PBDJointContainerSolver.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/Evolution/SolverConstraintContainer.h"
#include "Chaos/Joint/PBDJointSolverGaussSeidel.h"
#include "Chaos/Joint/PBDJointCachedSolverGaussSeidel.h"
#include "Chaos/PBDJointConstraints.h"
#include "Chaos/PBDJointConstraintTypes.h"
 
namespace Chaos
{
    namespace Private
    {
        template <typename JointSolverType>
        class TPBDJointContainerSolver : public FConstraintContainerSolver
        {
        public:
            TPBDJointContainerSolver(FPBDJointConstraints& InConstraintContainer, const int32 InPriority);
            ~TPBDJointContainerSolver();
 
            // FConstraintContainerSolver impl
            virtual int32 GetNumConstraints() const override final { return ContainerIndices.Num();}
            virtual void Reset(const int32 InMaxCollisions) 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;
 
            FPBDJointConstraints& GetContainer() const { return ConstraintContainer; }
            const FPBDJointSolverSettings& GetSettings() const { return ConstraintContainer.GetSettings(); }
            const FPBDJointSettings& GetConstraintSettings(const int32 InConstraintIndex) const { return ConstraintContainer.GetConstraintSettings(ContainerIndices[InConstraintIndex]);}
            int32 GetContainerConstraintIndex(const int32 InConstraintIndex) const { return ContainerIndices[InConstraintIndex];}
        private:
            bool UseLinearSolver() const;
            void AddConstraint(const int32 InContainerConstraintIndex);
            void ResizeSolverArrays();
            void ApplyLinearProjectionConstraints(const FReal Dt, const int32 It, const int32 NumIts);
            void ApplyNonLinearProjectionConstraints(const FReal Dt, const int32 It, const int32 NumIts);
 
            FPBDJointConstraints& ConstraintContainer;
 
            TArray<JointSolverType> ConstraintSolvers;
 
            // Index remapping from respective internal index of each array to index in the joint container [0,NumJointsInWorld)
            TArray<int32> ContainerIndices;
        };
        
    }
}