DyContactPrep.h

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#ifndef DY_CONTACT_PREP_H
#define DY_CONTACT_PREP_H
 
#include "DySolverConstraintDesc.h"
#include "PxSceneDesc.h"
#include "DySolverContact4.h"
 
namespace physx
{
 
struct PxcNpWorkUnit;
class PxsConstraintBlockManager;
class PxcConstraintBlockStream;
struct PxsContactManagerOutput;
class FrictionPatchStreamPair;
struct PxSolverBody;
struct PxSolverBodyData;
struct PxSolverConstraintDesc;
class PxsContactManager;
 
namespace Dy
{
    class ThreadContext;
    struct CorrelationBuffer;
 
#define CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS          \
    PxSolverContactDesc& contactDesc,                       \
    PxsContactManagerOutput& output,                        \
    ThreadContext& threadContext,                           \
    const PxReal invDtF32,                                  \
    const PxReal dtF32,                                     \
    PxReal bounceThresholdF32,                              \
    PxReal frictionOffsetThreshold,                         \
    PxReal correlationDistance,                             \
    PxConstraintAllocator& constraintAllocator,             \
    Cm::SpatialVectorF* Z
 
#define CREATE_FINALIZE_SOVLER_CONTACT_METHOD_ARGS_4                                    \
                                 PxsContactManagerOutput** outputs,                     \
                                 ThreadContext& threadContext,                          \
                                 PxSolverContactDesc* blockDescs,                       \
                                 const PxReal invDtF32,                                 \
                                 const PxReal dtF32,                                    \
                                 PxReal bounceThresholdF32,                             \
                                 PxReal frictionThresholdF32,                           \
                                 PxReal correlationDistanceF32,                         \
                                 PxConstraintAllocator& constraintAllocator             
 
    
typedef bool (*PxcCreateFinalizeSolverContactMethod)(CREATE_FINALIZE_SOLVER_CONTACT_METHOD_ARGS);
 
extern PxcCreateFinalizeSolverContactMethod createFinalizeMethods[3];
 
typedef SolverConstraintPrepState::Enum (*PxcCreateFinalizeSolverContactMethod4)(CREATE_FINALIZE_SOVLER_CONTACT_METHOD_ARGS_4);
 
extern PxcCreateFinalizeSolverContactMethod4 createFinalizeMethods4[3];
 
 
bool createFinalizeSolverContacts(  PxSolverContactDesc& contactDesc,
                                    PxsContactManagerOutput& output,
                                    ThreadContext& threadContext,
                                    const PxReal invDtF32,
                                    const PxReal dtF32,
                                    PxReal bounceThresholdF32,
                                    PxReal frictionOffsetThreshold,
                                    PxReal correlationDistance,
                                    PxConstraintAllocator& constraintAllocator,
                                    Cm::SpatialVectorF* Z);
 
bool createFinalizeSolverContacts(  PxSolverContactDesc& contactDesc,
                                    CorrelationBuffer& c,
                                    const PxReal invDtF32,
                                    const PxReal dtF32,
                                    PxReal bounceThresholdF32,
                                    PxReal frictionOffsetThreshold,
                                    PxReal correlationDistance,
                                    PxConstraintAllocator& constraintAllocator,
                                    Cm::SpatialVectorF* Z);
 
SolverConstraintPrepState::Enum createFinalizeSolverContacts4(  PxsContactManagerOutput** outputs,
                                                                 ThreadContext& threadContext,
                                                                 PxSolverContactDesc* blockDescs,
                                                                 const PxReal invDtF32,
                                                                 const PxReal dtF32,
                                                                 PxReal bounceThresholdF32,
                                                                 PxReal frictionOffsetThreshold,
                                                                 PxReal correlationDistance,
                                                                 PxConstraintAllocator& constraintAllocator);
 
SolverConstraintPrepState::Enum createFinalizeSolverContacts4(  Dy::CorrelationBuffer& c,
                                                                PxSolverContactDesc* blockDescs,
                                                                const PxReal invDtF32,
                                                                const PxReal dtF32,
                                                                PxReal bounceThresholdF32,
                                                                PxReal  frictionOffsetThreshold,
                                                                PxReal correlationDistance,
                                                                PxConstraintAllocator& constraintAllocator);
 
 
 
bool createFinalizeSolverContactsCoulomb1D(PxSolverContactDesc& contactDesc,
                                             PxsContactManagerOutput& output,
                                             ThreadContext& threadContext,
                                             const PxReal invDtF32,
                                             const PxReal dtF32,
                                             PxReal bounceThresholdF32,
                                             PxReal frictionOffsetThreshold,
                                             PxReal correlationDistance,
                                             PxConstraintAllocator& constraintAllocator,
                                             Cm::SpatialVectorF* Z);
 
bool createFinalizeSolverContactsCoulomb2D(PxSolverContactDesc& contactDesc,
                                            PxsContactManagerOutput& output,
                                            ThreadContext& threadContext,
                                            const PxReal invDtF32,
                                            const PxReal dtF32,
                                            PxReal bounceThresholdF32,
                                            PxReal frictionOffsetThreshold,
                                            PxReal correlationDistance,
                                            PxConstraintAllocator& constraintAllocator,
                                            Cm::SpatialVectorF* Z);
 
 
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb1D( PxsContactManagerOutput** outputs,
                                                                        ThreadContext& threadContext,
                                                                         PxSolverContactDesc* blockDescs,
                                                                         const PxReal invDtF32,
                                                                         const PxReal dtF32,
                                                                         PxReal bounceThresholdF32,
                                                                         PxReal frictionOffsetThreshold,
                                                                         PxReal correlationDistance,
                                                                         PxConstraintAllocator& constraintAllocator);
 
SolverConstraintPrepState::Enum createFinalizeSolverContacts4Coulomb2D(PxsContactManagerOutput** outputs,
                                                                        ThreadContext& threadContext,
                                                                        PxSolverContactDesc* blockDescs,
                                                                        const PxReal invDtF32,
                                                                        const PxReal dtF32,
                                                                        PxReal bounceThresholdF32,
                                                                        PxReal frictionOffsetThreshold,
                                                                        PxReal correlationDistance,
                                                                        PxConstraintAllocator& constraintAllocator);
 
 
PxU32 getContactManagerConstraintDesc(const PxsContactManagerOutput& cmOutput, const PxsContactManager& cm, PxSolverConstraintDesc& desc);
 
class BlockAllocator : public PxConstraintAllocator
{
    PxsConstraintBlockManager& mConstraintBlockManager;
    PxcConstraintBlockStream& mConstraintBlockStream;
    FrictionPatchStreamPair& mFrictionPatchStreamPair;
    PxU32& mTotalConstraintByteSize;
public:
 
    BlockAllocator(PxsConstraintBlockManager& constraintBlockManager, PxcConstraintBlockStream& constraintBlockStream, FrictionPatchStreamPair& frictionPatchStreamPair,
        PxU32& totalConstraintByteSize) :
        mConstraintBlockManager(constraintBlockManager), mConstraintBlockStream(constraintBlockStream), mFrictionPatchStreamPair(frictionPatchStreamPair),
        mTotalConstraintByteSize(totalConstraintByteSize)
    {
    }
 
    virtual PxU8* reserveConstraintData(const PxU32 size);
 
    virtual PxU8* reserveFrictionData(const PxU32 size);
 
    virtual PxU8* findInputPatches(PxU8* frictionCookie)
    {
        return frictionCookie;
    }
 
    PX_NOCOPY(BlockAllocator)
 
};
 
}
 
}
 
#endif