CollisionResolutionTypes.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/ObjectPool.h"
#include "Chaos/ParticleHandleFwd.h"
 
// Whether to use a pool for MidPhases and Collision Constraints
#define CHAOS_COLLISION_OBJECTPOOL_ENABLED 1
#define CHAOS_MIDPHASE_OBJECTPOOL_ENABLED 0
 
namespace Chaos
{
    namespace Private
    {
        template<typename T> class TConvexContactPoint;
        using FConvexContactPoint = TConvexContactPoint<FReal>;
        using FConvexContactPointf = TConvexContactPoint<FRealSingle>;
 
        enum class EConvexFeatureType : int8;
    }
 
    // Float and Double versions of ContactPoint
    template<typename T> class TContactPoint;
    using FContactPoint = TContactPoint<FReal>;
    using FContactPointf = TContactPoint<FRealSingle>;
 
    // C-Style array type
    template<typename T, int32 N> class TCArray;
 
    // A set of contact points for a manifold (standard size is up to 4 contacts)
    using FContactPointManifold = TCArray<FContactPoint, 4>;
 
    // A set of contact points for a manifold that may be more than 4 points
    using FContactPointLargeManifold = TArray<FContactPoint>;
 
 
    enum class ECollisionUpdateType
    {
        Any,    //stop if we have at least one deep penetration. Does not compute location or normal
        Deepest //find the deepest penetration. Compute location and normal
    };
 
    enum class ECollisionModifierResult
    {
        Unchanged,  
        Modified,   
        Disabled,   
    };
 
    enum class EContactShapesType : int8
    {
        Unknown,
        SphereSphere,
        SphereCapsule,
        SphereBox,
        SphereConvex,
        SphereTriMesh,
        SphereHeightField,
        SpherePlane,
        CapsuleCapsule,
        CapsuleBox,
        CapsuleConvex,
        CapsuleTriMesh,
        CapsuleHeightField,
        BoxBox,
        BoxConvex,
        BoxTriMesh,
        BoxHeightField,
        BoxPlane,
        ConvexConvex,
        ConvexTriMesh,
        ConvexHeightField,
        GenericConvexConvex,
        LevelSetLevelSet,
 
        NumShapesTypes
    };
 
    enum class EOneWayInteractionPairCollisionMode
    {
        // Ignore collisions
        IgnoreCollision,
 
        // Collide using particle's regular shapes
        NormalCollision,
 
        // Collide as spheres
        SphereCollision,
    };
 
    //
    //
    //
 
    class FCollisionContext;
    class FGenericParticlePairMidPhase;
    class FParticlePairMidPhase;
    class FPBDCollisionConstraints;
    class FPBDCollisionConstraint;
    class FPBDCollisionConstraintHandle;
    class FPerShapeData;
    class FShapePairParticlePairMidPhase;
 
// Collision and MidPhases are stored in an ObjectPool (if CHAOS_COLLISION_OBJECTPOOL_ENABLED or CHAOS_MIDPHASE_OBJECTPOOL_ENABLED is set). 
// @see FCollisionConstraintAllocator
#if CHAOS_COLLISION_OBJECTPOOL_ENABLED 
    using FPBDCollisionConstraintPool = TObjectPool<FPBDCollisionConstraint>;
    using FPBDCollisionConstraintDeleter = TObjectPoolDeleter<FPBDCollisionConstraintPool>;
    using FPBDCollisionConstraintPtr = TUniquePtr<FPBDCollisionConstraint, FPBDCollisionConstraintDeleter>;
#else 
    using FPBDCollisionConstraintPtr = TUniquePtr<FPBDCollisionConstraint>;
#endif
 
#if CHAOS_MIDPHASE_OBJECTPOOL_ENABLED
    // Not yet supported due to awkwardness of defining a deleter for FParticlePairMidPhasePtr when we have pools of derived types.
    // We probably need a custom deleter (not TObjectPoolDeleter) and to store a pointer to the CollisionConstraintAllocator.
    static_assert(false, "CHAOS_MIDPHASE_OBJECTPOOL_ENABLED not supported yet")
    using FGenericParticlePairMidPhasePool = TObjectPool<FGenericParticlePairMidPhase>;
    using FShapePairParticlePairMidPhasePool = TObjectPool<FShapePairParticlePairMidPhase>;
    using FParticlePairMidPhaseDeleter = TObjectPoolDeleter<???>;
    using FParticlePairMidPhasePtr = TUniquePtr<FParticlePairMidPhase, FParticlePairMidPhaseDeleter>;
#else
    using FParticlePairMidPhasePtr = TUniquePtr<FParticlePairMidPhase>;
#endif
}