void solveContactCoulomb_BStatic(const PxSolverConstraintDesc& desc, SolverContext& /*cache*/)
{
PxSolverBody& b0 = *desc.bodyA;
Vec3V linVel0 = V3LoadA(b0.linearVelocity);
Vec3V angState0 = V3LoadA(b0.angularState);
SolverContactCoulombHeader* firstHeader = reinterpret_cast<SolverContactCoulombHeader*>(desc.constraint);
const PxU8* PX_RESTRICT last = desc.constraint + firstHeader->frictionOffset;//getConstraintLength(desc);
//hopefully pointer aliasing doesn't bite.
PxU8* PX_RESTRICT currPtr = desc.constraint;
//const FloatV zero = FZero();
while(currPtr < last)
{
SolverContactCoulombHeader* PX_RESTRICT hdr = reinterpret_cast<SolverContactCoulombHeader*>(currPtr);
currPtr += sizeof(SolverContactCoulombHeader);
const PxU32 numNormalConstr = hdr->numNormalConstr;
SolverContactPoint* PX_RESTRICT contacts = reinterpret_cast<SolverContactPoint*>(currPtr);
Ps::prefetchLine(contacts);
currPtr += numNormalConstr * sizeof(SolverContactPoint);
PxF32* appliedImpulse = reinterpret_cast<PxF32*> ((reinterpret_cast<PxU8*>(hdr)) + hdr->frictionOffset + sizeof(SolverFrictionHeader));
Ps::prefetchLine(appliedImpulse);
const Vec3V normal = hdr->getNormal();
const FloatV invMassDom0 = FLoad(hdr->dominance0);
const FloatV angD0 = FLoad(hdr->angDom0);
solveStaticContacts(contacts, numNormalConstr, normal, invMassDom0,
angD0, linVel0, angState0, appliedImpulse);
}
// Write back
V3StoreA(linVel0, b0.linearVelocity);
V3StoreA(angState0, b0.angularState);
PX_ASSERT(currPtr == last);
}
bool setupFinalizeExtSolverContactsCoulomb(
const ContactBuffer& buffer,
const CorrelationBuffer& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxU8* workspace,
PxReal invDt,
PxReal bounceThresholdF32,
const SolverExtBody& b0,
const SolverExtBody& b1,
PxU32 frictionCountPerPoint,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1,
PxReal restDist,
PxReal ccdMaxDistance)
{
// NOTE II: the friction patches are sparse (some of them have no contact patches, and
// therefore did not get written back to the cache) but the patch addresses are dense,
// corresponding to valid patches
const FloatV ccdMaxSeparation = FLoad(ccdMaxDistance);
PxU8* PX_RESTRICT ptr = workspace;
//KS - TODO - this should all be done in SIMD to avoid LHS
const PxF32 maxPenBias0 = b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b0.mBodyData->penBiasClamp : getMaxPenBias(*b0.mFsData)[b0.mLinkIndex];
const PxF32 maxPenBias1 = b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b1.mBodyData->penBiasClamp : getMaxPenBias(*b1.mFsData)[b1.mLinkIndex];
const FloatV maxPenBias = FLoad(PxMax(maxPenBias0, maxPenBias1)/invDt);
const FloatV restDistance = FLoad(restDist);
const FloatV bounceThreshold = FLoad(bounceThresholdF32);
const FloatV invDtV = FLoad(invDt);
const FloatV pt8 = FLoad(0.8f);
const FloatV invDtp8 = FMul(invDtV, pt8);
Ps::prefetchLine(c.contactID);
Ps::prefetchLine(c.contactID, 128);
const PxU32 frictionPatchCount = c.frictionPatchCount;
const PxU32 pointStride = sizeof(SolverContactPointExt);
const PxU32 frictionStride = sizeof(SolverContactFrictionExt);
const PxU8 pointHeaderType = DY_SC_TYPE_EXT_CONTACT;
const PxU8 frictionHeaderType = DY_SC_TYPE_EXT_FRICTION;
PxReal d0 = invMassScale0;
PxReal d1 = invMassScale1;
PxReal angD0 = invInertiaScale0;
PxReal angD1 = invInertiaScale1;
PxU8 flags = 0;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
const Vec3V normalV = Ps::aos::V3LoadA(contactBase0->normal);
const Vec3V normal = V3LoadA(contactBase0->normal);
