145 lines
5.4 KiB
C++
145 lines
5.4 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PXS_SIMULATION_CONTROLLER_H
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#define PXS_SIMULATION_CONTROLLER_H
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxTransform.h"
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#include "CmBitMap.h"
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#include "PsArray.h"
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namespace physx
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{
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namespace Dy
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{
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class Context;
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struct Constraint;
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class ArticulationV;
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class FeatherstoneArticulation;
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struct ArticulationJointCore;
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}
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namespace Cm
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{
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class EventProfiler;
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}
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namespace Bp
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{
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class BoundsArray;
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class BroadPhase;
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}
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namespace IG
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{
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class SimpleIslandManager;
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class IslandSim;
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class NodeIndex;
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}
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class PxsTransformCache;
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class PxvNphaseImplementationContext;
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class PxBaseTask;
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struct PxsBodySim;
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struct PxsShapeSim;
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class PxsRigidBody;
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class PxsKernelWranglerManager;
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class PxsHeapMemoryAllocatorManager;
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template<typename T> class PxgIterator;
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struct PxgSolverConstraintManagerConstants;
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class PxsSimulationControllerCallback
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{
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public:
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virtual void updateScBodyAndShapeSim(PxBaseTask* continuation) = 0;
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virtual PxU32 getNbCcdBodies() = 0;
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virtual ~PxsSimulationControllerCallback() {}
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};
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class PxsSimulationController
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{
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public:
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PxsSimulationController(PxsSimulationControllerCallback* callback): mCallback(callback){}
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virtual ~PxsSimulationController(){}
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virtual void addJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, IG::IslandSim& islandSim, Ps::Array<PxU32>& jointIndices,
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Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& managerIter, PxU32 uniqueId) = 0;
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virtual void removeJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, Ps::Array<PxU32>& jointIndices, IG::IslandSim& islandSim) = 0;
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virtual void addShape(PxsShapeSim* shapeSim, const PxU32 index) = 0;
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virtual void removeShape(const PxU32 index) = 0;
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virtual void addDynamic(PxsRigidBody* rigidBody, const IG::NodeIndex& nodeIndex) = 0;
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virtual void addDynamics(PxsRigidBody** rigidBody, const PxU32* nodeIndex, PxU32 nbToProcess) = 0;
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virtual void addArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
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virtual void releaseArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
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virtual void releaseDeferredArticulationIds() = 0;
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virtual void updateDynamic(const bool isArticulationLink, const IG::NodeIndex&) = 0;
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virtual void updateJoint(const PxU32 edgeIndex, Dy::Constraint* constraint) = 0;
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virtual void updateBodies(PxsRigidBody** rigidBodies, PxU32* nodeIndices, const PxU32 nbBodies) = 0;
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virtual void updateBodiesAndShapes(PxBaseTask* continuation) = 0;
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virtual void update(const PxU32 bitMapWordCounts) = 0;
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virtual void updateArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
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virtual void updateArticulationJoint(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
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virtual void gpuDmabackData(PxsTransformCache& cache, Bp::BoundsArray& boundArray, Cm::BitMapPinned& changedAABBMgrHandles) = 0;
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virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation) = 0;
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virtual PxU32* getActiveBodies() = 0;
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virtual PxU32* getDeactiveBodies() = 0;
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virtual void** getRigidBodies() = 0;
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virtual PxU32 getNbBodies() = 0;
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virtual PxU32* getUnfrozenShapes() = 0;
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virtual PxU32* getFrozenShapes() = 0;
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virtual PxsShapeSim** getShapeSims() = 0;
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virtual PxU32 getNbFrozenShapes() = 0;
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virtual PxU32 getNbUnfrozenShapes() = 0;
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virtual void clear() = 0;
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virtual void setBounds(Bp::BoundsArray* boundArray) = 0;
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virtual void reserve(const PxU32 nbBodies) = 0;
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virtual PxU32 getArticulationRemapIndex(const PxU32 nodeIndex) = 0;
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protected:
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PxsSimulationControllerCallback* mCallback;
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};
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PxsSimulationController* createSimulationController(PxsSimulationControllerCallback* callback);
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}
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#endif
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