ScConstraintProjectionTree.h

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#ifndef SC_CONSTRAINT_PROJECTION_TREE_H
#define SC_CONSTRAINT_PROJECTION_TREE_H
 
#include "foundation/PxArray.h"
#include "foundation/PxUserAllocated.h"
 
namespace physx
{
namespace Sc
{
    struct ConstraintGroupNode;
    class ConstraintSim;
    class BodySim;
    class BodyRank;
 
    class ConstraintProjectionTree
    {
        public:
            ConstraintProjectionTree() {}
            ~ConstraintProjectionTree() {}
 
            static  void        buildProjectionTrees(ConstraintGroupNode& root);    
            static  void        purgeProjectionTrees(ConstraintGroupNode& root);
 
            static void         projectPose(ConstraintGroupNode& root, PxArray<BodySim*>& projectedBodies);
 
        private:
            static  PxU32                   projectionTreeBuildStep(ConstraintGroupNode& node, ConstraintSim* cToParent, ConstraintGroupNode** nodeStack);
 
            static  void                    getConstraintStatus(const ConstraintSim& c, const BodySim* b, BodySim*& otherBody, PxU32& projectToBody, PxU32& projectToOtherBody);
            static  void                    rankConstraint(ConstraintSim&, BodyRank&, PxU32& dominanceTracking, PxU32& constraintsToProjectCount);
            static  void                    projectPoseForTree(ConstraintGroupNode& node, PxArray<BodySim*>& projectedBodies);
    };
 
} // namespace Sc
 
}
 
#endif