ChaosVDJointDataWrappers.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
#include "ChaosVDParticleDataWrapper.h"
#include "DataWrappers/ChaosVDDataSerializationMacros.h"
#include "UObject/Class.h"
#include "UObject/ObjectMacros.h"
 
#include "ChaosVDJointDataWrappers.generated.h"
 
UENUM()
enum class EChaosVDJointReSimType
{
    FullResim = 0,
    ResimAsFollower = 1
};
 
UENUM()
enum class EChaosVDJointSyncType
{
    InSync,
    HardDesync,
};
 
UENUM()
enum class EChaosVDJointStateFlags : uint8
{
    None = 0,
    Disabled = 1 << 0,
    Broken = 1 << 1,
    Breaking = 1 << 2,
    DriveTargetChanged = 1 << 3,
    EnabledDuringResim = 1 << 4,
};
ENUM_CLASS_FLAGS(EChaosVDJointStateFlags)
 
UENUM()
enum class EChaosVDGTJointStateFlags : uint8
{
    None = 0,
    IsBreaking = 1 << 0,
    IsBroken = 1 << 1,
    DriveTargetChanged = 1 << 2,
    IsViolating = 1 << 3,
};
ENUM_CLASS_FLAGS(EChaosVDGTJointStateFlags)
 
USTRUCT()
struct FChaosVDJointStateDataWrapper : public FChaosVDWrapperDataBase
{
    GENERATED_BODY()
public:
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    //TODO: Make the island data visible when we add support to record that data
 
    int32 Island = INDEX_NONE;
    int32 Level = INDEX_NONE;
    int32 Color = INDEX_NONE;
    int32 IslandSize = INDEX_NONE;
 
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bDisabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bBroken : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bBreaking : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bDriveTargetChanged : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bEnabledDuringResim : 1 = true;
 
    UPROPERTY(VisibleAnywhere, Category=JointState)
    FVector LinearImpulse = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    FVector AngularImpulse = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    EChaosVDJointReSimType ResimType = EChaosVDJointReSimType::FullResim;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    EChaosVDJointSyncType SyncState = EChaosVDJointSyncType::InSync;
    
};
CVD_IMPLEMENT_SERIALIZER(FChaosVDJointStateDataWrapper)
 
USTRUCT()
struct FChaosVDGTJointStateDataWrapper : public FChaosVDWrapperDataBase
{
    GENERATED_BODY()
public:
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bIsBreaking : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bIsBroken : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bDriveTargetChanged : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    uint8 bIsViolating : 1 = false;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    FVector Force = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    FVector Torque = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    float LinearViolation = 0.f;
    UPROPERTY(VisibleAnywhere, Category=JointState)
    float AngularViolation = 0.f;
};
CVD_IMPLEMENT_SERIALIZER(FChaosVDGTJointStateDataWrapper)
 
UENUM()
enum class EChaosVDJointSolverSettingsFlags : uint16
{
    None = 0,
 
    UseLinearSolver = 1 << 0,
    SortEnabled = 1 << 1,
    SolvePositionLast = 1 << 2,
    UsePositionBasedDrives = 1 << 3,
    EnableTwistLimits = 1 << 4,
    EnableSwingLimits = 1 << 5,
    EnableDrives = 1 << 6,
};
 
ENUM_CLASS_FLAGS(EChaosVDJointSettingsFlags)
 
USTRUCT()
struct FChaosVDJointSolverSettingsDataWrapper : public FChaosVDWrapperDataBase
{
    GENERATED_BODY()
public:
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    UPROPERTY(VisibleAnywhere, Category=Tolerances)
    double SwingTwistAngleTolerance = 0.0;
    UPROPERTY(VisibleAnywhere, Category=Tolerances)
    double PositionTolerance = 0.0;
    UPROPERTY(VisibleAnywhere, Category=Tolerances)
    double AngleTolerance = 0.0;
 
    UPROPERTY(VisibleAnywhere, Category="Stability Control")
    double MinParentMassRatio = 0.0;
    UPROPERTY(VisibleAnywhere, Category="Stability Control")
    double MaxInertiaRatio = 0.0;
 
    UPROPERTY(VisibleAnywhere, Category="Solver Stiffness")
    double MinSolverStiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="Solver Stiffness")
    double MaxSolverStiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="Solver Stiffness")
    int32 NumIterationsAtMaxSolverStiffness = INDEX_NONE;
    UPROPERTY(VisibleAnywhere, Category="Solver Stiffness")
    int32 NumShockPropagationIterations = INDEX_NONE;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bUseLinearSolver : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bSortEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bSolvePositionLast : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bUsePositionBasedDrives : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bEnableTwistLimits : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bEnableSwingLimits : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bEnableDrives : 1 = false;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double TwistStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SwingStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearProjectionOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularProjectionOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double ShockPropagationOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearDriveStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearDriveDampingOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularDriveStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularDriveDampingOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftLinearStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftLinearDampingOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftTwistStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftTwistDampingOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftSwingStiffnessOverride = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftSwingDampingOverride = 0.0;
};
CVD_IMPLEMENT_SERIALIZER(FChaosVDJointSolverSettingsDataWrapper)
 
UENUM()
enum class EChaosVDJointMotionType : int32
{
    Free,
    Limited,
    Locked,
};
 
UENUM()
enum class EChaosVDJointForceMode : int32
{
    Acceleration,
    Force,
};
 
UENUM()
enum class EChaosVDPlasticityType : int32
{
    Free,
    Shrink,
    Grow,
};
 
