTATIC;
ActorType& a = *static_cast<ActorType*>(actor);
const PxU32 nbShapes = a.getNbShapes();
for (PxU32 iShape = 0; iShape < nbShapes; iShape++)
{
NpShape* shape = a.getShapeManager().getShapes()[iShape];
if (shape->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
{
const Scb::Shape& scbShape = shape->getScbShape();
const Scb::Actor& scbActor = a.getScbActorFast();
(gComputeBoundsTable[treeStructure])(*bounds, scbShape, scbActor);
bounds++;
numShapes++;
}
}
}
//////////////////////////////////////////////////////////////////////////
bool PruningStructure::build(PxRigidActor*const* actors, PxU32 nbActors)
{
PX_ASSERT(actors);
PX_ASSERT(nbActors > 0);
PxU32 numShapes[2] = { 0, 0 };
// parse the actors first to get the shapes size
for (PxU32 actorsDone = 0; actorsDone < nbActors; actorsDone++)
{
if (actorsDone + 1 < nbActors)
Ps::prefetch(actors[actorsDone + 1], sizeof(NpRigidDynamic)); // worst case: PxRigidStatic is smaller
PxType type = actors[actorsDone]->getConcreteType();
const PxRigidActor& actor = *(actors[actorsDone]);
Scb::ControlState::Enum cs = NpActor::getScbFromPxActor(actor).getControlState();
if (!((cs == Scb::ControlState::eNOT_IN_SCENE) || ((cs == Scb::ControlState::eREMOVE_PENDING))))
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "PrunerStructure::build: Actor already assigned to a scene!");
return false;
}
const PxU32 nbShapes = actor.getNbShapes();
bool hasQueryShape = false;
for (PxU32 iShape = 0; iShape < nbShapes; iShape++)
{
PxShape* shape;
actor.getShapes(&shape, 1, iShape);
if(shape->getFlags() & PxShapeFlag::eSCENE_QUERY_SHAPE)
{
hasQueryShape = true;
if (type == PxConcreteType::eRIGID_STATIC)
numShapes[PruningIndex::eSTATIC]++;
else
numShapes[PruningIndex::eDYNAMIC]++;
}
}
// each provided actor must have a query shape
if(!hasQueryShape)
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "PrunerStructure::build: Provided actor has no scene query shape!");
return false;
}
if (type == PxConcreteType::eRIGID_STATIC)
{
NpRigidStatic* rs = static_cast<NpRigidStatic*>(actors[actorsDone]);
if(rs->getShapeManager().getPruningStructure())
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "PrunerStructure::build: Provided actor has already a pruning structure!");
return false;
}
rs->getShapeManager().setPruningStructure(this);
}
else if (type == PxConcreteType::eRIGID_DYNAMIC)
{
NpRigidDynamic* rd = static_cast<NpRigidDynamic*>(actors[actorsDone]);
if (rd->getShapeManager().getPruningStructure())
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "PrunerStructure::build: Provided actor has already a pruning structure!");
return false;
}
rd->getShapeManager().setPruningStructure(this);
}
else
{
Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__, "PrunerStructure::build: Provided actor is not a rigid actor!");
return false;
}
}
PxBounds3* bounds[2] = { NULL, NULL };
for (PxU32 i = 0; i < 2; i++)
{
if(numShapes[i])
{
bounds[i] = reinterpret_cast<PxBounds3*>(PX_ALLOC(sizeof(PxBounds3)*(numShapes[i] + 1), "Pruner bounds"));
}
}
// now I go again and gather bounds and payload
numShapes[PruningIndex::eSTATIC] = 0;
numShapes[PruningIndex::eDYNAMIC] = 0;
for (PxU32 actorsDone = 0; actorsDone < nbActors; actorsDone++)
{
PxType type = actors[actorsDone]->getConcreteType();
if (type == PxConcreteType::eRIGID_STATIC)
{
getShapeBounds<NpRigidStatic>(actors[actorsDone], false,
&bounds[PruningIndex::eSTATIC][numShapes[PruningIndex::eSTATIC]], numShapes[PruningIndex::eSTATIC]);
}
else if (type == PxConcreteType::eRIGID_DYNAMIC)
{
getShapeBounds<NpRigidDynamic>(actors[actorsDone], true,
&bounds[PruningIndex::eDYNAMIC][numShapes[PruningIndex::eDYNAMIC]], numShapes[PruningIndex::eDYNAMIC]);
}
}
AABBTree aabbTrees[2];
for (PxU32 i = 0; i < 2; i++)
{
mNbObjects[i] = numShapes[i];
if (numShapes[i])
{
// create the AABB tree
AABBTreeBuildParams sTB;
sTB.mNbPrimitives = numShapes[i];
sTB.mAABBArray = bounds[i];
sTB.mLimit = NB_OBJECTS_PER_NODE;
bool status = aabbTrees[i].build(sTB);
PX_UNUSED(status);
PX_ASSERT(status);
// store the tree nodes
mNbNodes[i] = aabbTrees[i].getNbNodes();
