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00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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00019 // result from its use. No license is granted by implication or otherwise under any patent
00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2012 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_NX_SCENEDESC
00032 #define PX_PHYSICS_NX_SCENEDESC
00033 
00037 #include "PxPhysX.h"
00038 #include "foundation/PxFlags.h"
00039 #include "foundation/PxBounds3.h"
00040 #include "PxPhysics.h"
00041 #include "PxFiltering.h"
00042 #include "common/PxTolerancesScale.h"
00043 
00044 #ifndef PX_DOXYGEN
00045 namespace physx
00046 {
00047 #endif
00048 
00049     namespace pxtask
00050     {
00051         class CpuDispatcher;
00052         class GpuDispatcher;
00053         class SpuDispatcher;
00054     }
00055 
00073 struct PxPruningStructure
00074 {
00075     enum Enum
00076     {
00077         eNONE,                  
00078         eDYNAMIC_AABB_TREE,     
00079         eSTATIC_AABB_TREE,      
00080 
00081         eLAST
00082     };
00083 };
00084 
00091 struct PxSceneFlag
00092 {
00093     enum Enum
00094     {
00107         eDISABLE_SSE    = (1<<0),
00108 
00121         eENABLE_ACTIVETRANSFORMS    =(1<<1),
00122 
00123 
00133         eENABLE_SWEPT_INTEGRATION   =(1<<2),
00134 
00135 
00143         eADAPTIVE_FORCE             =(1<<3),
00144 
00145 
00156         eENABLE_KINEMATIC_STATIC_PAIRS =(1<<4),
00157 
00158 
00169         eENABLE_KINEMATIC_PAIRS =(1<<5),
00170 
00171         
00179         eENABLE_ONE_DIRECTIONAL_FRICTION = (1<<6),
00180 
00188         eENABLE_TWO_DIRECTIONAL_FRICTION = (1<<7),
00189 
00199         eENABLE_PCM = (1 << 8),
00200 
00209         eDISABLE_CONTACT_REPORT_BUFFER_RESIZE   = (1 << 9),
00210 
00221         eDISABLE_CONTACT_CACHE  = (1 << 10),
00222     };
00223 };
00224 
00230 typedef PxFlags<PxSceneFlag::Enum,PxU16> PxSceneFlags;
00231 PX_FLAGS_OPERATORS(PxSceneFlag::Enum,PxU16);
00232 
00233 
00234 class PxSimulationEventCallback;
00235 class PxContactModifyCallback;
00236 class PxSimulationFilterCallback;
00237 
00245 class PxSceneLimits
00246 {
00247 public:
00248     PxU32                   maxNbActors;            
00249     PxU32                   maxNbBodies;            
00250     PxU32                   maxNbStaticShapes;      
00251     PxU32                   maxNbDynamicShapes;     
00252     PxU32                   maxNbConstraints;       
00253 
00257     PX_INLINE PxSceneLimits();
00258 
00262     PX_INLINE void setToDefault();
00263 
00268     PX_INLINE bool isValid() const;
00269 };
00270 
00271 PX_INLINE PxSceneLimits::PxSceneLimits()    //constructor sets to default
00272 {
00273     maxNbActors         = 0;
00274     maxNbBodies         = 0;
00275     maxNbStaticShapes   = 0;
00276     maxNbDynamicShapes  = 0;
00277     maxNbConstraints    = 0;
00278 
00279 }
00280 
00281 PX_INLINE void PxSceneLimits::setToDefault()
00282 {
00283     *this = PxSceneLimits();
00284 }
00285 
00286 PX_INLINE bool PxSceneLimits::isValid() const   
00287 {
00288     return true;
00289 }
00290 
00296 class PxSceneDesc
00297 {
00298 public:
00299 
00310     PxVec3                  gravity;
00311 
00322     PxSimulationEventCallback*  simulationEventCallback;
00323 
00331     PxContactModifyCallback*    contactModifyCallback;
00332 
00342     const void*             filterShaderData;
00343 
00351     PxU32                   filterShaderDataSize;
00352 
00362     PxSimulationFilterShader    filterShader;
00363 
00372     PxSimulationFilterCallback* filterCallback;
00373 
00379     PxSceneLimits               limits;
00380 
00387     PxReal                      sweepEpsilonDistance;
00388 
00389 
00398     PxReal                      contactCorrelationDistance;
00399 
00400 
00410     PxReal bounceThresholdVelocity; 
00411 
00412 
00424     PxSceneFlags            flags;
