DySoftBody.h

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#ifndef DY_SOFTBODY_H
#define DY_SOFTBODY_H
 
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxPinnedArray.h"
#include "DySoftBodyCore.h"
#include "PxvGeometry.h"
 
namespace physx
{
    namespace Sc
    {
        class SoftBodySim;
    }
 
    namespace Dy
    {
 
        typedef size_t SoftBodyHandle;
 
        struct SoftBodyCore;
 
        typedef PxPinnedArray<PxU64> SoftBodyFilterArray;
 
        class SoftBody
        {
            PX_NOCOPY(SoftBody)
        public:
            SoftBody(Sc::SoftBodySim* sim, Dy::SoftBodyCore& core) : 
                mSoftBodySoftBodyFilterPairs(NULL), mSim(sim), mCore(core), mElementId(0xffffffff), mGpuRemapId(0xffffffff)
            {
                mFilterDirty = false;
                mFilterInDirtyList = false;
                mDirtySoftBodyForFilterPairs = NULL;
                mSoftBodySoftBodyFilterPairs = NULL;
            }
 
            ~SoftBody()
            {
                if (mDirtySoftBodyForFilterPairs)
                {
                    Dy::SoftBody** dirtySoftBodies = mDirtySoftBodyForFilterPairs->begin();
 
                    const PxU32 size = mDirtySoftBodyForFilterPairs->size();
 
                    for (PxU32 i = 0; i < size; ++i)
                    {
                        if (dirtySoftBodies[i] == this)
                        {
                            dirtySoftBodies[i] = NULL;
                        }
                    }
 
                    if (mSoftBodySoftBodyFilterPairs)
                        PX_FREE(mSoftBodySoftBodyFilterPairs);
                }
            }
 
            PX_FORCE_INLINE PxReal getMaxPenetrationBias() const { return mCore.maxPenBias; }
 
            PX_FORCE_INLINE Sc::SoftBodySim* getSoftBodySim() const { return mSim; }
 
            PX_FORCE_INLINE void setGpuRemapId(const PxU32 remapId) 
            { 
                mGpuRemapId = remapId;
                PxTetrahedronMeshGeometryLL& geom = mShapeCore->mGeometry.get<PxTetrahedronMeshGeometryLL>();
                geom.materialsLL.gpuRemapId = remapId;
            }
 
            PX_FORCE_INLINE PxU32 getGpuRemapId() { return mGpuRemapId; }
 
            PX_FORCE_INLINE void setElementId(const PxU32 elementId) { mElementId = elementId; }
            PX_FORCE_INLINE PxU32 getElementId() { return mElementId; }
 
            PX_FORCE_INLINE PxsShapeCore& getShapeCore() { return *mShapeCore; }
            PX_FORCE_INLINE void setShapeCore(PxsShapeCore* shapeCore) { mShapeCore = shapeCore; }
 
            PX_FORCE_INLINE void setSimShapeCore(PxTetrahedronMesh* simulationMesh, PxSoftBodyAuxData* simulationState) 
            { 
                mSimulationMesh = simulationMesh;
                mSoftBodyAuxData = simulationState;
            }
 
            PX_FORCE_INLINE const PxTetrahedronMesh* getCollisionMesh() const { return mShapeCore->mGeometry.get<PxTetrahedronMeshGeometryLL>().tetrahedronMesh; }
            PX_FORCE_INLINE PxTetrahedronMesh* getCollisionMesh() { return mShapeCore->mGeometry.get<PxTetrahedronMeshGeometryLL>().tetrahedronMesh; }
 
            PX_FORCE_INLINE const PxTetrahedronMesh* getSimulationMesh() const { return mSimulationMesh; }
            PX_FORCE_INLINE PxTetrahedronMesh* getSimulationMesh() { return mSimulationMesh; }
 
            PX_FORCE_INLINE const PxSoftBodyAuxData* getSoftBodyAuxData() const { return mSoftBodyAuxData; }
            PX_FORCE_INLINE PxSoftBodyAuxData* getSoftBodyAuxData() { return mSoftBodyAuxData; }
 
 
            PX_FORCE_INLINE const SoftBodyCore& getCore() const { return mCore; }
            PX_FORCE_INLINE SoftBodyCore& getCore() { return mCore; }
 
            PX_FORCE_INLINE PxU16 getIterationCounts() { return mCore.solverIterationCounts; }
 
            PX_FORCE_INLINE PxU32 getGpuSoftBodyIndex() { return mGpuRemapId;  }
 
            //These variables are used in the constraint partition
            PxU16 maxSolverFrictionProgress;
            PxU16 maxSolverNormalProgress;
            PxU32 solverProgress;
            PxU8  numTotalConstraints;
 
            PxArray<PxU32>          mParticleSoftBodyAttachments;
            PxArray<PxU32>          mRigidSoftBodyAttachments;
            PxArray<PxU32>          mClothSoftBodyAttachments;
            PxArray<PxU32>          mSoftSoftBodyAttachments;
 
            SoftBodyFilterArray*    mSoftBodySoftBodyFilterPairs;
            PxArray <Dy::SoftBody*>* mDirtySoftBodyForFilterPairs; //pointer to the array of mDirtySoftBodyForFilterPairs in PxgSimulationController.cpp
 
            PxArray<PxU32>          mSoftBodyClothAttachmentIdReferences;
            bool                    mFilterDirty;
            bool                    mFilterInDirtyList;
 
            
        private:
            Sc::SoftBodySim*    mSim;
            SoftBodyCore&       mCore;
            PxsShapeCore*       mShapeCore; 
 
            PxTetrahedronMesh*   mSimulationMesh;
            PxSoftBodyAuxData*  mSoftBodyAuxData;
 
            PxU32               mElementId; //this is used for the bound array, contactDist
            PxU32               mGpuRemapId;
        };
 
        PX_FORCE_INLINE SoftBody* getSoftBody(SoftBodyHandle handle)
        {
            return reinterpret_cast<SoftBody*>(handle);
        }
 
    }
}
 
#endif