const PxReal combinedRestitution = contactBase0->restitution;
SolverContactCoulombHeader* PX_RESTRICT header = reinterpret_cast<SolverContactCoulombHeader*>(ptr);
ptr += sizeof(SolverContactCoulombHeader);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
const FloatV restitution = FLoad(combinedRestitution);
header->numNormalConstr = PxU8(contactCount);
header->type = pointHeaderType;
//header->setRestitution(combinedRestitution);
header->setDominance0(d0);
header->setDominance1(d1);
header->angDom0 = angD0;
header->angDom1 = angD1;
header->flags = flags;
header->setNormal(normalV);
for(PxU32 patch=c.correlationListHeads[i];
patch!=CorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const Gu::ContactPoint* contactBase = buffer.contacts + c.contactPatches[patch].start;
PxU8* p = ptr;
for(PxU32 j=0;j<count;j++)
{
const Gu::ContactPoint& contact = contactBase[j];
SolverContactPointExt* PX_RESTRICT solverContact = reinterpret_cast<SolverContactPointExt*>(p);
p += pointStride;
setupExtSolverContact(b0, b1, d0, d1, angD0, angD1, bodyFrame0, bodyFrame1, normal, invDtV, invDtp8, restDistance, maxPenBias, restitution,
bounceThreshold, contact, *solverContact, ccdMaxSeparation);
}
ptr = p;
}
}
//construct all the frictions
PxU8* PX_RESTRICT ptr2 = workspace;
const PxF32 orthoThreshold = 0.70710678f;
const PxF32 eps = 0.00001f;
bool hasFriction = false;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
SolverContactCoulombHeader* header = reinterpret_cast<SolverContactCoulombHeader*>(ptr2);
header->frictionOffset = PxU16(ptr - ptr2);
ptr2 += sizeof(SolverContactCoulombHeader) + header->numNormalConstr * pointStride;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
PxVec3 normal = contactBase0->normal;
const PxReal staticFriction = contactBase0->staticFriction;
const bool disableStrongFriction = !!(contactBase0->materialFlags & PxMaterialFlag::eDISABLE_FRICTION);
const bool haveFriction = (disableStrongFriction == 0);
SolverFrictionHeader* frictionHeader = reinterpret_cast<SolverFrictionHeader*>(ptr);
frictionHeader->numNormalConstr = Ps::to8(c.frictionPatchContactCounts[i]);
frictionHeader->numFrictionConstr = Ps::to8(haveFriction ? c.frictionPatchContactCounts[i] * frictionCountPerPoint : 0);
frictionHeader->flags = flags;
ptr += sizeof(SolverFrictionHeader);
PxF32* forceBuffer = reinterpret_cast<PxF32*>(ptr);
ptr += frictionHeader->getAppliedForcePaddingSize(c.frictionPatchContactCounts[i]);
PxMemZero(forceBuffer, sizeof(PxF32) * c.frictionPatchContactCounts[i]);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
const PxVec3 t0Fallback1(0.f, -normal.z, normal.y);
const PxVec3 t0Fallback2(-normal.y, normal.x, 0.f) ;
const PxVec3 tFallback1 = orthoThreshold > PxAbs(normal.x) ? t0Fallback1 : t0Fallback2;
const PxVec3 vrel = b0.getLinVel() - b1.getLinVel();
const PxVec3 t0_ = vrel - normal * (normal.dot(vrel));
const PxReal sqDist = t0_.dot(t0_);
const PxVec3 tDir0 = (sqDist > eps ? t0_: tFallback1).getNormalized();
const PxVec3 tDir1 = tDir0.cross(normal);
PxVec3 tFallback[2] = {tDir0, tDir1};
PxU32 ind = 0;
if(haveFriction)
{
hasFriction = true;
frictionHeader->setStaticFriction(staticFriction);
frictionHeader->invMass0D0 = d0;
frictionHeader->invMass1D1 = d1;
frictionHeader->angDom0 = angD0;
frictionHeader->angDom1 = angD1;
frictionHeader->type = frictionHeaderType;
PxU32 totalPatchContactCount = 0;
for(PxU32 patch=c.correlationListHeads[i];
patch!=CorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const PxU32 start = c.contactPatches[patch].start;