mAABBTreeNodes[i] = reinterpret_cast<AABBTreeRuntimeNode*>(PX_ALLOC(sizeof(AABBTreeRuntimeNode)*mNbNodes[i], "AABBTreeRuntimeNode"));
PxMemCopy(mAABBTreeNodes[i], aabbTrees[i].getNodes(), sizeof(AABBTreeRuntimeNode)*mNbNodes[i]);
mAABBTreeIndices[i] = reinterpret_cast<PxU32*>(PX_ALLOC(sizeof(PxU32)*mNbObjects[i], "PxU32"));
PxMemCopy(mAABBTreeIndices[i], aabbTrees[i].getIndices(), sizeof(PxU32)*mNbObjects[i]);
// discard the data
PX_FREE(bounds[i]);
}
}
// store the actors for verification and serialization
mNbActors = nbActors;
mActors = reinterpret_cast<PxActor**>(PX_ALLOC(sizeof(PxActor*)*mNbActors, "PxActor*"));
PxMemCopy(mActors, actors, sizeof(PxActor*)*mNbActors);
return true;
}
//////////////////////////////////////////////////////////////////////////
PruningStructure* PruningStructure::createObject(PxU8*& address, PxDeserializationContext& context)
{
PruningStructure* obj = new (address)PruningStructure(PxBaseFlag::eIS_RELEASABLE);
address += sizeof(PruningStructure);
obj->importExtraData(context);
obj->resolveReferences(context);
return obj;
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::resolveReferences(PxDeserializationContext& context)
{
if (!isValid())
return;
for (PxU32 i = 0; i < mNbActors; i++)
{
context.translatePxBase(mActors[i]);
}
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::requiresObjects(PxProcessPxBaseCallback& c)
{
if (!isValid())
return;
for (PxU32 i = 0; i < mNbActors; i++)
{
c.process(*mActors[i]);
}
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::exportExtraData(PxSerializationContext& stream)
{
if (!isValid())
{
Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PrunerStructure::exportExtraData: Pruning structure is invalid!");
return;
}
for (PxU32 i = 0; i < 2; i++)
{
if (mAABBTreeNodes[i])
{
// store nodes
stream.alignData(PX_SERIAL_ALIGN);
stream.writeData(mAABBTreeNodes[i], mNbNodes[i] * sizeof(AABBTreeRuntimeNode));
}
if(mAABBTreeIndices[i])
{
// store indices
stream.alignData(PX_SERIAL_ALIGN);
stream.writeData(mAABBTreeIndices[i], mNbObjects[i] * sizeof(PxU32));
}
}
if(mActors)
{
// store actor pointers
stream.alignData(PX_SERIAL_ALIGN);
stream.writeData(mActors, mNbActors * sizeof(PxActor*));
}
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::importExtraData(PxDeserializationContext& context)
{
if (!isValid())
{
Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PrunerStructure::importExtraData: Pruning structure is invalid!");
return;
}
for (PxU32 i = 0; i < 2; i++)
{
if (mAABBTreeNodes[i])
{
mAABBTreeNodes[i] = context.readExtraData<Sq::AABBTreeRuntimeNode, PX_SERIAL_ALIGN>(mNbNodes[i]);
}
if(mAABBTreeIndices[i])
{
mAABBTreeIndices[i] = context.readExtraData<PxU32, PX_SERIAL_ALIGN>(mNbObjects[i]);
}
}
if (mActors)
{
// read actor pointers
mActors = context.readExtraData<PxActor*, PX_SERIAL_ALIGN>(mNbActors);
}
}
//////////////////////////////////////////////////////////////////////////
PxU32 PruningStructure::getRigidActors(PxRigidActor** userBuffer, PxU32 bufferSize, PxU32 startIndex/* =0 */) const
{
if(!isValid())
{
Ps::getFoundation().error(PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__, "PrunerStructure::getRigidActors: Pruning structure is invalid!");
return 0;
}
return Cm::getArrayOfPointers(userBuffer, bufferSize, startIndex, mActors, mNbActors);
}
//////////////////////////////////////////////////////////////////////////
void PruningStructure::invalidate(PxActor* actor)
{
PX_ASSERT(actor);
// remove actor from the actor list to avoid mem corruption
// this slow, but should be called only with error msg send to user about invalid behavior
for (PxU32 i = 0; i < mNbActors; i++)
{
if(mActors[i] == actor)
{
// set pruning structure to NULL and remove the actor from the list
PxType type = mActors[i]->getConcreteType();
if (type == PxConcreteType::eRIGID_STATIC)
{
static_cast<NpRigidStatic*>(mActors[i])->getShapeManager().setPruningStructure(NULL);
}
else if (type == PxConcreteType::eRIGID_DYNAMIC)
{
static_cast<NpRigidDynamic*>(mActors[i])->getShapeManager().setPruningStructure(NULL);
}
mActors[i] = mActors[mNbActors--];
break;
}
}
mValid = false;
}