void NpArticulation::release()
{
NP_WRITE_CHECK(getOwnerScene());
NpPhysics::getInstance().notifyDeletionListenersUserRelease(this, userData);
//!!!AL TODO: Order should not matter in this case. Optimize by having a path which does not restrict release to leaf links or
// by using a more advanced data structure
PxU32 idx = 0;
while(mArticulationLinks.size())
{
idx = idx % mArticulationLinks.size();
if (mArticulationLinks[idx]->getNbChildren() == 0)
{
mArticulationLinks[idx]->releaseInternal(); // deletes joint, link and removes link from list
}
else
{
idx++;
}
}
NpScene* npScene = getAPIScene();
if(npScene)
{
npScene->getScene().removeArticulation(getArticulation());
npScene->removeFromArticulationList(*this);
}
mArticulationLinks.clear();
mArticulation.destroy();
}
void VisualDebugger::sendEntireSDK()
{
NpPhysics& npPhysics = NpPhysics::getInstance();
mPvdConnection->createInstance( (PxPhysics*)&npPhysics );
npPhysics.getPvdConnectionManager()->setIsTopLevelUIElement( &npPhysics, true );
mMetaDataBinding.sendAllProperties( *mPvdConnection, npPhysics );
#define SEND_BUFFER_GROUP( type, name ) { \
Ps::Array<type*> buffers; \
PxU32 numBuffers = npPhysics.getNb##name(); \
buffers.resize(numBuffers); \
npPhysics.get##name(buffers.begin(), numBuffers); \
for(PxU32 i = 0; i < numBuffers; i++) \
increaseReference(buffers[i]); \
}
SEND_BUFFER_GROUP( PxMaterial, Materials );
SEND_BUFFER_GROUP( PxTriangleMesh, TriangleMeshes );
SEND_BUFFER_GROUP( PxConvexMesh, ConvexMeshes );
SEND_BUFFER_GROUP( PxHeightField, HeightFields );
#if PX_USE_CLOTH_API
SEND_BUFFER_GROUP( PxClothFabric, ClothFabrics );
#endif
mPvdConnection->flush();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
scbScene.getSceneVisualDebugger().sendEntireScene();
}
}
void NpConstraint::setConstraintFunctions(PxConstraintConnector& n, const PxConstraintShaderTable& shaders)
{
mConstraint.getScConstraint().setConstraintFunctions(n, shaders);
//update mConnectorArray, since mActor0 or mActor1 should be in external reference
bool bNeedUpdate = false;
if(mActor0)
{
NpActor& npActor = NpActor::getFromPxActor(*mActor0);
if(npActor.findConnector(NpConnectorType::eConstraint, this) == 0xffffffff)
{
bNeedUpdate = true;
npActor.addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 0: Constraint already added");
}
}
if(mActor1)
{
NpActor& npActor = NpActor::getFromPxActor(*mActor1);
if(npActor.findConnector(NpConnectorType::eConstraint, this) == 0xffffffff)
{
bNeedUpdate = true;
npActor.addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 1: Constraint already added");
}
}
if(bNeedUpdate)
{
NpScene* newScene = getSceneFromActors(mActor0, mActor1);
NpScene* oldScene = getNpScene();
if (oldScene != newScene)
{
if (oldScene)
{
oldScene->removeFromConstraintList(*this);
oldScene->getScene().removeConstraint(getScbConstraint());
}
if (newScene)
{
newScene->addToConstraintList(*this);
newScene->getScene().addConstraint(getScbConstraint());
}
}
}
}
void NpConstraint::setActors(PxRigidActor* actor0, PxRigidActor* actor1)
{
NP_WRITE_CHECK(getNpScene());
PX_CHECK_AND_RETURN((actor0 && !actor0->is<PxRigidStatic>()) || (actor1 && !actor1->is<PxRigidStatic>()), "PxConstraint: at least one actor must be non-static");
PX_SIMD_GUARD;
if(mActor0)
NpActor::getFromPxActor(*mActor0).removeConnector(*mActor0, NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 0: Constraint already added");
if(mActor1)
NpActor::getFromPxActor(*mActor1).removeConnector(*mActor1, NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 1: Constraint already added");
if(actor0)
NpActor::getFromPxActor(*actor0).addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 0: Constraint already added");
if(actor1)
NpActor::getFromPxActor(*actor1).addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 1: Constraint already added");
mActor0 = actor0;
mActor1 = actor1;
NpScene* newScene = getSceneFromActors(actor0, actor1);
NpScene* oldScene = getNpScene();
if (oldScene != newScene)
{
if (oldScene)
{
oldScene->removeFromConstraintList(*this);
oldScene->getScene().removeConstraint(getScbConstraint());
}
getScbConstraint().setBodies(getScbRigidObject(actor0), getScbRigidObject(actor1));
if (newScene)
{
newScene->addToConstraintList(*this);
newScene->getScene().addConstraint(getScbConstraint());