UENUM()
enum class EChaosVDJointSettingsFlags : uint32
{
    None = 0,
    CollisionEnabled = 1 << 0,
    MassConditioningEnabled = 1 << 1,
    AngularSLerpPositionDriveEnabled = 1 << 2,
    AngularSLerpVelocityDriveEnabled = 1 << 3,
    AngularTwistPositionDriveEnabled = 1 << 4,
    AngularTwistVelocityDriveEnabled = 1 << 5,
    AngularSwingPositionDriveEnabled = 1 << 6,
    AngularSwingVelocityDriveEnabled = 1 << 7,
    SoftLinearLimitsEnabled = 1 << 8,
    SoftTwistLimitsEnabled = 1 << 9,
    SoftSwingLimitsEnabled = 1 << 10,
    LinearPositionDriveEnabled0 = 1 << 11,
    LinearPositionDriveEnable1 = 1 << 12,
    LinearPositionDriveEnable2 = 1 << 13,
    LinearVelocityDriveEnabled0 = 1 << 14,
    LinearVelocityDriveEnabled1 = 1 << 15,
    LinearVelocityDriveEnabled2 = 1 << 16,
    UseLinearSolver = 1 << 17,
};
 
USTRUCT()
struct FChaosVDJointSettingsDataWrapper : public FChaosVDWrapperDataBase
{
    GENERATED_BODY()
public:
    
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    UPROPERTY(VisibleAnywhere, Category="General")
    FTransform ConnectorTransforms[2];
    UPROPERTY(VisibleAnywhere, Category="General")
    double Stiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearProjection = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularProjection = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double ShockPropagation = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double TeleportDistance = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double TeleportAngle = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double ParentInvMassScale = 0.0;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bCollisionEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bMassConditioningEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bUseLinearSolver : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bSoftLinearLimitsEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bSoftTwistLimitsEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bSoftSwingLimitsEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularSLerpPositionDriveEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularSLerpVelocityDriveEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularTwistPositionDriveEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularTwistVelocityDriveEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularSwingPositionDriveEnabled : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint16 bAngularSwingVelocityDriveEnabled : 1 = false;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointMotionType LinearMotionTypes[3] = { EChaosVDJointMotionType::Free, EChaosVDJointMotionType::Free, EChaosVDJointMotionType::Free };
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearLimit = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointMotionType AngularMotionTypes[3] = { EChaosVDJointMotionType::Free, EChaosVDJointMotionType::Free, EChaosVDJointMotionType::Free };
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector AngularLimits = FVector::ZeroVector;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointForceMode LinearSoftForceMode = EChaosVDJointForceMode::Acceleration;
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointForceMode AngularSoftForceMode = EChaosVDJointForceMode::Acceleration;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftLinearStiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftLinearDamping = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftTwistStiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftTwistDamping = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftSwingStiffness = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SoftSwingDamping = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearRestitution = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double TwistRestitution = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SwingRestitution = 0.0;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearContactDistance = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double TwistContactDistance = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double SwingContactDistance = 0.0;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector LinearDrivePositionTarget = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector LinearDriveVelocityTarget = FVector::ZeroVector;
    
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearPositionDriveEnabled0 : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearPositionDriveEnabled1 : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearPositionDriveEnabled2 : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearVelocityDriveEnabled0 : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearVelocityDriveEnabled1 : 1 = false;
    UPROPERTY(VisibleAnywhere, Category="General")
    uint8 bLinearVelocityDriveEnabled2 : 1 = false;
    
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointForceMode LinearDriveForceMode = EChaosVDJointForceMode::Acceleration;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector LinearDriveStiffness = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector LinearDriveDamping = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector LinearDriveMaxForce = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FQuat AngularDrivePositionTarget = FQuat::Identity;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector AngularDriveVelocityTarget = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDJointForceMode AngularDriveForceMode = EChaosVDJointForceMode::Acceleration;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector AngularDriveStiffness = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector AngularDriveDamping = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    FVector AngularDriveMaxTorque = FVector::ZeroVector;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearBreakForce = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearPlasticityLimit = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    EChaosVDPlasticityType LinearPlasticityType = EChaosVDPlasticityType::Free;
    UPROPERTY(VisibleAnywhere, Category="General")
    double LinearPlasticityInitialDistanceSquared = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularBreakTorque = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double AngularPlasticityLimit = 0.0;
    UPROPERTY(VisibleAnywhere, Category="General")
    double ContactTransferScale = 0.0;
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDJointSettingsDataWrapper)
 
USTRUCT()
struct FChaosVDJointConstraint : public FChaosVDConstraintDataWrapperBase
{
    GENERATED_BODY()
 
    CHAOSVDRUNTIME_API static FStringView WrapperTypeName;
 
    CHAOSVDRUNTIME_API bool Serialize(FArchive& Ar);
 
    int32 SolverID = INDEX_NONE;
 
    UPROPERTY(VisibleAnywhere, Category="General")
    int32 ConstraintIndex = INDEX_NONE;
 
    int32 ParticleParIndexes[2] = { INDEX_NONE, INDEX_NONE };
 
    UPROPERTY(VisibleAnywhere, Category=JointState)
    FChaosVDJointStateDataWrapper PhysicsThreadJointState;
 
    UPROPERTY()
    FChaosVDGTJointStateDataWrapper GameThreadJointState;
    
    UPROPERTY(VisibleAnywhere, Category=JointSettings)
    FChaosVDJointSettingsDataWrapper JointSettings;
    
    virtual int32 GetSolverID() const override { return SolverID; }
    virtual int32 GetParticleIDAtSlot(EChaosVDParticlePairIndex IndexSlot) const override { return ParticleParIndexes[static_cast<int32>(IndexSlot)]; }
    virtual int32 GetConstraintIndex () const override {return ConstraintIndex; }
};
 
CVD_IMPLEMENT_SERIALIZER(FChaosVDJointConstraint)