PhysX SDK 5.3.1 (e9cf8e18b)

Author: ayoub-belarbi

physx/CHANGELOG.md

@@ -1,4 +1,87 @@
-# v5.3.0
+# v5.3.1-105.1
+
+## General
+
+### Changed
+
+* PxgDynamicsMemoryConfig::tempBufferCapacity will now be interpreted as a user-provided initial size, and will resize automatically if more memory is needed.
+
+### Fixed
+
+* A bug that led to phantom collisions for convex-heightfield interactions on GPU has been fixed.
+* A bug that caused velocity and impulse updates of the GPU articulation solver (PGS and TGS) not to be propagated to subsequent iterations, causing slower convergence and potentially unstable collision responses between rigids and articulations.
+* Fixed binary serialization for GPU enabled triangle meshes and meshes with SDF support.
+* Several bugs with GPU aggregates have been fixed that could have led to missed and phantom collisions. The issues were mostly related to additions/removals of aggregate contents.
+* Gpu accelerated SDF cooking is now deterministic.
+* SDF snippet shows how to optionally store cooked data into files.
+* Small improvements to SDF collisions, especially when objects with wildly different size collide.
+* Creating objects from a PxInputData containing invalid data could lead to a confusing (and incorrect) error message about a "double deletion". This has been fixed.
+* Bugs in island management related to actors other than rigid bodies.
+* A bug that could lead to a crash when calling the PxTetMaker::validateTriangleMesh function with a mesh referencing more vertices than passed into the function. That defect is now reported as eTRIANGLE_INDEX_OUT_OF_RANGE. 
+* A crash bug that appeared when releasing actors with externally-provided forces and torques has been fixed. [Issue #211](https://github.com/NVIDIA-Omniverse/PhysX/issues/211)
+* A bug that caused a memory corruption in the GPU solver when using D6 joints with rigid bodies and articulations has been fixed.
+
+## Rigid Body
+
+### Added
+
+* The extraction of an isosurface from a SDF can now use multiple CPU cores.
+
+### Fixed
+
+* A crash happening when using contact report thresholds with point-friction (PxFrictionType::eONE_DIRECTIONAL / PxFrictionType::eTWO_DIRECTIONAL) has been fixed.
+* A "fear of the wireframe" issue in Sphere vs TriangleMesh collision when simulating on GPU is fixed.
+
+## Articulations
+
+### Fixed
+
+* Articulation joint velocity limits are respected when articulation joint drives are configured to push past the limit.
+* Spherical articulation joints could sometimes flip their position by 2 pi causing problems with joint limits. This has been fixed.
+
+## Joints
+
+### Fixed
+
+* The PxConstraintFlag::eENABLE_EXTENDED_LIMITS flag now works properly for D6 based revolute joints when the GPU pipeline with the TGS solver is active.
+
+## Character controller
+
+### Fixed
+
+* You can now only create one PxCreateControllerManager per PxScene. This avoids filtering-related issues when multiple controller managers are created for the same PxScene.
+
+## Particles
+
+### Added
+
+* PxParticleSystem::getParticleMaterials() to query materials that have been registered with phases.
+
+### Fixed
+
+* PxParticleSystem::getNbParticleMaterials() always returned 1, instead of the materials referenced by phases.
+* Particle - Convex Shape collisions failing with spread out particles.
+* Particle phase references to PxPBDMaterial were broken when releasing (an unreferenced) PxPBDMaterial.
+
+## Pvd
+
+### Added
+
+* A way to get a thread safe OmniPvd writer from the PxOmniPvd interface through using acquireExclusiveWriterAccess() and releaseExclusiveWriterAccess().
+
+### Fixed
+
+* OmniPVD no longer breaks when running and recording multiple scenes in parallel.
+* Corrected mirroring of the inbountJoinDOF attribute of PxArticulationLink
+
+## Extensions
+
+### Fixed
+
+* A bug in custom cone/cylinder collision with triangle meshes. There was a gap between a cone/cylinder and a mesh, noticeable for centimeter-scale shapes. Note that the last position argument of e.g.: PxCustomGeometryExt::CylinderCallbacks::useSubstituteGeometry was removed from the API.
+
+
+# v5.3.0-105.1
 
 ## Supported Platforms
 

physx/buildtools/packman/bootstrap/configure.bat

@@ -1,4 +1,4 @@
-:: Copyright 2019 NVIDIA CORPORATION
+:: Copyright 2019-2023 NVIDIA CORPORATION
 ::
 :: Licensed under the Apache License, Version 2.0 (the "License");
 :: you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 :: See the License for the specific language governing permissions and
 :: limitations under the License.
 
