DyArticulationPImpl.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef DY_ARTICULATION_INTERFACE_H
#define DY_ARTICULATION_INTERFACE_H
 
#include "DyArticulationUtils.h"
 
namespace physx
{
namespace Dy
{
    struct ArticulationSolverDesc;
 
class ArticulationPImpl
{
public:
 
    typedef PxU32 (*ComputeUnconstrainedVelocitiesFn)(const ArticulationSolverDesc& desc,
                                                     PxReal dt,
                                                     PxU32& acCount,
                                                     const PxVec3& gravity, 
                                                     Cm::SpatialVectorF* Z, Cm::SpatialVectorF* DeltaV, 
                                                     const PxReal invLengthScale);
 
    typedef void (*UpdateBodiesFn)(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* deltaV, PxReal dt);
 
    typedef void (*SaveVelocityFn)(const ArticulationSolverDesc &m, Cm::SpatialVectorF* deltaV);
 
    typedef void(*SaveVelocityTGSFn)(const ArticulationSolverDesc& m, PxReal invDtF32);
 
    typedef PxU32(*SetupInternalConstraintsTGSFn)(const ArticulationSolverDesc& desc,
        PxReal dt,
        PxReal invDt,
        PxReal totalDt,
        const PxReal biasCoefficient,
        PxU32& acCount,
        Cm::SpatialVectorF* Z);
 
    typedef void(*ComputeUnconstrainedVelocitiesTGSFn)(const ArticulationSolverDesc& desc,
        PxReal dt,
        const PxVec3& gravity, PxU64 contextID, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* DeltaV,
        const PxReal invLengthScale);
 
    typedef void(*UpdateDeltaMotionFn)(const ArticulationSolverDesc &m, const PxReal dt, Cm::SpatialVectorF* DeltaV, const PxReal totalInvDt);
 
    typedef void(*DeltaMotionToMotionVelFn)(const ArticulationSolverDesc &m, const PxReal dt);
 
    static ComputeUnconstrainedVelocitiesFn sComputeUnconstrainedVelocities;
    static UpdateBodiesFn sUpdateBodies;
    static UpdateBodiesFn sUpdateBodiesTGS;
    static SaveVelocityFn sSaveVelocity;
    static SaveVelocityTGSFn sSaveVelocityTGS;
 
    static UpdateDeltaMotionFn sUpdateDeltaMotion;
    static DeltaMotionToMotionVelFn sDeltaMotionToMotionVel;
    static ComputeUnconstrainedVelocitiesTGSFn sComputeUnconstrainedVelocitiesTGS;
    static SetupInternalConstraintsTGSFn sSetupInternalConstraintsTGS;
 
    static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
                                            PxReal dt,
                                            PxU32& acCount,
                                            const PxVec3& gravity, 
                                            Cm::SpatialVectorF* Z, 
                                            Cm::SpatialVectorF* deltaV,
                                            const PxReal invLengthScale)
    {
        PX_ASSERT(sComputeUnconstrainedVelocities);
        if (sComputeUnconstrainedVelocities)
            return (sComputeUnconstrainedVelocities)(desc, dt,  acCount,
                gravity, Z, deltaV, invLengthScale);
        else
            return 0;
    }
 
    static void updateBodies(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
                         PxReal dt)
    {
        PX_ASSERT(sUpdateBodies);
        if (sUpdateBodies)
            (*sUpdateBodies)(desc, tempDeltaV, dt);
    }
 
    static void updateBodiesTGS(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
        PxReal dt)
    {
        PX_ASSERT(sUpdateBodiesTGS);
        if (sUpdateBodiesTGS)
            (*sUpdateBodiesTGS)(desc, tempDeltaV, dt);
    }
 
    static void saveVelocity(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV)
    {
        PX_ASSERT(sSaveVelocity);
        if (sSaveVelocity)
            (*sSaveVelocity)(desc, tempDeltaV);
    }
 
 
    static void saveVelocityTGS(const ArticulationSolverDesc& desc, PxReal invDtF32)
    {
        PX_UNUSED(desc);
        PX_UNUSED(invDtF32);
        PX_ASSERT(sSaveVelocityTGS);
        if (sSaveVelocityTGS)
            (*sSaveVelocityTGS)(desc, invDtF32);
    }
 
    static void computeUnconstrainedVelocitiesTGS(const ArticulationSolverDesc& desc,
        PxReal dt,
        const PxVec3& gravity, PxU64 contextID, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* DeltaV,
        const PxReal invLengthScale)
    {
        PX_ASSERT(sComputeUnconstrainedVelocitiesTGS);
        if (sComputeUnconstrainedVelocitiesTGS)
            (sComputeUnconstrainedVelocitiesTGS)(desc, dt, gravity, contextID, Z, DeltaV, invLengthScale);
    }
 
    static void updateDeltaMotion(const ArticulationSolverDesc& desc, const PxReal dt, Cm::SpatialVectorF* DeltaV, const PxReal totalInvDt)
    {
        PX_ASSERT(sUpdateDeltaMotion);
        if (sUpdateDeltaMotion)
            (*sUpdateDeltaMotion)(desc, dt, DeltaV, totalInvDt);
    }
 
    static void deltaMotionToMotionVel(const ArticulationSolverDesc& desc, const PxReal invDt)
    {
        PX_ASSERT(sDeltaMotionToMotionVel);
        if (sDeltaMotionToMotionVel)
            (*sDeltaMotionToMotionVel)(desc, invDt);
    }
 
    static PxU32 setupSolverInternalConstraintsTGS(const ArticulationSolverDesc& desc,
        PxReal dt,
        PxReal invDt,
        PxReal totalDt,
        const PxReal biasCoefficient,
        PxU32& acCount,
        Cm::SpatialVectorF* Z)
    {
        PX_ASSERT(sSetupInternalConstraintsTGS);
        if (sSetupInternalConstraintsTGS)
            return sSetupInternalConstraintsTGS(desc,  dt, invDt, 
                totalDt, biasCoefficient, acCount,  Z);
        return 0;
 
    }
};
 
 
}
}
#endif