const Gu::ContactPoint* contactBase = buffer.contacts + start;
PxU8* p = ptr;
for(PxU32 j =0; j < count; j++)
{
const Gu::ContactPoint& contact = contactBase[j];
const PxVec3 ra = contact.point - bodyFrame0.p;
const PxVec3 rb = contact.point - bodyFrame1.p;
const PxVec3 targetVel = contact.targetVel;
const PxVec3 pVRa = b0.getLinVel() + b0.getAngVel().cross(ra);
const PxVec3 pVRb = b1.getLinVel() + b1.getAngVel().cross(rb);
//const PxVec3 vrel = pVRa - pVRb;
for(PxU32 k = 0; k < frictionCountPerPoint; ++k)
{
SolverContactFrictionExt* PX_RESTRICT f0 = reinterpret_cast<SolverContactFrictionExt*>(p);
p += frictionStride;
PxVec3 t0 = tFallback[ind];
ind = 1 - ind;
PxVec3 raXn = ra.cross(t0);
PxVec3 rbXn = rb.cross(t0);
Cm::SpatialVector deltaV0, deltaV1;
const Cm::SpatialVector resp0 = createImpulseResponseVector(t0, raXn, b0);
const Cm::SpatialVector resp1 = createImpulseResponseVector(-t0, -rbXn, b1);
PxReal unitResponse = getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
b1, resp1, deltaV1, d1, angD1);
PxReal tv = targetVel.dot(t0);
if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
tv += pVRa.dot(t0);
else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
tv -= pVRb.dot(t0);
f0->setVelMultiplier(FLoad(unitResponse>0.0f ? 1.f/unitResponse : 0.0f));
f0->setRaXn(resp0.angular);
f0->setRbXn(-resp1.angular);
f0->targetVel = tv;
f0->setNormal(t0);
f0->setAppliedForce(0.0f);
f0->linDeltaVA = V3LoadA(deltaV0.linear);
f0->angDeltaVA = V3LoadA(deltaV0.angular);
f0->linDeltaVB = V3LoadA(deltaV1.linear);
f0->angDeltaVB = V3LoadA(deltaV1.angular);
}
}
totalPatchContactCount += c.contactPatches[patch].count;
ptr = p;
}
}
}
//PX_ASSERT(ptr - workspace == n.solverConstraintSize);
return hasFriction;
}
void solveFriction_BStatic(const PxcSolverConstraintDesc& desc, PxcSolverContext& /*cache*/)
{
PxcSolverBody& b0 = *desc.bodyA;
Vec3V linVel0 = V3LoadA(b0.linearVelocity);
Vec3V angVel0 = V3LoadA(b0.angularVelocity);
const PxU8* PX_RESTRICT currPtr = desc.constraint;
const PxU8* PX_RESTRICT last = currPtr + getConstraintLength(desc);
//hopefully pointer aliasing doesn't bite.
//PxVec3 l0, a0;
//PxVec3_From_Vec3V(linVel0, l0);
//PxVec3_From_Vec3V(angVel0, a0);
//PX_ASSERT(l0.isFinite());
//PX_ASSERT(a0.isFinite());
while(currPtr < last)
{
const PxcSolverFrictionHeader* PX_RESTRICT frictionHeader = (PxcSolverFrictionHeader*)currPtr;
const PxU32 numFrictionConstr = frictionHeader->numFrictionConstr;
currPtr +=sizeof(PxcSolverFrictionHeader);
PxF32* appliedImpulse = (PxF32*)currPtr;
currPtr +=frictionHeader->getAppliedForcePaddingSize();
PxcSolverFriction* PX_RESTRICT frictions = (PxcSolverFriction*)currPtr;
currPtr += numFrictionConstr * sizeof(PxcSolverFriction);
const FloatV staticFriction = frictionHeader->getStaticFriction();
for(PxU32 i=0;i<numFrictionConstr;i++)
{
PxcSolverFriction& f = frictions[i];
Ps::prefetchLine(&frictions[i+1]);
const Vec3V t0 = Vec3V_From_Vec4V(f.normalXYZ_appliedForceW);
const Vec3V raXt0 = Vec3V_From_Vec4V(f.raXnXYZ_velMultiplierW);
const FloatV appliedForce = V4GetW(f.normalXYZ_appliedForceW);
const FloatV velMultiplier = V4GetW(f.raXnXYZ_velMultiplierW);
const FloatV targetVel = V4GetW(f.rbXnXYZ_targetVelocityW);
//const FloatV normalImpulse = contacts[f.contactIndex].getAppliedForce();
const FloatV normalImpulse = FLoad(appliedImpulse[f.contactIndex]);
const FloatV maxFriction = FMul(staticFriction, normalImpulse);
const FloatV nMaxFriction = FNeg(maxFriction);
//Compute the normal velocity of the constraint.
