ScSoftBodyCore.h

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#ifndef SC_SOFT_BODY_CORE_H
#define SC_SOFT_BODY_CORE_H
 
#include "PxSoftBody.h"
#include "DySoftBodyCore.h"
#include "foundation/PxAssert.h"
#include "ScActorCore.h"
#include "ScShapeCore.h"
#include "PxFiltering.h"
#include "ScRigidCore.h" //KS - needed for ShapeChangeNotifyFlags. Move to a shared header
 
 
namespace physx
{
 
    
    namespace Sc
    {
        class SoftBodySim;
        class BodyCore;
        class FEMClothCore;
        class ParticleSystemCore;
 
        class SoftBodyCore : public ActorCore
        {
            //= ATTENTION! =====================================================================================
            // Changing the data layout of this class breaks the binary serialization format.  See comments for 
            // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
            // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
            // accordingly.
            //==================================================================================================
 
            //---------------------------------------------------------------------------------
            // Construction, destruction & initialization
            //---------------------------------------------------------------------------------
 
            // PX_SERIALIZATION
        public:
            SoftBodyCore(const PxEMPTY) : ActorCore(PxEmpty){}
            static      void                            getBinaryMetaData(PxOutputStream& stream);
            //~PX_SERIALIZATION
            SoftBodyCore();
            ~SoftBodyCore();
 
            //---------------------------------------------------------------------------------
            // External API
            //---------------------------------------------------------------------------------
 
            void                        setMaterial(const PxU16 handle);
            void                        clearMaterials();
        
            
            PxFEMParameters             getParameter() const;
            void                        setParameter(const PxFEMParameters paramters);
            
            
            PxReal                      getSleepThreshold() const;
            void                        setSleepThreshold(const PxReal v);
 
            PxReal                      getFreezeThreshold() const;
            void                        setFreezeThreshold(const PxReal v);
 
            PxU16                       getSolverIterationCounts() const { return mCore.solverIterationCounts; }
            void                        setSolverIterationCounts(PxU16 c);
 
            PxReal                      getWakeCounter() const;
            void                        setWakeCounter(const PxReal v);
            void                        setWakeCounterInternal(const PxReal v);
 
            bool                        isSleeping() const;
            void                        wakeUp(PxReal wakeCounter);
            void                        putToSleep();
 
            PxActor*                    getPxActor() const; 
    
            void                        attachShapeCore(ShapeCore* shapeCore);
            void                        attachSimulationMesh(PxTetrahedronMesh* simulationMesh, PxSoftBodyAuxData* simulationState);
 
            void                        addParticleFilter(Sc::ParticleSystemCore* core, PxU32 particleId, PxU32 userBufferId, PxU32 tetId);
            void                        removeParticleFilter(Sc::ParticleSystemCore* core, PxU32 particleId, PxU32 userBufferId, PxU32 tetId);
 
            PxU32                       addParticleAttachment(Sc::ParticleSystemCore* core, PxU32 particleId, PxU32 userBufferId, PxU32 tetId, const PxVec4& barycentric);
            void                        removeParticleAttachment(Sc::ParticleSystemCore* core, PxU32 handle);
 
            void                        addRigidFilter(Sc::BodyCore* core, PxU32 vertId);
            void                        removeRigidFilter(Sc::BodyCore* core, PxU32 vertId);
 
            PxU32                       addRigidAttachment(Sc::BodyCore* core, PxU32 vertId, const PxVec3& actorSpacePose, PxConeLimitedConstraint* constraint);
            void                        removeRigidAttachment(Sc::BodyCore* core, PxU32 handle);
 
 
            void                        addTetRigidFilter(Sc::BodyCore* core, PxU32 tetIdx);
            void                        removeTetRigidFilter(Sc::BodyCore* core, PxU32 tetIdx);
 
            PxU32                       addTetRigidAttachment(Sc::BodyCore* core, PxU32 tetIdx, const PxVec4& barycentric, const PxVec3& actorSpacePose,
                                        PxConeLimitedConstraint* constraint);
 
            void                        addSoftBodyFilter(Sc::SoftBodyCore& core, PxU32 tetIdx0, PxU32 tetIdx1);
            void                        removeSoftBodyFilter(Sc::SoftBodyCore& core, PxU32 tetIdx0, PxU32 tetIdx1);
            void                        addSoftBodyFilters(Sc::SoftBodyCore& core, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
            void                        removeSoftBodyFilters(Sc::SoftBodyCore& core, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
 
            PxU32                       addSoftBodyAttachment(Sc::SoftBodyCore& core, PxU32 tetIdx0, const PxVec4& triBarycentric0, PxU32 tetIdx1, const PxVec4& tetBarycentric1,
                                        PxConeLimitedConstraint* constraint);
            void                        removeSoftBodyAttachment(Sc::SoftBodyCore& core, PxU32 handle);
 
            void                        addClothFilter(Sc::FEMClothCore& core, PxU32 triIdx, PxU32 tetIdx);
            void                        removeClothFilter(Sc::FEMClothCore& core, PxU32 triIdx, PxU32 tetIdx);
 
            PxU32                       addClothAttachment(Sc::FEMClothCore& core, PxU32 triIdx, const PxVec4& triBarycentric, PxU32 tetIdx, const PxVec4& tetBarycentric, PxConeLimitedConstraint* constraint);
            void                        removeClothAttachment(Sc::FEMClothCore& core,  PxU32 handle);
 
            PxU32                       getGpuSoftBodyIndex();
            //---------------------------------------------------------------------------------
            // Internal API
            //---------------------------------------------------------------------------------
        public:
            
            SoftBodySim*        getSim() const;
 
            PX_FORCE_INLINE const Dy::SoftBodyCore& getCore() const { return mCore; }
 
            PX_FORCE_INLINE Dy::SoftBodyCore& getCore() { return mCore; }
 
            static PX_FORCE_INLINE SoftBodyCore&    getSoftBodyCore(SoftBodyCore& core)
            {
                size_t offset = PX_OFFSET_OF_RT(SoftBodyCore, mCore);
                return *reinterpret_cast<SoftBodyCore*>(reinterpret_cast<PxU8*>(&core) - offset);
            }
 
            void                                setSimulationFilterData(const PxFilterData& data);
        
            PxFilterData                        getSimulationFilterData() const;
 
            PxSoftBodyFlags                     getFlags() const { return mCore.mFlags; }
 
            void                                setFlags(PxSoftBodyFlags flags);
 
            PX_FORCE_INLINE PxReal              getMaxPenetrationBias() const { return mCore.maxPenBias; }
            PX_FORCE_INLINE void                setMaxPenetrationBias(PxReal p) { mCore.maxPenBias = p; }
 
            PX_FORCE_INLINE PxU64&              getGpuMemStat() { return mGpuMemStat; }
 
            void                                onShapeChange(ShapeCore& shape, ShapeChangeNotifyFlags notifyFlags);
 
        private:
            Dy::SoftBodyCore                    mCore;
            PxFilterData                        mFilterData;
            PxU64                               mGpuMemStat;
 
 
        };
 
 
 
    } // namespace Sc
 
}
 
#endif