NpSoftBody.h

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#ifndef NP_SOFTBODY_H
#define NP_SOFTBODY_H
 
#include "PxSoftBody.h"
#include "ScSoftBodyCore.h"
#include "NpActorTemplate.h"
#include "GuTetrahedronMesh.h"
 
namespace physx
{
    class NpScene;
    class NpShape;
 
    class NpSoftBody : public NpActorTemplate<PxSoftBody>
    {
    public:
                                    NpSoftBody(PxCudaContextManager& cudaContextManager);
                                    NpSoftBody(PxBaseFlags baseFlags, PxCudaContextManager& cudaContextManager);
        
        virtual                     ~NpSoftBody() {}
 
        void exportData(PxSerializationContext& /*context*/) const{}
    
        //external API
        virtual                     PxActorType::Enum   getType() const { return PxActorType::eSOFTBODY; }
 
        virtual PxBounds3           getWorldBounds(float inflation = 1.01f) const;
        virtual PxU32               getGpuSoftBodyIndex();
        
        virtual void                setSoftBodyFlag(PxSoftBodyFlag::Enum flag, bool val);
        virtual void                setSoftBodyFlags(PxSoftBodyFlags flags);
        virtual PxSoftBodyFlags     getSoftBodyFlag() const;
 
        virtual void                setParameter(const PxFEMParameters paramters);
        virtual PxFEMParameters     getParameter() const;
 
        virtual     void            readData(PxSoftBodyData::Enum flags, PxBuffer& buffer, bool flush);
        virtual     void            readData(PxSoftBodyData::Enum flags, bool flush);
 
        virtual     void            writeData(PxSoftBodyData::Enum flags, PxBuffer& buffer, bool flush);
        virtual     void            writeData(PxSoftBodyData::Enum flags, bool flush);
 
        virtual     PxCudaContextManager*   getCudaContextManager() const;
 
        virtual void                    setWakeCounter(PxReal wakeCounterValue);
        virtual PxReal                  getWakeCounter() const;
 
        virtual bool                    isSleeping() const;
 
        virtual void                    setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters);
 
        virtual void                    getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const;
 
        virtual PxShape*                getShape();
        virtual PxTetrahedronMesh*      getCollisionMesh();
        virtual PxTetrahedronMesh*      getSimulationMesh();
        virtual PxSoftBodyAuxData*      getSoftBodyAuxData();
 
        virtual bool                    attachShape(PxShape& shape);
        virtual bool                    attachSimulationMesh(PxTetrahedronMesh& simulationMesh, PxSoftBodyAuxData& softBodyAuxData);
 
        virtual void                    detachShape();
        virtual void                    detachSimulationMesh();
 
        virtual void                    release();
 
        PX_FORCE_INLINE const Sc::SoftBodyCore& getCore()   const   { return mCore; }
        PX_FORCE_INLINE Sc::SoftBodyCore&       getCore()           { return mCore; }
        static PX_FORCE_INLINE size_t           getCoreOffset()     { return PX_OFFSET_OF_RT(NpSoftBody, mCore); }
 
        virtual     void                addParticleFilter(PxPBDParticleSystem* particlesystem, const PxParticleBuffer* buffer, PxU32 particleId, PxU32 tetId);
        virtual     void                removeParticleFilter(PxPBDParticleSystem* particlesystem, const PxParticleBuffer* buffer, PxU32 particleId, PxU32 tetId);
 
        virtual     PxU32               addParticleAttachment(PxPBDParticleSystem* particlesystem, const PxParticleBuffer* buffer, PxU32 particleId, PxU32 tetId, const PxVec4& barycentric);
        virtual     void                removeParticleAttachment(PxPBDParticleSystem* particlesystem, PxU32 handle);
 
        virtual     void                addRigidFilter(PxRigidActor* actor, PxU32 vertId);
        virtual     void                removeRigidFilter(PxRigidActor* actor, PxU32 vertId);
 
        virtual     PxU32               addRigidAttachment(PxRigidActor* actor, PxU32 vertId, const PxVec3& actorSpacePose, PxConeLimitedConstraint* constraint);
        virtual     void                removeRigidAttachment(PxRigidActor* actor, PxU32 handle);
 
        virtual     void                addTetRigidFilter(PxRigidActor* actor, PxU32 tetIdx);
        virtual     void                removeTetRigidFilter(PxRigidActor* actor, PxU32 tetIdx);
 
        virtual     PxU32               addTetRigidAttachment(PxRigidActor* actor, PxU32 tetIdx, const PxVec4& barycentric, const PxVec3& actorSpacePose, 
                                        PxConeLimitedConstraint* constraint);
        
        virtual     void                addSoftBodyFilter(PxSoftBody* softbody0, PxU32 tetIdx0, PxU32 tetIdx1);
        virtual     void                removeSoftBodyFilter(PxSoftBody* softbody0, PxU32 tetIdx0, PxU32 tetIdx1);
        virtual     void                addSoftBodyFilters(PxSoftBody* softbody0, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
        virtual     void                removeSoftBodyFilters(PxSoftBody* softbody0, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
 
        virtual     PxU32               addSoftBodyAttachment(PxSoftBody* softbody0, PxU32 tetIdx0, const PxVec4& tetBarycentric0, PxU32 tetIdx1, const PxVec4& tetBarycentric1,
                                        PxConeLimitedConstraint* constraint);
        virtual     void                removeSoftBodyAttachment(PxSoftBody* softbody0, PxU32 handle);
 
        virtual     void                addClothFilter(PxFEMCloth* cloth, PxU32 triIdx, PxU32 tetIdx);
        virtual     void                removeClothFilter(PxFEMCloth* cloth, PxU32 triIdx, PxU32 tetIdx);
 
        virtual     PxU32               addClothAttachment(PxFEMCloth* cloth, PxU32 triIdx, const PxVec4& triBarycentric, PxU32 tetIdx, const PxVec4& tetBarycentric, 
                                        PxConeLimitedConstraint* constraint);
        virtual     void                removeClothAttachment(PxFEMCloth* cloth, PxU32 handle);
 
        // Debug name
        void                            setName(const char*);
        const char*                     getName() const;
 
        virtual     PxBuffer* getSimPositionInvMassCPU() { return mCore.getCore().mSimPositionInvMassCPU; }
        virtual     PxBuffer* getSimVelocityInvMassCPU() { return mCore.getCore().mSimVelocityInvMassCPU; }
        virtual     PxBuffer* getKinematicTargetCPU() { return mCore.getCore().mKinematicTargetCPU; }
 
        virtual     PxBuffer* getPositionInvMassCPU() { return mCore.getCore().mPositionInvMassCPU; }
        virtual     PxBuffer* getRestPositionInvMassCPU() { return mCore.getCore().mRestPositionInvMassCPU; }
 
        void        updateMaterials();
 
    private:
 
        PxBuffer*                   getBufferFromFlag(PxSoftBodyData::Enum flags);
        PxBuffer*                   getBufferHostFromFlag(PxSoftBodyData::Enum flags);
 
        NpShape*                    mShape; //soft body should just have one shape. The geometry type should be tetrahedron mesh
        Gu::TetrahedronMesh*        mSimulationMesh;
        Gu::SoftBodyAuxData*        mSoftBodyAuxData;
        Sc::SoftBodyCore            mCore;
        PxCudaContextManager*       mCudaContextManager;
    };
}
#endif