}
}
else
getScbConstraint().setBodies(getScbRigidObject(actor0), getScbRigidObject(actor1));
}
void VisualDebugger::updateScenesPvdConnection()
{
NpPhysics& npPhysics = NpPhysics::getInstance();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
setupSceneConnection(scbScene);
}
}
void VisualDebugger::updateScenesPvdConnection()
{
NpPhysics& npPhysics = NpPhysics::getInstance();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
setupSceneConnection(scbScene);
npScene->getSingleSqCollector().clearGeometryArrays();
npScene->getBatchedSqCollector().clearGeometryArrays();
}
}
void VisualDebugger::setCreateContactReports(bool value)
{
if ( isConnected() )
{
NpPhysics& npPhysics = NpPhysics::getInstance();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
scbScene.getSceneVisualDebugger().setCreateContactReports(value);
}
}
}
PxScene* NpPhysics::createScene(const PxSceneDesc& desc)
{
PX_CHECK_AND_RETURN_NULL(desc.isValid(), "Physics::createScene: desc.isValid() is false!");
const PxTolerancesScale& scale = mPhysics.getTolerancesScale();
const PxTolerancesScale& descScale = desc.getTolerancesScale();
PX_UNUSED(scale);
PX_UNUSED(descScale);
PX_CHECK_AND_RETURN_NULL((descScale.length == scale.length) && (descScale.mass == scale.mass) && (descScale.speed == scale.speed), "Physics::createScene: PxTolerancesScale must be the same as used for creation of PxPhysics!");
Ps::Mutex::ScopedLock lock(mSceneAndMaterialMutex); // done here because scene constructor accesses profiling manager of the SDK
NpScene* npScene = PX_NEW (NpScene)(desc);
if(!npScene)
{
Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "Unable to create scene.");
return NULL;
}
if(!npScene->getTaskManager())
{
Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "Unable to create scene. Task manager creation failed.");
return NULL;
}
npScene->loadFromDesc(desc);
#if PX_SUPPORT_PVD
if(mPvd)
{
npScene->mScene.getScenePvdClient().setPsPvd(mPvd);
mPvd->addClient(&npScene->mScene.getScenePvdClient());
}
#endif
if (!sendMaterialTable(*npScene) || !npScene->getScene().isValid())
{
PX_DELETE(npScene);
Ps::getFoundation().error(PxErrorCode::eOUT_OF_MEMORY, __FILE__, __LINE__, "Unable to create scene.");
return NULL;
}
mSceneArray.pushBack(npScene);
return npScene;
}
void NpConstraint::release()
{
NpScene* npScene = getNpScene();
NP_WRITE_CHECK(npScene);
NpPhysics::getInstance().notifyDeletionListenersUserRelease(this, NULL);
if(mActor0)
NpActor::getFromPxActor(*mActor0).removeConnector(*mActor0, NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 0: Constraint already added");
if(mActor1)
NpActor::getFromPxActor(*mActor1).removeConnector(*mActor1, NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 1: Constraint already added");
if (npScene)
{
npScene->removeFromConstraintList(*this);
npScene->getScene().removeConstraint(getScbConstraint());
}
mConstraint.destroy();
}
void NpArticulationLink::releaseInternal()
{
NpPhysics::getInstance().notifyDeletionListenersUserRelease(this, userData);
NpArticulationLinkT::release();
mRoot->removeLinkFromList(*this);
if (mParent)
mParent->removeFromChildList(*this);
if (mInboundJoint)
mInboundJoint->release();
NpScene* npScene = NpActor::getAPIScene(*this);
if (npScene)
npScene->getScene().removeActor(mBody, true, false);
mBody.destroy();
}
void VisualDebugger::sendEntireSDK()
{
PVD::PvdCommLayerError error;
error = mPvdConnection->beginFrame();
NpPhysics& npPhysics = NpPhysics::getInstance();
error = mPvdConnection->createInstance(PvdClassKeys::PhysicsSDK+1, PX_PROFILE_POINTER_TO_U64(&npPhysics), PVD::EInstanceUIFlags::TopLevel);
mMetaDataBinding.sendAllProperties( mPvdConnection, &npPhysics );
createGroups();
#define SEND_BUFFER_GROUP( type, name ) { \
Ps::Array<type*> buffers; \
PxU32 numBuffers = npPhysics.getNb##name(); \
buffers.resize(numBuffers); \
npPhysics.get##name(buffers.begin(), numBuffers); \
for(PxU32 i = 0; i < numBuffers; i++) \
increaseReference(buffers[i]); \
}
SEND_BUFFER_GROUP( PxTriangleMesh, TriangleMeshes );
SEND_BUFFER_GROUP( PxConvexMesh, ConvexMeshes );
SEND_BUFFER_GROUP( PxHeightField, HeightFields );
SEND_BUFFER_GROUP( PxHeightField, HeightFields );
//Ensure that all the instances and class descriptions created so far
//are available to the rest of the system.