const FloatV t0Vel1 = V3Dot(t0, linVel0);
const FloatV t0Vel2 = V3Dot(raXt0, angVel0);
//const FloatV unbiasedErr = FMul(targetVel, velMultiplier);
//const FloatV biasedErr = FMulAdd(targetVel, velMultiplier, nScaledBias);
const FloatV t0Vel = FAdd(t0Vel1, t0Vel2);
const Vec3V delAngVel0 = Vec3V_From_Vec4V(f.delAngVel0_InvMassADom);
const Vec3V delLinVel0 = V3Scale(t0, V4GetW(f.delAngVel0_InvMassADom));
// still lots to do here: using loop pipelining we can interweave this code with the
// above - the code here has a lot of stalls that we would thereby eliminate
//FloatV deltaF = FSub(scaledBias, FMul(t0Vel, velMultiplier));//FNeg(FMul(t0Vel, velMultiplier));
//FloatV deltaF = FMul(t0Vel, velMultiplier);
//FloatV newForce = FMulAdd(t0Vel, velMultiplier, appliedForce);
const FloatV tmp = FNegMulSub(targetVel,velMultiplier,appliedForce);
FloatV newForce = FMulAdd(t0Vel, velMultiplier, tmp);
newForce = FClamp(newForce, nMaxFriction, maxFriction);
const FloatV deltaF = FSub(newForce, appliedForce);
linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
angVel0 = V3ScaleAdd(delAngVel0, deltaF, angVel0);
f.setAppliedForce(newForce);
}
}
//PxVec3_From_Vec3V(linVel0, l0);
//PxVec3_From_Vec3V(angVel0, a0);
//PX_ASSERT(l0.isFinite());
//PX_ASSERT(a0.isFinite());
// Write back
V3StoreU(linVel0, b0.linearVelocity);
V3StoreU(angVel0, b0.angularVelocity);
PX_ASSERT(currPtr == last);
}
void solveContactCoulomb_BStatic(const PxcSolverConstraintDesc& desc, PxcSolverContext& /*cache*/)
{
PxcSolverBody& b0 = *desc.bodyA;
Vec3V linVel0 = V3LoadA(b0.linearVelocity);
Vec3V angVel0 = V3LoadA(b0.angularVelocity);
PxcSolverContactCoulombHeader* firstHeader = (PxcSolverContactCoulombHeader*)desc.constraint;
const PxU8* PX_RESTRICT last = desc.constraint + firstHeader->frictionOffset;//getConstraintLength(desc);
//hopefully pointer aliasing doesn't bite.
