include/extensions/PxCudaHelpersExt.h
File members: include/extensions/PxCudaHelpersExt.h
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// Copyright (c) 2008-2024 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_CUDA_HELPERS_EXT_H
#define PX_CUDA_HELPERS_EXT_H
#include "foundation/PxPreprocessor.h"
#if PX_SUPPORT_GPU_PHYSX
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxAssert.h"
#include "foundation/PxFoundation.h"
#include "cudamanager/PxCudaContextManager.h"
#include "cudamanager/PxCudaContext.h"
#include "cudamanager/PxCudaTypes.h"
namespace physx
{
namespace Ext
{
class PxCudaHelpersExt
{
public:
template<typename T>
static T* allocDeviceBuffer(PxCudaContextManager& cudaContextManager, PxU64 numElements)
{
PxScopedCudaLock lock(cudaContextManager);
CUdeviceptr ptr = 0;
PxCUresult result = cudaContextManager.getCudaContext()->memAlloc(&ptr, numElements * sizeof(T));
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "allocDeviceBuffer failed with error code %i!\n", PxI32(result));
return reinterpret_cast<T*>(ptr);
}
template<typename T>
static void freeDeviceBuffer(PxCudaContextManager& cudaContextManager, T*& deviceBuffer)
{
if (deviceBuffer)
{
PxScopedCudaLock lock(cudaContextManager);
PxCUresult result = cudaContextManager.getCudaContext()->memFree(reinterpret_cast<CUdeviceptr>(deviceBuffer));
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "freeDeviceBuffer failed with error code %i!\n", PxI32(result));
deviceBuffer = NULL;
}
}
template<typename T>
static T* allocPinnedHostBuffer(PxCudaContextManager& cudaContextManager, PxU64 numElements)
{
PxScopedCudaLock lock(cudaContextManager);
void* ptr = NULL;
const unsigned int cuMemhostallocDevicemap = 0x02;
const unsigned int cuMemhostallocPortable = 0x01;
PxCUresult result = cudaContextManager.getCudaContext()->memHostAlloc(&ptr, numElements * sizeof(T), cuMemhostallocDevicemap | cuMemhostallocPortable);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "allocPinnedHostBuffer failed with error code %i!\n", PxI32(result));
return reinterpret_cast<T*>(ptr);
}
template<typename T>
static void freePinnedHostBuffer(PxCudaContextManager& cudaContextManager, T*& pinnedHostBuffer)
{
if (pinnedHostBuffer)
{
PxScopedCudaLock lock(cudaContextManager);
PxCUresult result = cudaContextManager.getCudaContext()->memFreeHost(pinnedHostBuffer);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "freePinnedHostBuffer failed with error code %i!\n", PxI32(result));
pinnedHostBuffer = NULL;
}
}
template<typename T>
static void copyDToH(PxCudaContextManager& cudaContextManager, T* hostBuffer, const T* deviceBuffer, PxU64 numElements)
{
if (!deviceBuffer || !hostBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoH(hostBuffer, CUdeviceptr(deviceBuffer), numBytes);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDToH failed with error code %i!\n", PxI32(result));
}
template<typename T>
static void copyHToD(PxCudaContextManager& cudaContextManager, T* deviceBuffer, const T* hostBuffer, PxU64 numElements)
{
if (!deviceBuffer || !hostBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
PxCUresult result = cudaContextManager.getCudaContext()->memcpyHtoD(CUdeviceptr(deviceBuffer), hostBuffer, numBytes);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyHtoD failed with error code %i!\n", PxI32(result));
}
template<typename T>
static void copyDToHAsync(PxCudaContextManager& cudaContextManager, T* hostBuffer, const T* deviceBuffer, PxU64 numElements, CUstream stream)
{
if (!deviceBuffer || !hostBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoHAsync(hostBuffer, CUdeviceptr(deviceBuffer), numBytes, stream);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDtoHAsync failed with error code %i!\n", PxI32(result));
}
template<typename T>
static void copyHToDAsync(PxCudaContextManager& cudaContextManager, T* deviceBuffer, const T* hostBuffer, PxU64 numElements, CUstream stream)
{
if (!deviceBuffer || !hostBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
PxCUresult result = cudaContextManager.getCudaContext()->memcpyHtoDAsync(CUdeviceptr(deviceBuffer), hostBuffer, numBytes, stream);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyHtoDAsync failed with error code %i!\n", PxI32(result));
}
template<typename T>
static void copyDToDAsync(PxCudaContextManager& cudaContextManager, T* dstDeviceBuffer, const T* srcDeviceBuffer, PxU64 numElements, CUstream stream)
{
if (!srcDeviceBuffer || !dstDeviceBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
PxCUresult result = cudaContextManager.getCudaContext()->memcpyDtoDAsync(CUdeviceptr(dstDeviceBuffer), CUdeviceptr(srcDeviceBuffer), numBytes, stream);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "copyDtoDAsync failed with error code %i!\n", PxI32(result));
}
template<typename T>
static void memsetAsync(PxCudaContextManager& cudaContextManager, T* dstDeviceBuffer, const T& value, PxU64 numElements, CUstream stream)
{
PX_COMPILE_TIME_ASSERT(sizeof(T) == sizeof(PxU32) || sizeof(T) == sizeof(PxU8));
if (!dstDeviceBuffer)
return;
PxScopedCudaLock lock(cudaContextManager);
PxU64 numBytes = numElements * sizeof(T);
if (sizeof(T) == sizeof(PxU32))
{
PxCUresult result = cudaContextManager.getCudaContext()->memsetD32Async(CUdeviceptr(dstDeviceBuffer), reinterpret_cast<const PxU32&>(value), numBytes >> 2, stream);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "memsetAsync failed with error code %i!\n", PxI32(result));
}
else
{
PxCUresult result = cudaContextManager.getCudaContext()->memsetD8Async(CUdeviceptr(dstDeviceBuffer), reinterpret_cast<const PxU8&>(value), numBytes, stream);
if (result != 0)
PxGetFoundation().error(PxErrorCode::eINTERNAL_ERROR, PX_FL, "memsetAsync failed with error code %i!\n", PxI32(result));
}
}
};
#define PX_EXT_DEVICE_MEMORY_ALLOC(T, cudaContextManager, numElements) physx::Ext::PxCudaHelpersExt::allocDeviceBuffer<T>(cudaContextManager, numElements)
#define PX_EXT_DEVICE_MEMORY_FREE(cudaContextManager, deviceBuffer) physx::Ext::PxCudaHelpersExt::freeDeviceBuffer(cudaContextManager, deviceBuffer);
#define PX_EXT_PINNED_MEMORY_ALLOC(T, cudaContextManager, numElements) physx::Ext::PxCudaHelpersExt::allocPinnedHostBuffer<T>(cudaContextManager, numElements)
#define PX_EXT_PINNED_MEMORY_FREE(cudaContextManager, pinnedHostBuffer) physx::Ext::PxCudaHelpersExt::freePinnedHostBuffer(cudaContextManager, pinnedHostBuffer);
}
}
#endif
#endif