error = mPvdConnection->flush();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
scbScene.getSceneVisualDebugger().sendEntireScene();
}
error = mPvdConnection->endFrame();
error = mPvdConnection->flush();
}
NpConstraint::NpConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize)
: PxConstraint(PxConcreteType::eCONSTRAINT, PxBaseFlag::eOWNS_MEMORY)
, mActor0 (actor0)
, mActor1 (actor1)
, mConstraint (connector, shaders, dataSize)
, mIsDirty (true)
{
mConstraint.setFlags(shaders.flag);
if(actor0)
NpActor::getFromPxActor(*actor0).addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 0: Constraint already added");
if(actor1)
NpActor::getFromPxActor(*actor1).addConnector(NpConnectorType::eConstraint, this, "PxConstraint: Add to rigid actor 1: Constraint already added");
NpScene* s = getSceneFromActors(actor0, actor1);
if (s)
{
s->addToConstraintList(*this);
s->getScene().addConstraint(mConstraint);
}
}
void VisualDebugger::setVisualDebuggerFlag(PxVisualDebuggerFlags::Enum flag, bool value)
{
if(value)
mFlags |= PxU32(flag);
else
mFlags &= ~PxU32(flag);
//This has been a bug against the debugger for some time,
//changing this flag doesn't always change the sending-contact-reports behavior.
if ( flag == PxVisualDebuggerFlags::eTRANSMIT_CONTACTS )
{
if ( isConnected() )
{
NpPhysics& npPhysics = NpPhysics::getInstance();
PxU32 numScenes = npPhysics.getNbScenes();
for(PxU32 i = 0; i < numScenes; i++)
{
NpScene* npScene = npPhysics.getScene(i);
Scb::Scene& scbScene = npScene->getScene();
scbScene.getSceneVisualDebugger().setCreateContactReports(value);
}
}
}
}
PxScene* NpPhysics::createScene(const PxSceneDesc& desc)
{
PX_CHECK_AND_RETURN_NULL(desc.isValid(), "Physics::createScene: desc.isValid() is false!");
const PxTolerancesScale& scale = mPhysics.getTolerancesScale();
const PxTolerancesScale& descScale = desc.getTolerancesScale();
PX_UNUSED(scale);
PX_UNUSED(descScale);
PX_CHECK_AND_RETURN_NULL((descScale.length == scale.length) && (descScale.mass == scale.mass) && (descScale.speed == scale.speed), "Physics::createScene: PxTolerancesScale must be the same as used for creation of PxPhysics!");
Ps::Mutex::ScopedLock lock(mSceneAndMaterialMutex); // done here because scene constructor accesses profiling manager of the SDK
NpScene* npScene = PX_NEW (NpScene)(desc);
if(!npScene)
{
Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "Unable to create scene.");
return NULL;
}
if(!npScene->getTaskManager())
{
Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "Unable to create scene. Task manager creation failed.");
return NULL;
}
npScene->loadFromDesc(desc);
#if PX_SUPPORT_VISUAL_DEBUGGER
if(mVisualDebugger->isConnected(true))
{
mVisualDebugger->setupSceneConnection(npScene->getScene());
npScene->getScene().getSceneVisualDebugger().sendEntireScene();
}
#endif
#ifdef PX_PS3
for(PxU32 i=0;i<CmPS3ConfigInternal::SCENE_PARAM_SPU_MAX;i++)
{
npScene->getScene().setSceneParamInt((PxPS3ConfigParam::Enum)i, g_iPhysXSPUCount);
}
const PxU32 numFrictionBlocks = desc.nbContactDataBlocks/8;
const PxU32 numNpCacheBlocks = desc.nbContactDataBlocks/8;
const PxU32 numContactStreamBlocks = desc.nbContactDataBlocks/16;
const PxU32 numConstraintBlocks = desc.nbContactDataBlocks - (numFrictionBlocks + numContactStreamBlocks + numNpCacheBlocks);
npScene->getScene().setSceneParamInt(PxPS3ConfigParam::eMEM_CONSTRAINT_BLOCKS, numConstraintBlocks);
npScene->getScene().setSceneParamInt(PxPS3ConfigParam::eMEM_FRICTION_BLOCKS, numFrictionBlocks);
npScene->getScene().setSceneParamInt(PxPS3ConfigParam::eMEM_CONTACT_STREAM_BLOCKS, numContactStreamBlocks);
npScene->getScene().setSceneParamInt(PxPS3ConfigParam::eMEM_NP_CACHE_BLOCKS, numNpCacheBlocks);
#endif
if (!sendMaterialTable(*npScene) || !npScene->getScene().isValid())
{
PX_DELETE(npScene);
Ps::getFoundation().error(PxErrorCode::eOUT_OF_MEMORY, __FILE__, __LINE__, "Unable to create scene.");
return NULL;
}
mSceneArray.pushBack(npScene);
return npScene;
}