-set PM_PACKMAN_VERSION=6.33.2
+set PM_PACKMAN_VERSION=7.15.1
 
 :: Specify where packman command is rooted
 set PM_INSTALL_PATH=%~dp0..
@@ -48,7 +48,7 @@ echo.
 :: that may be needed in the path
 :ENSURE_DIR
 if not exist "%PM_PACKAGES_ROOT%" (
-	echo Creating directory %PM_PACKAGES_ROOT%
+	echo Creating packman packages cache at %PM_PACKAGES_ROOT%
 	mkdir "%PM_PACKAGES_ROOT%"
 )
 if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
@@ -59,7 +59,7 @@ if defined PM_PYTHON_EXT (
 	goto PACKMAN
 )
 
-set PM_PYTHON_VERSION=3.7.9-windows-x86_64
+set PM_PYTHON_VERSION=3.10.5-1-windows-x86_64
 set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
 set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
 set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
@@ -95,11 +95,16 @@ if exist "%PM_PYTHON%" (
     if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
 )
 
-:: Perform atomic rename
-rename "%TEMP_FOLDER_NAME%" "%PM_PYTHON_VERSION%" 1> nul
-:: Failure during move, need to clean up and abort
+:: Perform atomic move (allowing overwrite, /y)
+move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
+:: Verify that python.exe is now where we expect
+if exist "%PM_PYTHON%" goto PACKMAN
+
+:: Wait a second and try again (can help with access denied weirdness)
+timeout /t 1 /nobreak 1> nul
+move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
 if %errorlevel% neq 0 (
-    echo !!! Error renaming python !!!
+    echo !!! Error moving python %TEMP_FOLDER_NAME% -> %PM_PYTHON_DIR% !!!
     call :CLEAN_UP_TEMP_FOLDER
     goto ERROR
 )
@@ -112,9 +117,12 @@ if defined PM_MODULE_DIR_EXT (
     set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
 )
 
-set PM_MODULE=%PM_MODULE_DIR%\packman.py
+set PM_MODULE=%PM_MODULE_DIR%\run.py
 
-if exist "%PM_MODULE%" goto ENSURE_7ZA
+if exist "%PM_MODULE%" goto END
+
+:: Clean out broken PM_MODULE_DIR if it exists
+if exist "%PM_MODULE_DIR%" ( rd /s /q "%PM_MODULE_DIR%" > nul )
 
 set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
 for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
@@ -134,19 +142,6 @@ if %errorlevel% neq 0 (
 
 del "%TARGET%"
 
-:ENSURE_7ZA
-set PM_7Za_VERSION=16.02.4
-set PM_7Za_PATH=%PM_PACKAGES_ROOT%\7za\%PM_7ZA_VERSION%
-if exist "%PM_7Za_PATH%" goto END
-set PM_7Za_PATH=%PM_PACKAGES_ROOT%\chk\7za\%PM_7ZA_VERSION%
-if exist "%PM_7Za_PATH%" goto END
-
-"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" pull "%PM_MODULE_DIR%\deps.packman.xml"
-if %errorlevel% neq 0 (
-    echo !!! Error fetching packman dependencies !!!
-    goto ERROR
-)
-
 goto END
 
 :ERROR_MKDIR_PACKAGES_ROOT

physx/buildtools/packman/bootstrap/download_file_from_url.ps1

@@ -20,8 +20,8 @@ param(
 )
 $filename = $output
 
-$triesLeft = 3
-
+$triesLeft = 4
+$delay = 2
 do
 {
     $triesLeft -= 1
@@ -31,12 +31,23 @@ do
         Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
         $wc = New-Object net.webclient
         $wc.Downloadfile($source, $fileName)
-        $triesLeft = 0
+        exit 0
     }
     catch
     {
         Write-Host "Error downloading $source!"
         Write-Host $_.Exception|format-list -force
+        if ($triesLeft)
+        {
+            Write-Host "Retrying in $delay seconds ..."
+            Start-Sleep -seconds $delay
+        }
+        $delay = $delay * $delay
     }
 } while ($triesLeft -gt 0)
-
+# We only get here if the retries have been exhausted, remove any left-overs:
+if (Test-Path $fileName)
+{
+    Remove-Item $fileName
+}
+exit 1

physx/buildtools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd

@@ -22,9 +22,8 @@
 @powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
     -source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
 :: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
-:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
+:: We must therefore do our own failure analysis, basically make sure the file exists:
 @if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
-@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
 
 @endlocal
 @exit /b 0

physx/buildtools/packman/bootstrap/install_package.py

@@ -16,42 +16,139 @@
 import zipfile
 import tempfile
 import sys
-import shutil
+import os
+import stat
+import time
+from typing import Any, Callable
+
+
+RENAME_RETRY_COUNT = 100
+RENAME_RETRY_DELAY = 0.1
 
-__author__ = "hfannar"
 logging.basicConfig(level=logging.WARNING, format="%(message)s")
 logger = logging.getLogger("install_package")
 
