ScConstraintProjectionManager.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef SC_CONSTRAINT_PROJECTION_MANAGER_H
#define SC_CONSTRAINT_PROJECTION_MANAGER_H
 
#include "foundation/PxPool.h"
#include "foundation/PxHashSet.h"
#include "ScConstraintGroupNode.h"
 
namespace physx
{
    class PxcScratchAllocator;
 
namespace Sc
{
    class ConstraintSim;
    class BodySim;
    template<typename T, const PxU32 elementsPerBlock = 64> class ScratchAllocatorList;
 
    class ConstraintProjectionManager : public PxUserAllocated
    {
    public:
        ConstraintProjectionManager();
        ~ConstraintProjectionManager() {}
 
        void addToPendingGroupUpdates(ConstraintSim& s);
        void removeFromPendingGroupUpdates(ConstraintSim& s);
 
        void addToPendingTreeUpdates(ConstraintGroupNode& n);
        void removeFromPendingTreeUpdates(ConstraintGroupNode& n);
 
        void processPendingUpdates(PxcScratchAllocator&);
        void invalidateGroup(ConstraintGroupNode& node, ConstraintSim* constraintDeleted);
 
    private:
        PX_INLINE Sc::ConstraintGroupNode* createGroupNode(BodySim& b);
 
        void addToGroup(BodySim& b, BodySim* other, ConstraintSim& c);
        void groupUnion(ConstraintGroupNode& root0, ConstraintGroupNode& root1);
        void markConnectedConstraintsForUpdate(BodySim& b, ConstraintSim* c);
        PX_FORCE_INLINE void processConstraintForGroupBuilding(ConstraintSim* c, ScratchAllocatorList<ConstraintSim*>&);
 
 
    private:
        PxPool<ConstraintGroupNode>             mNodePool;
        PxCoalescedHashSet<ConstraintSim*>      mPendingGroupUpdates; //list of constraints for which constraint projection groups need to be generated/updated
        PxCoalescedHashSet<ConstraintGroupNode*>    mPendingTreeUpdates;    //list of constraint groups that need their projection trees rebuilt. Note: non of the
                                                                            //constraints in those groups are allowed to be in mPendingGroupUpdates at the same time
                                                                            //because a group update will automatically trigger tree rebuilds.
    };
 
} // namespace Sc
 
}
 
#endif