PBDCollisionContainerSolverJacobi.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/CollisionResolutionTypes.h"
#include "Chaos/Collision/CollisionApplyType.h"
#include "Chaos/Collision/PBDCollisionSolverJacobi.h"
#include "Chaos/Collision/PBDCollisionSolverSettings.h"
#include "Chaos/Evolution/SolverConstraintContainer.h"
 
namespace Chaos
{
    class FPBDCollisionConstraint;
    class FPBDCollisionConstraints;
    class FSolverBody;
    class FSolverBodyContainer;
 
    namespace Private
    {
        class FPBDCollisionContainerSolverJacobi : public FConstraintContainerSolver
        {
        public:
            UE_NONCOPYABLE(FPBDCollisionContainerSolverJacobi);
 
            FPBDCollisionContainerSolverJacobi(const FPBDCollisionConstraints& InConstraintContainer, const int32 InPriority);
            ~FPBDCollisionContainerSolverJacobi();
 
            int32 NumSolvers() const { return CollisionConstraints.Num(); }
 
            virtual void Reset(const int32 InMaxCollisions) override final;
 
            virtual int32 GetNumConstraints() const override final { return NumSolvers(); }
 
            //
            // IslandGroup API
            //
            virtual void AddConstraints() override final;
            virtual void AddConstraints(const TArrayView<Private::FPBDIslandConstraint*>& ConstraintHandles) 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 CachePrefetchSolver(const int32 ConstraintIndex) const;
            void AddConstraint(FPBDCollisionConstraint& Constraint);
            void UpdatePositionShockPropagation(const FReal Dt, const int32 It, const int32 NumIts, const int32 BeginIndex, const int32 EndIndex, const FPBDCollisionSolverSettings& SolverSettings);
            void UpdateVelocityShockPropagation(const FReal Dt, const int32 It, const int32 NumIts, const int32 BeginIndex, const int32 EndIndex, const FPBDCollisionSolverSettings& SolverSettings);
            bool SolvePositionImpl(const FReal Dt, const int32 It, const int32 NumIts, const int32 BeginIndex, const int32 EndIndex, const FPBDCollisionSolverSettings& SolverSettings);
            bool SolveVelocityImpl(const FReal Dt, const int32 It, const int32 NumIts, const int32 BeginIndex, const int32 EndIndex, const FPBDCollisionSolverSettings& SolverSettings);
            void UpdateCollisions(const FReal InDt, const int32 BeginIndex, const int32 EndIndex);
 
            const FPBDCollisionConstraints& ConstraintContainer;
            TArray<Private::FPBDCollisionSolverJacobi> CollisionSolvers;
            TArray<FPBDCollisionConstraint*> CollisionConstraints;
            TArray<bool> bCollisionConstraintPerIterationCollisionDetection;
            bool bPerIterationCollisionDetection;
        };
 
    }   // namespace Private
}   // namespace Chaos