 
-class TemporaryDirectory:
-    def __init__(self):
-        self.path = None
+def remove_directory_item(path):
+    if os.path.islink(path) or os.path.isfile(path):
+        try:
+            os.remove(path)
+        except PermissionError:
+            # make sure we have access and try again:
+            os.chmod(path, stat.S_IRWXU)
+            os.remove(path)
+    else:
+        # try first to delete the dir because this will work for folder junctions, otherwise we would follow the junctions and cause destruction!
+        clean_out_folder = False
+        try:
+            # make sure we have access preemptively - this is necessary because recursing into a directory without permissions
+            # will only lead to heart ache
+            os.chmod(path, stat.S_IRWXU)
+            os.rmdir(path)
+        except OSError:
+            clean_out_folder = True
+
+        if clean_out_folder:
+            # we should make sure the directory is empty
+            names = os.listdir(path)
+            for name in names:
+                fullname = os.path.join(path, name)
+                remove_directory_item(fullname)
+            # now try to again get rid of the folder - and not catch if it raises:
+            os.rmdir(path)
+
+
+class StagingDirectory:
+    def __init__(self, staging_path):
+        self.staging_path = staging_path
+        self.temp_folder_path = None
+        os.makedirs(staging_path, exist_ok=True)
 
     def __enter__(self):
-        self.path = tempfile.mkdtemp()
-        return self.path
+        self.temp_folder_path = tempfile.mkdtemp(prefix="ver-", dir=self.staging_path)
+        return self
+
+    def get_temp_folder_path(self):
+        return self.temp_folder_path
+
+    # this function renames the temp staging folder to folder_name, it is required that the parent path exists!
+    def promote_and_rename(self, folder_name):
+        abs_dst_folder_name = os.path.join(self.staging_path, folder_name)
+        os.rename(self.temp_folder_path, abs_dst_folder_name)
 
     def __exit__(self, type, value, traceback):
-        # Remove temporary data created
-        shutil.rmtree(self.path)
+        # Remove temp staging folder if it's still there (something went wrong):
+        path = self.temp_folder_path
+        if os.path.isdir(path):
+            remove_directory_item(path)
 
 
-def install_package(package_src_path, package_dst_path):
-    with zipfile.ZipFile(
-        package_src_path, allowZip64=True
-    ) as zip_file, TemporaryDirectory() as temp_dir:
-        zip_file.extractall(temp_dir)
-        # Recursively copy (temp_dir will be automatically cleaned up on exit)
-        try:
-            # Recursive copy is needed because both package name and version folder could be missing in
-            # target directory:
-            shutil.copytree(temp_dir, package_dst_path)
-        except OSError as exc:
+def rename_folder(staging_dir: StagingDirectory, folder_name: str):
+    try:
+        staging_dir.promote_and_rename(folder_name)
+    except OSError as exc:
+        # if we failed to rename because the folder now exists we can assume that another packman process
+        # has managed to update the package before us - in all other cases we re-raise the exception
+        abs_dst_folder_name = os.path.join(staging_dir.staging_path, folder_name)
+        if os.path.exists(abs_dst_folder_name):
             logger.warning(
-                "Directory %s already present, packaged installation aborted" % package_dst_path
+                f"Directory {abs_dst_folder_name} already present, package installation already completed"
             )
         else:
-            logger.info("Package successfully installed to %s" % package_dst_path)
+            raise
+
+
+def call_with_retry(
+    op_name: str, func: Callable, retry_count: int = 3, retry_delay: float = 20
+) -> Any:
+    retries_left = retry_count
+    while True:
+        try:
+            return func()
+        except (OSError, IOError) as exc:
+            logger.warning(f"Failure while executing {op_name} [{str(exc)}]")
+            if retries_left:
+                retry_str = "retry" if retries_left == 1 else "retries"
+                logger.warning(
+                    f"Retrying after {retry_delay} seconds"
+                    f" ({retries_left} {retry_str} left) ..."
+                )
+                time.sleep(retry_delay)
+            else:
+                logger.error("Maximum retries exceeded, giving up")
+                raise
+            retries_left -= 1
+
+
+def rename_folder_with_retry(staging_dir: StagingDirectory, folder_name):
+    dst_path = os.path.join(staging_dir.staging_path, folder_name)
+    call_with_retry(
+        f"rename {staging_dir.get_temp_folder_path()} -> {dst_path}",
+        lambda: rename_folder(staging_dir, folder_name),
+        RENAME_RETRY_COUNT,
+        RENAME_RETRY_DELAY,
+    )
+
+
+def install_package(package_path, install_path):
+    staging_path, version = os.path.split(install_path)
+    with StagingDirectory(staging_path) as staging_dir:
+        output_folder = staging_dir.get_temp_folder_path()
+        with zipfile.ZipFile(package_path, allowZip64=True) as zip_file:
+            zip_file.extractall(output_folder)
+
+            # attempt the rename operation
+            rename_folder_with_retry(staging_dir, version)
+
+    print(f"Package successfully installed to {install_path}")
 
 
-install_package(sys.argv[1], sys.argv[2])
+if __name__ == "__main__":
+    executable_paths = os.getenv("PATH")
+    paths_list = executable_paths.split(os.path.pathsep) if executable_paths else []
+    target_path_np = os.path.normpath(sys.argv[2])
+    target_path_np_nc = os.path.normcase(target_path_np)
+    for exec_path in paths_list:
+        if os.path.normcase(os.path.normpath(exec_path)) == target_path_np_nc:
+            raise RuntimeError(f"packman will not install to executable path '{exec_path}'")
+    install_package(sys.argv[1], target_path_np)