void SceneQueryManager::validateSimUpdates()
{
if (mPrunerExt[1].type() != PxPruningStructureType::eDYNAMIC_AABB_TREE)
return;
Sc::BodyCore*const* activeBodies = mScene.getActiveBodiesArray();
const PxU32 nbActiveBodies = mScene.getNumActiveBodies();
for (PxU32 i = 0; i < nbActiveBodies; ++i)
{
const Sc::BodyCore* bCore = activeBodies[i];
if (bCore->isFrozen())
continue;
PxRigidBody* pxBody = static_cast<PxRigidBody*>(bCore->getPxActor());
PX_ASSERT(pxBody->getConcreteType() == PxConcreteType::eRIGID_DYNAMIC || pxBody->getConcreteType() == PxConcreteType::eARTICULATION_LINK);
NpShapeManager& shapeManager = *NpActor::getShapeManager(*pxBody);
const PxU32 nbShapes = shapeManager.getNbShapes();
NpShape* const* shape = shapeManager.getShapes();
for (PxU32 j = 0; j<nbShapes; j++)
{
PrunerData prunerData = shapeManager.getPrunerData(j);
if (prunerData != INVALID_PRUNERHANDLE)
{
const PrunerHandle handle = getPrunerHandle(prunerData);
const PxBounds3 worldAABB = computeWorldAABB(shape[j]->getScbShape(), *bCore);
PxBounds3 prunerAABB = static_cast<AABBPruner*>(mPrunerExt[1].pruner())->getAABB(handle);
PX_ASSERT((worldAABB.minimum - prunerAABB.minimum).magnitudeSquared() < 0.005f*mScene.getPxScene()->getPhysics().getTolerancesScale().length);
PX_ASSERT((worldAABB.maximum - prunerAABB.maximum).magnitudeSquared() < 0.005f*mScene.getPxScene()->getPhysics().getTolerancesScale().length);
PX_UNUSED(worldAABB);
PX_UNUSED(prunerAABB);
}
}
}
}
void SceneQueryManager::processSimUpdates()
{
PX_PROFILE_ZONE("Sim.updatePruningTrees", mScene.getContextId());
{
PX_PROFILE_ZONE("SceneQuery.processActiveShapes", mScene.getContextId());
// update all active objects
BodyCore*const* activeBodies = mScene.getScScene().getActiveBodiesArray();
PxU32 nbActiveBodies = mScene.getScScene().getNumActiveBodies();
#define NB_BATCHED_OBJECTS 128
PrunerHandle batchedHandles[NB_BATCHED_OBJECTS];
PxU32 nbBatchedObjects = 0;
Pruner* pruner = mPrunerExt[PruningIndex::eDYNAMIC].pruner();
while(nbActiveBodies--)
{
// PT: TODO: don't put frozen objects in "active bodies" array? After all they
// are also not included in the 'active transforms' or 'active actors' arrays.
BodyCore* currentBody = *activeBodies++;
if(currentBody->isFrozen())
continue;
PxActorType::Enum type;
PxRigidBody* pxBody = static_cast<PxRigidBody*>(getPxActorFromBodyCore(currentBody, type));
PX_ASSERT(pxBody->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC || pxBody->getConcreteType()==PxConcreteType::eARTICULATION_LINK);
NpShapeManager* shapeManager;
if(type==PxActorType::eRIGID_DYNAMIC)
{
NpRigidDynamic* rigidDynamic = static_cast<NpRigidDynamic*>(pxBody);
shapeManager = &rigidDynamic->getShapeManager();
}
else
{
NpArticulationLink* articulationLink = static_cast<NpArticulationLink*>(pxBody);
shapeManager = &articulationLink->getShapeManager();
}
const PxU32 nbShapes = shapeManager->getNbShapes();
for(PxU32 i=0; i<nbShapes; i++)
{
const PrunerData data = shapeManager->getPrunerData(i);
if(data!=SQ_INVALID_PRUNER_DATA)
{
// PT: index can't be zero here!
PX_ASSERT(getPrunerIndex(data)==PruningIndex::eDYNAMIC);
const PrunerHandle handle = getPrunerHandle(data);
if(!mPrunerExt[PruningIndex::eDYNAMIC].isDirty(handle)) // PT: if dirty, will be updated in "flushShapes"
{
batchedHandles[nbBatchedObjects] = handle;
PxBounds3* bounds;
const PrunerPayload& pp = pruner->getPayload(handle, bounds);
computeDynamicWorldAABB(*bounds, *(reinterpret_cast<Scb::Shape*>(pp.data[0])), *(reinterpret_cast<Scb::Actor*>(pp.data[1])));
nbBatchedObjects++;
if(nbBatchedObjects==NB_BATCHED_OBJECTS)
{
mPrunerExt[PruningIndex::eDYNAMIC].invalidateTimestamp();
pruner->updateObjects(batchedHandles, NULL, nbBatchedObjects);
nbBatchedObjects = 0;
}
}
}
}
}
if(nbBatchedObjects)
{
mPrunerExt[PruningIndex::eDYNAMIC].invalidateTimestamp();
pruner->updateObjects(batchedHandles, NULL, nbBatchedObjects);
}
}
// flush user modified objects
flushShapes();
for(PxU32 i=0;i<PruningIndex::eCOUNT;i++)
{
if(mPrunerExt[i].pruner() && mPrunerExt[i].type() == PxPruningStructureType::eDYNAMIC_AABB_TREE)
static_cast<AABBPruner*>(mPrunerExt[i].pruner())->buildStep();
mPrunerExt[i].pruner()->commit();
}
}