145 lines
3.1 KiB
C++
145 lines
3.1 KiB
C++
// Copyright (c) 2012-2024 Wojciech Figat. All rights reserved.
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#if COMPILE_WITH_PHYSX
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#include "PhysicsStepperPhysX.h"
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#include "Engine/Physics/Physics.h"
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#include "Engine/Profiler/ProfilerCPU.h"
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#include <ThirdParty/PhysX/foundation/PxMath.h>
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#include <ThirdParty/PhysX/PxSceneLock.h>
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void StepperTask::run()
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{
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mStepper->substepDone(this);
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release();
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}
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void StepperTaskSimulate::run()
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{
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mStepper->simulate(mCont);
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// -> OnSubstepStart
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}
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MultiThreadStepper::~MultiThreadStepper()
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{
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if (mSync)
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Delete(mSync);
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}
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bool MultiThreadStepper::advance(PxScene* scene, PxReal dt, void* scratchBlock, PxU32 scratchBlockSize)
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{
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mScratchBlock = scratchBlock;
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mScratchBlockSize = scratchBlockSize;
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if (!mSync)
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mSync = New<PxSync>();
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substepStrategy(dt, mNbSubSteps, mSubStepSize);
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if (mNbSubSteps == 0)
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return false;
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mScene = scene;
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mSync->reset();
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mCurrentSubStep = 1;
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mCompletion0.setContinuation(*mScene->getTaskManager(), nullptr);
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// Take the first substep
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substep(mCompletion0);
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mFirstCompletionPending = true;
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return true;
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}
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void MultiThreadStepper::substepDone(StepperTask* ownerTask)
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{
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// -> OnSubstepPreFetchResult
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{
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#ifndef PX_PROFILE
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PxSceneWriteLock writeLock(*mScene);
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#endif
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mScene->fetchResults(true);
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}
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// -> OnSubstep
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//Physics::OnSubstep();
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if (mCurrentSubStep >= mNbSubSteps)
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{
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mSync->set();
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}
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else
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{
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StepperTask& s = ownerTask == &mCompletion0 ? mCompletion1 : mCompletion0;
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s.setContinuation(*mScene->getTaskManager(), nullptr);
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mCurrentSubStep++;
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substep(s);
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// After the first substep, completions run freely
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s.removeReference();
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}
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}
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void MultiThreadStepper::renderDone()
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{
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if (mFirstCompletionPending)
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{
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mCompletion0.removeReference();
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mFirstCompletionPending = false;
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}
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}
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void MultiThreadStepper::shutdown()
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{
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SAFE_DELETE(mSync);
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}
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void MultiThreadStepper::simulate(PxBaseTask* ownerTask)
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{
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PROFILE_CPU_NAMED("Physics.Simulate");
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PxSceneWriteLock writeLock(*mScene);
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mScene->simulate(mSubStepSize, ownerTask, mScratchBlock, mScratchBlockSize);
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}
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void MultiThreadStepper::substep(StepperTask& completionTask)
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{
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// Setup any tasks that should run in parallel to simulate()
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// -> OnSubstepSetup
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// step
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{
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mSimulateTask.setContinuation(&completionTask);
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mSimulateTask.removeReference();
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}
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// parallel sample tasks are started in mSolveTask (after solve was called which acquires a write lock).
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}
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void FixedStepper::substepStrategy(const PxReal stepSize, PxU32& substepCount, PxReal& substepSize)
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{
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if (mAccumulator > mFixedSubStepSize)
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mAccumulator = 0.0f;
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// Don't step less than the step size, just accumulate
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mAccumulator += stepSize;
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if (mAccumulator < mFixedSubStepSize)
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{
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substepCount = 0;
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return;
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}
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substepSize = mFixedSubStepSize;
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substepCount = PxMin(PxU32(mAccumulator / mFixedSubStepSize), mMaxSubSteps);
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mAccumulator -= PxReal(substepCount) * substepSize;
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}
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#endif
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