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physx/source/simulationcontroller/src/ScSimulationController.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. 
+
+#include "PxsSimulationController.h"
+
+#ifndef SC_SIMULATION_CONTROLLER_H
+#define	SC_SIMULATION_CONTROLLER_H
+
+
+namespace physx
+{
+
+class PxsHeapMemoryAllocator;
+
+namespace Dy
+{
+	class FeatherstoneArticulation;
+	struct ArticulationJointCore;
+}
+
+namespace Sc
+{
+
+	class SimulationController : public PxsSimulationController
+	{
+		PX_NOCOPY(SimulationController)
+	public:
+		SimulationController(PxsSimulationControllerCallback* callback): PxsSimulationController(callback)
+		{
+		}
+	
+		virtual ~SimulationController(){}
+		virtual void addJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, IG::IslandSim& /*islandSim*/, Ps::Array<PxU32>& /*jointIndices*/,
+		Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& /*managerIter*/, PxU32 /*uniqueId*/){}
+		virtual void removeJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, Ps::Array<PxU32>& /*jointIndices*/, IG::IslandSim& /*islandSim*/){}
+		virtual void addShape(PxsShapeSim* /*shapeSim*/, const PxU32 /*index*/){}
+		virtual void removeShape(const PxU32 /*index*/){}
+		virtual void addDynamic(PxsRigidBody* /*rigidBody*/, const IG::NodeIndex& /*nodeIndex*/){}
+		virtual void addDynamics(PxsRigidBody** /*rigidBody*/, const PxU32* /*nodeIndex*/, PxU32 /*nbBodies*/) {}
+		virtual void addArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/){}
+		virtual void releaseArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
+		virtual void releaseDeferredArticulationIds(){}
+		virtual void updateDynamic(const bool /*isArticulationLink*/, const IG::NodeIndex& /*nodeIndex*/) {}
+		virtual void updateJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/){}
+		virtual void updateBodies(PxsRigidBody** /*rigidBodies*/,  PxU32* /*nodeIndices*/, const PxU32 /*nbBodies*/) {}
+		virtual void updateBody(PxsRigidBody* /*rigidBody*/, const PxU32 /*nodeIndex*/) {}
+		virtual void updateBodiesAndShapes(PxBaseTask* /*continuation*/){}
+		virtual void update(const PxU32 /*bitMapWordCounts*/){}
+		virtual void gpuDmabackData(PxsTransformCache& /*cache*/, Bp::BoundsArray& /*boundArray*/, Cm::BitMapPinned&  /*changedAABBMgrHandles*/){}
+		virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation);
+		virtual void updateArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
+		virtual void updateArticulationJoint(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
+		virtual PxU32* getActiveBodies() { return NULL; }
+		virtual PxU32* getDeactiveBodies() { return NULL; }
+		virtual void** getRigidBodies() { return NULL; }
+		virtual PxU32	getNbBodies() { return 0; }
+		virtual PxU32	getNbFrozenShapes() { return 0; }
+		virtual PxU32	getNbUnfrozenShapes() { return 0; }
+
+		virtual PxU32*	getUnfrozenShapes() { return NULL; }
+		virtual PxU32*	getFrozenShapes() { return NULL; }
+		virtual PxsShapeSim** getShapeSims() { return NULL; }
+		virtual PxU32	getNbShapes()	{ return 0; }
+
+		virtual void	clear() { }
+		virtual void	setBounds(Bp::BoundsArray* /*boundArray*/){}
+		virtual void	reserve(const PxU32 /*nbBodies*/) {}
+
+		virtual PxU32   getArticulationRemapIndex(const PxU32 /*nodeIndex*/) { return PX_INVALID_U32;}
+		
+	};
+}
+
+}
+
+#endif