const PxU8* PX_RESTRICT currPtr = desc.constraint;
const FloatV zero = FZero();
while(currPtr < last)
{
PxcSolverContactCoulombHeader* PX_RESTRICT hdr = (PxcSolverContactCoulombHeader*)currPtr;
currPtr += sizeof(PxcSolverContactCoulombHeader);
const PxU32 numNormalConstr = hdr->numNormalConstr;
PxcSolverContact* PX_RESTRICT contacts = (PxcSolverContact*)currPtr;
Ps::prefetchLine(contacts);
currPtr += numNormalConstr * sizeof(PxcSolverContact);
PxF32* appliedImpulse = (PxF32*) (((PxU8*)hdr) + hdr->frictionOffset + sizeof(PxcSolverFrictionHeader));
Ps::prefetchLine(appliedImpulse);
const Vec3V normal = hdr->getNormal();
const FloatV invMassDom0 = FLoad(hdr->dominance0);
FloatV normalVel1 = V3Dot(normal, linVel0);
const Vec3V delLinVel0 = V3Scale(normal, invMassDom0);
FloatV accumDeltaF = zero;
//FloatV accumImpulse = zero;
for(PxU32 i=0;i<numNormalConstr;i++)
{
PxcSolverContact& c = contacts[i];
Ps::prefetchLine(&contacts[i+1]);
//const Vec4V normalXYZ_velMultiplierW = c.normalXYZ_velMultiplierW;
const Vec4V raXnXYZ_appliedForceW = c.raXnXYZ_appliedForceW;
const Vec4V rbXnXYZ_velMultiplierW = c.rbXnXYZ_velMultiplierW;
//const Vec3V normal = c.normal;
//const Vec3V normal = Vec3V_From_Vec4V(normalXYZ_velMultiplierW);
const Vec3V raXn = Vec3V_From_Vec4V(raXnXYZ_appliedForceW);
const FloatV appliedForce = V4GetW(raXnXYZ_appliedForceW);
const FloatV velMultiplier = V4GetW(rbXnXYZ_velMultiplierW);
//const FloatV velMultiplier = V4GetW(normalXYZ_velMultiplierW);
const Vec3V delAngVel0 = Vec3V_From_Vec4V(c.delAngVel0_InvMassADom);
const FloatV targetVel = c.getTargetVelocity();
const FloatV nScaledBias = FNeg(c.getScaledBias());
const FloatV maxImpulse = c.getMaxImpulse();
//Compute the normal velocity of the constraint.
//const FloatV normalVel1 = V3Dot(normal, linVel0);
const FloatV normalVel2 = V3Dot(raXn, angVel0);
const FloatV normalVel = FAdd(normalVel1, normalVel2);
//const FloatV unbiasedErr = FMul(targetVel, velMultiplier);
const FloatV biasedErr = FMulAdd(targetVel, velMultiplier, nScaledBias);
// still lots to do here: using loop pipelining we can interweave this code with the
// above - the code here has a lot of stalls that we would thereby eliminate
const FloatV _deltaF = FMax(FNegMulSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
const FloatV _newForce = FAdd(appliedForce, _deltaF);
const FloatV newForce = FMin(_newForce, maxImpulse);
const FloatV deltaF = FSub(newForce, appliedForce);
//linVel0 = V3MulAdd(delLinVel0, deltaF, linVel0);
normalVel1 = FScaleAdd(invMassDom0, deltaF, normalVel1);
angVel0 = V3ScaleAdd(delAngVel0, deltaF, angVel0);
accumDeltaF = FAdd(accumDeltaF, deltaF);
c.setAppliedForce(newForce);
Ps::aos::FStore(newForce, &appliedImpulse[i]);
Ps::prefetchLine(&appliedImpulse[i], 128);
//accumImpulse = FAdd(accumImpulse, newAppliedForce);
}
linVel0 = V3ScaleAdd(delLinVel0, accumDeltaF, linVel0);
//hdr->setAccumlatedForce(accumImpulse);
}
// Write back
V3StoreU(linVel0, b0.linearVelocity);
V3StoreU(angVel0, b0.angularVelocity);
PX_ASSERT(currPtr == last);
}
void setupFinalizeExtSolverContacts(
const ContactPoint* buffer,
const CorrelationBuffer& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxU8* workspace,
const SolverExtBody& b0,
const SolverExtBody& b1,
const PxReal invDtF32,
PxReal bounceThresholdF32,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1,
const PxReal restDist,
PxU8* frictionDataPtr,
PxReal ccdMaxContactDist)
{
// NOTE II: the friction patches are sparse (some of them have no contact patches, and
// therefore did not get written back to the cache) but the patch addresses are dense,
// corresponding to valid patches
/*const bool haveFriction = PX_IR(n.staticFriction) > 0 || PX_IR(n.dynamicFriction) > 0;*/
const FloatV ccdMaxSeparation = FLoad(ccdMaxContactDist);
PxU8* PX_RESTRICT ptr = workspace;
const FloatV zero=FZero();
//KS - TODO - this should all be done in SIMD to avoid LHS
const PxF32 maxPenBias0 = b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b0.mBodyData->penBiasClamp : getMaxPenBias(*b0.mFsData)[b0.mLinkIndex];
const PxF32 maxPenBias1 = b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b1.mBodyData->penBiasClamp : getMaxPenBias(*b1.mFsData)[b1.mLinkIndex];
const FloatV maxPenBias = FLoad(PxMax(maxPenBias0, maxPenBias1));
const PxReal d0 = invMassScale0;
const PxReal d1 = invMassScale1;
const PxReal angD0 = invInertiaScale0;
const PxReal angD1 = invInertiaScale1;
Vec4V staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = V4Zero();
staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, FLoad(d0));
staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, FLoad(d1));
const FloatV restDistance = FLoad(restDist);
PxU32 frictionPatchWritebackAddrIndex = 0;
PxU32 contactWritebackCount = 0;
Ps::prefetchLine(c.contactID);
Ps::prefetchLine(c.contactID, 128);
const FloatV invDt = FLoad(invDtF32);
const FloatV p8 = FLoad(0.8f);
const FloatV bounceThreshold = FLoad(bounceThresholdF32);
const FloatV invDtp8 = FMul(invDt, p8);
PxU8 flags = 0;
for(PxU32 i=0;i<c.frictionPatchCount;i++)
{
PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
const FrictionPatch& frictionPatch = c.frictionPatches[i];
PX_ASSERT(frictionPatch.anchorCount <= 2); //0==anchorCount is allowed if all the contacts in the manifold have a large offset.
