GRK/dependencies/physx-4.1/source/lowlevel/software/include/PxsSimulationController.h
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2022-01-12 16:07:16 +01:00

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//
// 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) 2008-2019 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 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