00425 
00437     pxtask::CpuDispatcher*  cpuDispatcher;
00438 
00451     pxtask::GpuDispatcher*  gpuDispatcher;
00452 
00464     pxtask::SpuDispatcher*  spuDispatcher;
00465 
00471     PxPruningStructure::Enum    staticStructure;
00472 
00476     PxPruningStructure::Enum    dynamicStructure;
00477 
00495     PxU32                   dynamicTreeRebuildRateHint;
00496 
00502     void*                   userData;
00503 
00517     PxU32                   solverBatchSize;
00518 
00543     PxReal                  sweptIntegrationLinearSpeedFactor;
00544 
00552     PxReal                  sweptIntegrationAngularSpeedFactor;
00553 
00554 
00571     PxU32                   nbContactDataBlocks;
00572 
00573 
00591     PxU32                   maxNbContactDataBlocks;
00592 
00593 
00607     PxU32                   contactReportStreamBufferSize;
00608 
00618     PX_INLINE PxSceneDesc(const PxTolerancesScale& scale);
00619 
00630     PX_INLINE void setToDefault(const PxTolerancesScale& scale);
00631 
00636     PX_INLINE bool isValid() const;
00637 
00638 };
00639 
00640 PX_INLINE PxSceneDesc::PxSceneDesc(const PxTolerancesScale& scale):
00641     gravity(PxVec3(0)),
00642     simulationEventCallback(NULL),
00643     contactModifyCallback(NULL),
00644 
00645     filterShaderData(NULL),
00646     filterShaderDataSize(0),
00647     filterShader(NULL),
00648     filterCallback(NULL),
00649 
00650     sweepEpsilonDistance(0.01f * scale.length),
00651     contactCorrelationDistance(0.025f * scale.length),
00652     bounceThresholdVelocity(0.2f * scale.speed),
00653 
00654     flags(0),
00655 
00656     cpuDispatcher(NULL),
00657     gpuDispatcher(NULL),
00658     spuDispatcher(NULL),
00659 
00660     staticStructure(PxPruningStructure::eSTATIC_AABB_TREE),
00661     dynamicStructure(PxPruningStructure::eDYNAMIC_AABB_TREE),
00662     dynamicTreeRebuildRateHint(100),
00663 
00664     userData(NULL),
00665 
00666     solverBatchSize(32),
00667 
00668     sweptIntegrationLinearSpeedFactor(2),
00669     sweptIntegrationAngularSpeedFactor(2),
00670 
00671 #ifdef PX_PS3
00672     nbContactDataBlocks(256),
00673 #else
00674     nbContactDataBlocks(0),
00675 #endif
00676 
00677     maxNbContactDataBlocks(1<<16),
00678     contactReportStreamBufferSize(8192)
00679 {
00680 }
00681 
00682 PX_INLINE void PxSceneDesc::setToDefault(const PxTolerancesScale& scale)
00683 {
00684     *this = PxSceneDesc(scale);
00685 }
00686 
00687 PX_INLINE bool PxIsPowerOfTwo(PxU32 n)  { return ((n&(n-1))==0);    }
00688 
00689 PX_INLINE bool PxSceneDesc::isValid() const
00690 {
00691     if (filterShader == NULL)
00692         return false;
00693 
00694     if ( ((filterShaderDataSize == 0) && (filterShaderData != NULL)) ||
00695         ((filterShaderDataSize > 0) && (filterShaderData == NULL)) )
00696         return false;
00697 
00698     if (!limits.isValid())
00699         return false;
00700 
00701     if(staticStructure!=PxPruningStructure::eSTATIC_AABB_TREE && staticStructure!=PxPruningStructure::eDYNAMIC_AABB_TREE)
00702         return false;
00703 
00704     if (dynamicTreeRebuildRateHint < 5)
00705         return false;
00706     if (sweptIntegrationLinearSpeedFactor < 0.0f)
00707         return false;
00708     if (sweptIntegrationAngularSpeedFactor < 0.0f)
00709         return false;
00710 
00711     if (sweepEpsilonDistance < 0.0f)
00712         return false;
00713     if (contactCorrelationDistance < 0.0f)
00714         return false;
00715     if (bounceThresholdVelocity < 0.0f)
00716         return false;
00717 
00718     if(cpuDispatcher == NULL)
00719         return false;
00720 
00721     if(contactReportStreamBufferSize == 0)
00722         return false;
00723 
00724     if(maxNbContactDataBlocks < nbContactDataBlocks)
00725         return false;
00726 
00727     return true;
00728 }
00729 
00730 #ifndef PX_DOXYGEN
00731 } // namespace physx
00732 #endif
00733 
00735 #endif