const Gu::ContactPoint* contactBase0 = buffer + c.contactPatches[c.correlationListHeads[i]].start;
const PxReal combinedRestitution = contactBase0->restitution;
const PxReal staticFriction = contactBase0->staticFriction;
const PxReal dynamicFriction = contactBase0->dynamicFriction;
const bool disableStrongFriction = !!(contactBase0->materialFlags & PxMaterialFlag::eDISABLE_FRICTION);
staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, FLoad(staticFriction));
staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, FLoad(dynamicFriction));
SolverContactHeader* PX_RESTRICT header = reinterpret_cast<SolverContactHeader*>(ptr);
ptr += sizeof(SolverContactHeader);
Ps::prefetchLine(ptr + 128);
Ps::prefetchLine(ptr + 256);
Ps::prefetchLine(ptr + 384);
const bool haveFriction = (disableStrongFriction == 0) ;//PX_IR(n.staticFriction) > 0 || PX_IR(n.dynamicFriction) > 0;
header->numNormalConstr = Ps::to8(contactCount);
header->numFrictionConstr = Ps::to8(haveFriction ? frictionPatch.anchorCount*2 : 0);
header->type = Ps::to8(DY_SC_TYPE_EXT_CONTACT);
header->flags = flags;
const FloatV restitution = FLoad(combinedRestitution);
header->staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W = staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W;
header->angDom0 = angD0;
header->angDom1 = angD1;
const PxU32 pointStride = sizeof(SolverContactPointExt);
const PxU32 frictionStride = sizeof(SolverContactFrictionExt);
const Vec3V normal = V3LoadU(buffer[c.contactPatches[c.correlationListHeads[i]].start].normal);
header->normal = normal;
for(PxU32 patch=c.correlationListHeads[i];
patch!=CorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const Gu::ContactPoint* contactBase = buffer + c.contactPatches[patch].start;
PxU8* p = ptr;
for(PxU32 j=0;j<count;j++)
{
const Gu::ContactPoint& contact = contactBase[j];
SolverContactPointExt* PX_RESTRICT solverContact = reinterpret_cast<SolverContactPointExt*>(p);
p += pointStride;
setupExtSolverContact(b0, b1, d0, d1, angD0, angD1, bodyFrame0, bodyFrame1, normal, invDt, invDtp8, restDistance, maxPenBias, restitution,
bounceThreshold, contact, *solverContact, ccdMaxSeparation);
}
ptr = p;
}
contactWritebackCount += contactCount;
PxF32* forceBuffer = reinterpret_cast<PxF32*>(ptr);
PxMemZero(forceBuffer, sizeof(PxF32) * contactCount);
ptr += sizeof(PxF32) * ((contactCount + 3) & (~3));
header->broken = 0;
if(haveFriction)
{
//const Vec3V normal = Vec3V_From_PxVec3(buffer.contacts[c.contactPatches[c.correlationListHeads[i]].start].normal);
PxVec3 normalS = buffer[c.contactPatches[c.correlationListHeads[i]].start].normal;
PxVec3 t0, t1;
computeFrictionTangents(b0.getLinVel() - b1.getLinVel(), normalS, t0, t1);
Vec3V vT0 = V3LoadU(t0);
Vec3V vT1 = V3LoadU(t1);
//We want to set the writeBack ptr to point to the broken flag of the friction patch.
