branch with experimental PyBullet support for PhysX

see otherPhysicsEngine in examples/pybullet/examples folder for example usage

src/PhysX/physx/include/cudamanager/PxGpuCopyDescQueue.h

@@ -0,0 +1,149 @@
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
+
+#ifndef PXCUDACONTEXTMANAGER_PXGPUCOPYDESCQUEUE_H
+#define PXCUDACONTEXTMANAGER_PXGPUCOPYDESCQUEUE_H
+
+#include "foundation/PxPreprocessor.h"
+
+#if PX_SUPPORT_GPU_PHYSX
+
+#include "foundation/PxAssert.h"
+#include "task/PxTaskDefine.h"
+#include "task/PxGpuDispatcher.h"
+#include "cudamanager/PxGpuCopyDesc.h"
+#include "cudamanager/PxCudaContextManager.h"
+
+/* forward decl to avoid including <cuda.h> */
+typedef struct CUstream_st* CUstream;
+
+namespace physx
+{
+
+PX_PUSH_PACK_DEFAULT
+
+/// \brief Container class for queueing PxGpuCopyDesc instances in pinned (non-pageable) CPU memory
+class PxGpuCopyDescQueue
+{
+public:
+	/// \brief PxGpuCopyDescQueue constructor
+	PxGpuCopyDescQueue(PxGpuDispatcher& d)
+		: mDispatcher(d)
+		, mBuffer(0)
+		, mStream(0)
+		, mReserved(0)
+		, mOccupancy(0)
+		, mFlushed(0)
+	{
+	}
+
+	/// \brief PxGpuCopyDescQueue destructor
+	~PxGpuCopyDescQueue()
+	{
+		if (mBuffer)
+		{
+			mDispatcher.getCudaContextManager()->getMemoryManager()->free(PxCudaBufferMemorySpace::T_PINNED_HOST, (size_t) mBuffer);
+		}
+	}
+
+	/// \brief Reset the enqueued copy descriptor list
+	///
+	/// Must be called at least once before any copies are enqueued, and each time the launched
+	/// copies are known to have been completed.  The recommended use case is to call this at the
+	/// start of each simulation step.
+	void reset(CUstream stream, uint32_t reserveSize)
+	{
+		if (reserveSize > mReserved)
+		{
+			if (mBuffer)
+			{
+				mDispatcher.getCudaContextManager()->getMemoryManager()->free(
+				    PxCudaBufferMemorySpace::T_PINNED_HOST,
+				    (size_t) mBuffer);
+				mReserved = 0;
+			}
+			mBuffer = (PxGpuCopyDesc*) mDispatcher.getCudaContextManager()->getMemoryManager()->alloc(
+			              PxCudaBufferMemorySpace::T_PINNED_HOST,
+			              reserveSize * sizeof(PxGpuCopyDesc),
+			              PX_ALLOC_INFO("PxGpuCopyDescQueue", GPU_UTIL));
+			if (mBuffer)
+			{
+				mReserved = reserveSize;
+			}
+		}
+
+		mOccupancy = 0;
+		mFlushed = 0;
+		mStream = stream;
+	}
+
+	/// \brief Enqueue the specified copy descriptor, or launch immediately if no room is available
+	void enqueue(PxGpuCopyDesc& desc)
+	{
+		PX_ASSERT(desc.isValid());
+		if (desc.bytes == 0)
+		{
+			return;
+		}
+
+		if (mOccupancy < mReserved)
+		{
+			mBuffer[ mOccupancy++ ] = desc;
+		}
+		else
+		{
+			mDispatcher.launchCopyKernel(&desc, 1, mStream);
+		}
+	}
+
+	/// \brief Launch all copies queued since the last flush or reset
+	void flushEnqueued()
+	{
+		if (mOccupancy > mFlushed)
+		{
+			mDispatcher.launchCopyKernel(mBuffer + mFlushed, mOccupancy - mFlushed, mStream);
+			mFlushed = mOccupancy;
+		}
+	}
+
+private:
+	PxGpuDispatcher&	mDispatcher;
+	PxGpuCopyDesc*	mBuffer;
+	CUstream        mStream;
+	uint32_t		mReserved;
+	uint32_t		mOccupancy;
+	uint32_t		mFlushed;
+
+	void operator=(const PxGpuCopyDescQueue&); // prevent a warning...
+};
+
+PX_POP_PACK
+
+} // end physx namespace
+
+#endif // PX_SUPPORT_GPU_PHYSX
+#endif // PXCUDACONTEXTMANAGER_PXGPUCOPYDESCQUEUE_H