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physx/source/lowlevel/software/include/PxsSimulationController.h

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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) 2008-2021 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