//On spu we have a slight problem here because the friction patch array is
//in local store rather than in main memory. The good news is that the address of the friction
//patch array in main memory is stored in the work unit. These two addresses will be equal
//except on spu where one is local store memory and the other is the effective address in main memory.
//Using the value stored in the work unit guarantees that the main memory address is used on all platforms.
PxU8* PX_RESTRICT writeback = frictionDataPtr + frictionPatchWritebackAddrIndex*sizeof(FrictionPatch);
header->frictionBrokenWritebackByte = writeback;
for(PxU32 j = 0; j < frictionPatch.anchorCount; j++)
{
SolverContactFrictionExt* PX_RESTRICT f0 = reinterpret_cast<SolverContactFrictionExt*>(ptr);
ptr += frictionStride;
SolverContactFrictionExt* PX_RESTRICT f1 = reinterpret_cast<SolverContactFrictionExt*>(ptr);
ptr += frictionStride;
PxVec3 ra = bodyFrame0.q.rotate(frictionPatch.body0Anchors[j]);
PxVec3 rb = bodyFrame1.q.rotate(frictionPatch.body1Anchors[j]);
PxVec3 error = (ra + bodyFrame0.p) - (rb + bodyFrame1.p);
{
const PxVec3 raXn = ra.cross(t0);
const PxVec3 rbXn = rb.cross(t0);
Cm::SpatialVector deltaV0, deltaV1;
const Cm::SpatialVector resp0 = createImpulseResponseVector(t0, raXn, b0);
const Cm::SpatialVector resp1 = createImpulseResponseVector(-t1, -rbXn, b1);
FloatV resp = FLoad(getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
b1, resp1, deltaV1, d1, angD1));
const FloatV velMultiplier = FSel(FIsGrtr(resp, zero), FMul(p8, FRecip(resp)), zero);
PxU32 index = c.contactPatches[c.correlationListHeads[i]].start;
PxF32 targetVel = buffer[index].targetVel.dot(t0);
if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
targetVel -= b0.projectVelocity(t0, raXn);
else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
targetVel += b1.projectVelocity(t0, rbXn);
f0->normalXYZ_appliedForceW = V4SetW(vT0, zero);
f0->raXnXYZ_velMultiplierW = V4SetW(V4LoadA(&resp0.angular.x), velMultiplier);
f0->rbXnXYZ_biasW = V4SetW(V4Neg(V4LoadA(&resp1.angular.x)), FLoad(t0.dot(error) * invDtF32));
f0->linDeltaVA = V3LoadA(deltaV0.linear);
f0->angDeltaVA = V3LoadA(deltaV0.angular);
f0->linDeltaVB = V3LoadA(deltaV1.linear);
f0->angDeltaVB = V3LoadA(deltaV1.angular);
f0->targetVel = targetVel;
}
{
const PxVec3 raXn = ra.cross(t1);
const PxVec3 rbXn = rb.cross(t1);
Cm::SpatialVector deltaV0, deltaV1;
const Cm::SpatialVector resp0 = createImpulseResponseVector(t1, raXn, b0);
const Cm::SpatialVector resp1 = createImpulseResponseVector(-t1, -rbXn, b1);
FloatV resp = FLoad(getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
b1, resp1, deltaV1, d1, angD1));
const FloatV velMultiplier = FSel(FIsGrtr(resp, zero), FMul(p8, FRecip(resp)), zero);
PxU32 index = c.contactPatches[c.correlationListHeads[i]].start;
PxF32 targetVel = buffer[index].targetVel.dot(t0);
if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
targetVel -= b0.projectVelocity(t1, raXn);
else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
targetVel += b1.projectVelocity(t1, rbXn);
f1->normalXYZ_appliedForceW = V4SetW(vT1, zero);
f1->raXnXYZ_velMultiplierW = V4SetW(V4LoadA(&resp0.angular.x), velMultiplier);
