GRK/dependencies/physx-4.1/source/lowlevel/software/include/PxsSimulationController.h

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#ifndef PXS_SIMULATION_CONTROLLER_H
#define PXS_SIMULATION_CONTROLLER_H

#include "foundation/PxSimpleTypes.h"
#include "foundation/PxPreprocessor.h"
#include "foundation/PxTransform.h"
#include "CmBitMap.h"
#include "PsArray.h"


namespace physx
{
	namespace Dy
	{
		class Context;
		struct Constraint;
		class ArticulationV;
		class FeatherstoneArticulation;
		struct ArticulationJointCore;
	}

	namespace Cm
	{
		class EventProfiler;
	}

	namespace Bp
	{
		class BoundsArray;
		class BroadPhase;
	}

	namespace IG
	{
		class SimpleIslandManager;
		class IslandSim;
		class NodeIndex;
	}

	class PxsTransformCache;
	class PxvNphaseImplementationContext;
	class PxBaseTask;

	struct PxsBodySim;
	struct PxsShapeSim;
	class PxsRigidBody;
	class PxsKernelWranglerManager;
	class PxsHeapMemoryAllocatorManager;

	template<typename T> class PxgIterator;
	struct PxgSolverConstraintManagerConstants;
	

	class PxsSimulationControllerCallback
	{
	public:
		virtual void updateScBodyAndShapeSim(PxBaseTask* continuation) = 0;
		virtual PxU32	getNbCcdBodies() = 0;

		virtual ~PxsSimulationControllerCallback() {}
	};


	class PxsSimulationController
	{
	public:
		PxsSimulationController(PxsSimulationControllerCallback* callback): mCallback(callback){}
		virtual ~PxsSimulationController(){}

		virtual void addJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, IG::IslandSim& islandSim, Ps::Array<PxU32>& jointIndices, 
			Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& managerIter, PxU32 uniqueId) = 0;
		virtual void removeJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, Ps::Array<PxU32>& jointIndices, IG::IslandSim& islandSim) = 0;
		virtual void addShape(PxsShapeSim* shapeSim, const PxU32 index) = 0;
		virtual void removeShape(const PxU32 index) = 0;
		virtual void addDynamic(PxsRigidBody* rigidBody, const IG::NodeIndex& nodeIndex) = 0;
		virtual void addDynamics(PxsRigidBody** rigidBody, const PxU32* nodeIndex, PxU32 nbToProcess) = 0;
		virtual void addArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
		virtual void releaseArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
		virtual void releaseDeferredArticulationIds() = 0;
		virtual void updateDynamic(const bool isArticulationLink, const IG::NodeIndex&) = 0;
		virtual void updateJoint(const PxU32 edgeIndex, Dy::Constraint* constraint) = 0;
		virtual void updateBodies(PxsRigidBody** rigidBodies, PxU32* nodeIndices, const PxU32 nbBodies) = 0;
		virtual void updateBodiesAndShapes(PxBaseTask* continuation) = 0;
		virtual void update(const PxU32 bitMapWordCounts) = 0;
		virtual void updateArticulation(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
		virtual void updateArticulationJoint(Dy::ArticulationV* articulation, const IG::NodeIndex& nodeIndex) = 0;
		virtual void gpuDmabackData(PxsTransformCache& cache, Bp::BoundsArray& boundArray, Cm::BitMapPinned&  changedAABBMgrHandles) = 0;
		virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation) = 0;
		virtual PxU32* getActiveBodies() = 0;
		virtual PxU32* getDeactiveBodies() = 0;
		virtual void** getRigidBodies() = 0;
		virtual PxU32	getNbBodies() = 0;

		virtual PxU32*	getUnfrozenShapes() = 0;
		virtual PxU32*	getFrozenShapes() = 0;
		virtual PxsShapeSim** getShapeSims() = 0;
		virtual PxU32	getNbFrozenShapes() = 0;
		virtual PxU32	getNbUnfrozenShapes() = 0;

		virtual void	clear() = 0;
		virtual void	setBounds(Bp::BoundsArray* boundArray) = 0;
		virtual void	reserve(const PxU32 nbBodies) = 0;

		virtual PxU32   getArticulationRemapIndex(const PxU32 nodeIndex) = 0;

	protected:
		PxsSimulationControllerCallback* mCallback;

	};

	PxsSimulationController* createSimulationController(PxsSimulationControllerCallback* callback);
}

#endif