CollisionResolution.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/CollisionResolutionTypes.h"
#include "Chaos/CollisionResolutionUtil.h"
#include "Chaos/Collision/PBDCollisionConstraint.h"
#include "Chaos/ParticleHandleFwd.h"
 
 
namespace Chaos
{
    template <typename T, int d>
    class TSphere;
 
    class FCapsule;
 
    class FConvex;
 
    template <typename T, int d>
    class TPlane;
 
    class FBVHParticles;
    class FCollisionContext;
    class FHeightField;
    class FImplicitObject;
    class FPBDCollisionConstraint;
    class FTriangleMeshImplicitObject;
 
 
    namespace Collisions
    {
 
        //
        // Constraint API
        //
 
        void CHAOS_API UpdateConstraint(FPBDCollisionConstraint& Constraint, const FRigidTransform3& ShapeWorldTransform0, const FRigidTransform3& ShapeWorldTransform1, const FReal Dt);
 
        bool CHAOS_API UpdateConstraintSwept(FPBDCollisionConstraint& Constraint, const FRigidTransform3& ShapeStartWorldTransform0, const FRigidTransform3& ShapeStartWorldTransform1, const FReal Dt);
 
        EContactShapesType CHAOS_API CalculateShapePairType(const FGeometryParticleHandle* Particle0, const FImplicitObject* Implicit0, const FGeometryParticleHandle* Particle1, const FImplicitObject* Implicit1, bool& bOutSwap);
 
        bool CHAOS_API ShouldUseCCD(const FGeometryParticleHandle* Particle0, const FVec3& DeltaX0, const FGeometryParticleHandle* Particle1, const FVec3& DeltaX1, FVec3& Dir, FReal& Length);
 
        // @todo(chaos): this should not be exposed but is currently used in tests
        void UpdateLevelsetLevelsetConstraint(const FRigidTransform3& WorldTransform0, const FRigidTransform3& WorldTransform1, const FReal Dt, FPBDCollisionConstraint& Constraint);
 
        //
        //
        // DEPRECATED STUFF
        //
        //
 
        UE_DEPRECATED(5.4, "No longer supported")
        EImplicitObjectType CHAOS_API GetImplicitCollisionType(const FGeometryParticleHandle* Particle, const FImplicitObject* Implicit);
 
        UE_DEPRECATED(5.4, "No longer supported")
        inline void CHAOS_API ResetChaosCollisionCounters() {}
 
        UE_DEPRECATED(5.3, "No longer supported")
        inline void CHAOS_API ConstructConstraints(
            TGeometryParticleHandle<FReal, 3>* Particle0, 
            TGeometryParticleHandle<FReal, 3>* Particle1, 
            const FImplicitObject* Implicit0, 
            const FPerShapeData* Shape0, 
            const FBVHParticles* Simplicial0, 
            const int32 ImplicitID0,
            const FImplicitObject* Implicit1,
            const FPerShapeData* Shape1, 
            const FBVHParticles* Simplicial1, 
            const int32 ImplicitID1,
            const FRigidTransform3& ParticleWorldTransform0,
            const FRigidTransform3& Transform0, 
            const FRigidTransform3& ParticleWorldTransform1, 
            const FRigidTransform3& Transform1, 
            const FReal CullDistance, 
            const FReal Dt, 
            const bool bEnableSweep, 
            const FCollisionContext& Context) {}
 
        UE_DEPRECATED(5.3, "No longer supported")
        inline void CHAOS_API ConstructConstraints(TGeometryParticleHandle<FReal, 3>* Particle0, TGeometryParticleHandle<FReal, 3>* Particle1, const FImplicitObject* Implicit0, const FPerShapeData* Shape0, const FBVHParticles* Simplicial0, const FImplicitObject* Implicit1, const FPerShapeData* Shape1, const FBVHParticles* Simplicial1, const FRigidTransform3& ParticleWorldTransform0, const FRigidTransform3& Transform0, const FRigidTransform3& ParticleWorldTransform1, const FRigidTransform3& Transform1, const FReal CullDistance, const FReal Dt, const bool bEnableSweep, const FCollisionContext& Context) {}
 
        // See Above
        UE_DEPRECATED(5.3, "No longer supported")
        inline void CHAOS_API ConstructConstraints(TGeometryParticleHandle<FReal, 3>* Particle0, TGeometryParticleHandle<FReal, 3>* Particle1, const FImplicitObject* Implicit0, const FPerShapeData* Shape0, const FBVHParticles* Simplicial0, const FImplicitObject* Implicit1, const FPerShapeData* Shape1, const FBVHParticles* Simplicial1, const FRigidTransform3& ParticleWorldTransform0, const FRigidTransform3& Transform0, const FRigidTransform3& ParticleWorldTransform1, const FRigidTransform3& Transform1, const FReal CullDistance, const FReal Dt, const FCollisionContext& Context) {}
 
        template<ECollisionUpdateType UpdateType>
        UE_DEPRECATED(5.3, "Use UpdateConstraint, but call Constraint.SetShapeWorldTransform first (see implementation)")
        void CHAOS_API UpdateConstraintFromGeometry(FPBDCollisionConstraint& Constraint, const FRigidTransform3& ParticleTransform0, const FRigidTransform3& ParticleTransform1, const FReal Dt);
    }
}