f1->rbXnXYZ_biasW = V4SetW(V4Neg(V4LoadA(&resp1.angular.x)), FLoad(t1.dot(error) * invDtF32));
f1->linDeltaVA = V3LoadA(deltaV0.linear);
f1->angDeltaVA = V3LoadA(deltaV0.angular);
f1->linDeltaVB = V3LoadA(deltaV1.linear);
f1->angDeltaVB = V3LoadA(deltaV1.angular);
f1->targetVel = targetVel;
}
}
}
frictionPatchWritebackAddrIndex++;
}
}
void solveFriction_BStatic(const PxSolverConstraintDesc& desc, SolverContext& /*cache*/)
{
PxSolverBody& b0 = *desc.bodyA;
Vec3V linVel0 = V3LoadA(b0.linearVelocity);
Vec3V angState0 = V3LoadA(b0.angularState);
PxU8* PX_RESTRICT currPtr = desc.constraint;
const PxU8* PX_RESTRICT last = currPtr + getConstraintLength(desc);
while(currPtr < last)
{
const SolverFrictionHeader* PX_RESTRICT frictionHeader = reinterpret_cast<SolverFrictionHeader*>(currPtr);
const PxU32 numFrictionConstr = frictionHeader->numFrictionConstr;
const PxU32 numNormalConstr = frictionHeader->numNormalConstr;
const PxU32 numFrictionPerPoint = numFrictionConstr/numNormalConstr;
currPtr +=sizeof(SolverFrictionHeader);
PxF32* appliedImpulse = reinterpret_cast<PxF32*>(currPtr);
currPtr +=frictionHeader->getAppliedForcePaddingSize();
SolverContactFriction* PX_RESTRICT frictions = reinterpret_cast<SolverContactFriction*>(currPtr);
currPtr += numFrictionConstr * sizeof(SolverContactFriction);
const FloatV invMass0 = FLoad(frictionHeader->invMass0D0);
const FloatV angD0 = FLoad(frictionHeader->angDom0);
//const FloatV angD1 = FLoad(frictionHeader->angDom1);
const FloatV staticFriction = frictionHeader->getStaticFriction();
for(PxU32 i=0, j = 0;i<numFrictionConstr;j++)
{
for(PxU32 p = 0; p < numFrictionPerPoint; p++, i++)
{
SolverContactFriction& f = frictions[i];
Ps::prefetchLine(&frictions[i+1]);
const Vec3V t0 = Vec3V_From_Vec4V(f.normalXYZ_appliedForceW);
const Vec3V raXt0 = Vec3V_From_Vec4V(f.raXnXYZ_velMultiplierW);
const FloatV appliedForce = V4GetW(f.normalXYZ_appliedForceW);
const FloatV velMultiplier = V4GetW(f.raXnXYZ_velMultiplierW);
const FloatV targetVel = FLoad(f.targetVel);
//const FloatV normalImpulse = contacts[f.contactIndex].getAppliedForce();
const FloatV normalImpulse = FLoad(appliedImpulse[j]);
const FloatV maxFriction = FMul(staticFriction, normalImpulse);
const FloatV nMaxFriction = FNeg(maxFriction);
//Compute the normal velocity of the constraint.
const FloatV t0Vel1 = V3Dot(t0, linVel0);
const FloatV t0Vel2 = V3Dot(raXt0, angState0);
const FloatV t0Vel = FAdd(t0Vel1, t0Vel2);
const Vec3V delangState0 = V3Scale(raXt0, angD0);
const Vec3V delLinVel0 = V3Scale(t0, invMass0);
// still lots to do here: using loop pipelining we can interweave this code with the
// above - the code here has a lot of stalls that we would thereby eliminate
const FloatV tmp = FNegScaleSub(targetVel,velMultiplier,appliedForce);
FloatV newForce = FScaleAdd(t0Vel, velMultiplier, tmp);
newForce = FClamp(newForce, nMaxFriction, maxFriction);
const FloatV deltaF = FSub(newForce, appliedForce);
linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
angState0 = V3ScaleAdd(delangState0, deltaF, angState0);
f.setAppliedForce(newForce);
}
}
}
// Write back
V3StoreA(linVel0, b0.linearVelocity);
V3StoreA(angState0, b0.angularState);
PX_ASSERT(currPtr == last);
}
