PxvNphaseImplementationContext.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 PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
#define PXV_NPHASE_IMPLEMENTATION_CONTEXT_H
 
#include "PxSceneDesc.h"
#include "PxsContactManagerState.h"
#include "foundation/PxArray.h"
#include "PxsNphaseCommon.h"
 
// PT: TODO: forward decl don't work easily with templates, to revisit
#include "PxsMaterialCore.h"
#include "PxsFEMClothMaterialCore.h"
#include "PxsFEMSoftBodyMaterialCore.h"
#include "PxsFLIPMaterialCore.h"
#include "PxsMPMMaterialCore.h"
#include "PxsPBDMaterialCore.h"
 
namespace physx
{
 
namespace IG
{
    class SimpleIslandManager;
    class IslandSim;
    typedef PxU32 EdgeIndex;
}
 
namespace Dy
{
    class Context;
}
 
namespace Cm
{
    class FanoutTask;
}
 
namespace Sc
{
    class ShapeInteraction;
}
 
class PxNodeIndex;
class PxBaseTask;
class PxsContext;
struct PxsShapeCore;
 
class PxsContactManager;
struct PxsContactManagerOutput;
struct PxsTorsionalFrictionData;
 
 
class PxsContactManagerOutputIterator
{
    PxU32 mOffsets[1<<PxsContactManagerBase::MaxBucketBits];
    PxsContactManagerOutput* mOutputs;
 
public:
 
    PxsContactManagerOutputIterator() : mOutputs(NULL)
    {
    }
 
    PxsContactManagerOutputIterator(PxU32* offsets, PxU32 nbOffsets, PxsContactManagerOutput* outputs) : mOutputs(outputs)
    {
        PX_ASSERT(nbOffsets <= (1<<PxsContactManagerBase::MaxBucketBits));
 
        for(PxU32 a = 0; a < nbOffsets; ++a)
        {
            mOffsets[a] = offsets[a];
        }
    }
 
    PX_FORCE_INLINE PxsContactManagerOutput& getContactManager(PxU32 id)
    {
        PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
        PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
        PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
        return mOutputs[mOffsets[bucketId] + cmOutId];
    }
 
    PxU32 getIndex(PxU32 id)
    {
        PX_ASSERT((id & PxsContactManagerBase::NEW_CONTACT_MANAGER_MASK) == 0);
        PxU32 bucketId = PxsContactManagerBase::computeBucketIndexFromId(id);
        PxU32 cmOutId = PxsContactManagerBase::computeIndexFromId(id);
        return mOffsets[bucketId] + cmOutId;
    }
};
 
 
class PxvNphaseImplementationContext
{
    private:
                                                PX_NOCOPY(PxvNphaseImplementationContext)
public:
    
    PxvNphaseImplementationContext(PxsContext& context): mContext(context) {}
    virtual ~PxvNphaseImplementationContext() {}
    virtual void                        destroy() = 0;
    virtual void                    updateContactManager(PxReal dt, bool hasBoundsArrayChanged, bool hasContactDistanceChanged, 
        PxBaseTask* continuation, PxBaseTask* firstPassContinuation, Cm::FanoutTask* updateBoundAndShapeTask) = 0;
    virtual void                        postBroadPhaseUpdateContactManager(PxBaseTask* continuation) = 0;
    virtual void                        secondPassUpdateContactManager(PxReal dt, PxBaseTask* continuation) = 0;
    virtual void                        fetchUpdateContactManager() = 0;
    
    virtual void                        registerContactManager(PxsContactManager* cm, Sc::ShapeInteraction* interaction, PxI32 touching, PxU32 patchCount) = 0;
//  virtual void                        registerContactManagers(PxsContactManager** cm, Sc::ShapeInteraction** shapeInteractions, PxU32 nbContactManagers, PxU32 maxContactManagerId) = 0;
    virtual void                        unregisterContactManager(PxsContactManager* cm) = 0;
    virtual void                        refreshContactManager(PxsContactManager* cm) = 0;
 
    virtual void                        registerShape(const PxNodeIndex& nodeIndex, const PxsShapeCore& shapeCore, const PxU32 transformCacheID, PxActor* actor, const bool isFemCloth = false) = 0;
    virtual void                        unregisterShape(const PxsShapeCore& shapeCore, const PxU32 transformCacheID, const bool isFemCloth = false) = 0;
 
    virtual void                        registerAggregate(const PxU32 transformCacheID) = 0;
 
