CharacterGroundConstraintContainerSolver.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Evolution/SolverConstraintContainer.h"
#include "Chaos/Character/CharacterGroundConstraintContainer.h"
#include "CharacterGroundConstraintSolver.h"
 
namespace Chaos
{
    namespace Private
    {
        class FCharacterGroundConstraintContainerSolver : public FConstraintContainerSolver
        {
        public:
            FCharacterGroundConstraintContainerSolver(FCharacterGroundConstraintContainer& InConstraintContainer, const int32 InPriority);
            ~FCharacterGroundConstraintContainerSolver();
 
            // FConstraintContainerSolver impl
 
            virtual int32 GetNumConstraints() const override final { return SolvedConstraints.Num(); }
 
            virtual void Reset(const int32 InMaxConstraints) override final;
 
            virtual void AddConstraints() override final;
 
            virtual void AddConstraints(const TArrayView<Private::FPBDIslandConstraint*>& IslandConstraints) override final;
 
            virtual void AddBodies(FSolverBodyContainer& SolverBodyContainer) override final;
 
            virtual void GatherInput(const FReal Dt) override final;
            virtual void GatherInput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final;
 
            virtual void ScatterOutput(const FReal Dt) override final;
            virtual void ScatterOutput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final;
 
            virtual void ApplyPositionConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final;
 
            virtual void ApplyVelocityConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final;
 
            virtual void ApplyProjectionConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final;
 
        private:
            void AddConstraint(FCharacterGroundConstraintHandle* Constraint);
 
            FCharacterGroundConstraintContainer& ConstraintContainer;
 
            TArray<FCharacterGroundConstraintHandle*> SolvedConstraints;
 
            // Array of single constraint solvers
            TArray<FCharacterGroundConstraintSolver> Solvers;
        };
 
    } // namespace Private
} // namespace Chaos