    virtual void                        registerMaterial(const PxsMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsFEMSoftBodyMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsFEMSoftBodyMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsFEMSoftBodyMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsFEMClothMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsFEMClothMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsFEMClothMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsPBDMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsPBDMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsPBDMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsFLIPMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsFLIPMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsFLIPMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsMPMMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsMPMMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsMPMMaterialCore& materialCore) = 0;
 
    virtual void                        registerMaterial(const PxsCustomMaterialCore& materialCore) = 0;
    virtual void                        updateMaterial(const PxsCustomMaterialCore& materialCore) = 0;
    virtual void                        unregisterMaterial(const PxsCustomMaterialCore& materialCore) = 0;
 
    virtual void                        updateShapeMaterial(const PxsShapeCore& shapeCore) = 0;
 
    
    virtual void                        startNarrowPhaseTasks() = 0;
 
    virtual void                        appendContactManagers() = 0;    
 
    virtual PxsContactManagerOutput&    getNewContactManagerOutput(PxU32 index) = 0;
 
    virtual PxsContactManagerOutputIterator getContactManagerOutputs() = 0;
 
    virtual void                            setContactModifyCallback(PxContactModifyCallback* callback) = 0;
 
    virtual void                            acquireContext() = 0;
    virtual void                            releaseContext() = 0;
    virtual void                            preallocateNewBuffers(PxU32 nbNewPairs, PxU32 maxIndex) = 0;
 
    virtual void                            lock() = 0;
    virtual void                            unlock() = 0;
 
    virtual PxsContactManagerOutputCounts*  getFoundPatchOutputCounts() = 0;
    virtual PxsContactManager**             getFoundPatchManagers() = 0;
    virtual PxU32                           getNbFoundPatchManagers() = 0;      
 
 
    //GPU-specific buffers. Return null for CPU narrow phase
 
    virtual PxsContactManagerOutput*        getGPUContactManagerOutputBase() = 0;
    virtual PxReal*                         getGPURestDistances() = 0;
    virtual Sc::ShapeInteraction**          getGPUShapeInteractions() = 0;
    virtual PxsTorsionalFrictionData*       getGPUTorsionalData() = 0;
 
    virtual void                            waitForContactsReady() {}
        
protected:
 
    PxsContext&                 mContext;
};
 
class PxvNphaseImplementationFallback
{
    private:
                                                PX_NOCOPY(PxvNphaseImplementationFallback)
public:
    
    PxvNphaseImplementationFallback() {}
    virtual ~PxvNphaseImplementationFallback() {}
    virtual void                processContactManager(PxReal dt, PxsContactManagerOutput* cmOutputs, PxBaseTask* continuation) = 0;
    virtual void                processContactManagerSecondPass(PxReal dt, PxBaseTask* continuation) = 0;
 
    virtual void                registerContactManager(PxsContactManager* cm, Sc::ShapeInteraction* shapeInteraction, PxI32 touching, PxU32 numPatches) = 0;
    virtual void                unregisterContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
 
    virtual void                refreshContactManagerFallback(PxsContactManager* cm, PxsContactManagerOutput* cmOutputs) = 0;
 
    virtual PxsContactManagerOutput& getNewContactManagerOutput(PxU32 npId) = 0;
 
    virtual void                appendContactManagersFallback(PxsContactManagerOutput* outputs) = 0;
 
    virtual void                setContactModifyCallback(PxContactModifyCallback* callback) = 0;
 
    virtual void                removeContactManagersFallback(PxsContactManagerOutput* cmOutputs) = 0;
 
    virtual void                lock() = 0;
    virtual void                unlock() = 0;
 
    virtual PxsContactManagerOutputCounts*  getFoundPatchOutputCounts() = 0;
    virtual PxsContactManager**             getFoundPatchManagers() = 0;
    virtual PxU32                           getNbFoundPatchManagers() = 0;
 
    virtual Sc::ShapeInteraction**          getShapeInteractions() = 0;
    virtual PxReal*                         getRestDistances() = 0;
    virtual PxsTorsionalFrictionData*       getTorsionalData() = 0;
 
};
 
class PxvNphaseImplementationContextUsableAsFallback: public PxvNphaseImplementationContext, public PxvNphaseImplementationFallback
{
    private:
                                                PX_NOCOPY(PxvNphaseImplementationContextUsableAsFallback)
public:
    PxvNphaseImplementationContextUsableAsFallback(PxsContext& context): PxvNphaseImplementationContext(context) {}
    virtual ~PxvNphaseImplementationContextUsableAsFallback() {}
};
 
PxvNphaseImplementationContextUsableAsFallback* createNphaseImplementationContext(PxsContext& context, IG::IslandSim* islandSim, PxVirtualAllocatorCallback* allocator);
 
}
 
#endif