PBDMinEvolution.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
#include "Chaos/ArrayCollectionArray.h"
#include "Chaos/Collision/CollisionApplyType.h"
#include "Chaos/Evolution/ConstraintGroupSolver.h"
#include "Chaos/Evolution/SimulationSpace.h"
#include "Chaos/Evolution/SolverBodyContainer.h"
#include "Chaos/Evolution/IterationSettings.h"
#include "Chaos/ParticleHandleFwd.h"
 
 
namespace Chaos
{
    class FBasicCollisionDetector;
    class FConstraintContainerSolver;
    class FPBDCollisionConstraints;
    class FSimpleConstraintRule;
    class FPBDRigidsSOAs;
 
    class FPBDMinEvolution
    {
    public:
        using FCollisionDetector = FBasicCollisionDetector;
        using FEvolutionCallback = TFunction<void()>;
        using FRigidParticleSOAs = FPBDRigidsSOAs;
 
        CHAOS_API FPBDMinEvolution(FRigidParticleSOAs& InParticles, TArrayCollectionArray<FVec3>& InPrevX, TArrayCollectionArray<FRotation3>& InPrevR, FCollisionDetector& InCollisionDetector);
        CHAOS_API ~FPBDMinEvolution();
 
        CHAOS_API void AddConstraintContainer(FPBDConstraintContainer& InContainer, const int32 Priority = 0);
        CHAOS_API void SetConstraintContainerPriority(const int32 ContainerId, const int32 Priority);
 
        CHAOS_API void Advance(const FReal StepDt, const int32 NumSteps, const FReal RewindDt);
        CHAOS_API void AdvanceOneTimeStep(const FReal Dt, const FReal StepFraction);
 
        void SetNumPositionIterations(const int32 NumIts)
        {
            Private::FIterationSettings Iterations = ConstraintSolver.GetIterationSettings();
            Iterations.SetNumPositionIterations(NumIts);
            ConstraintSolver.SetIterationSettings(Iterations);
        }
 
        void SetNumVelocityIterations(const int32 NumIts)
        {
            Private::FIterationSettings Iterations = ConstraintSolver.GetIterationSettings();
            Iterations.SetNumVelocityIterations(NumIts);
            ConstraintSolver.SetIterationSettings(Iterations);
        }
 
        void SetNumProjectionIterations(const int32 NumIts)
        {
            Private::FIterationSettings Iterations = ConstraintSolver.GetIterationSettings();
            Iterations.SetNumProjectionIterations(NumIts);
            ConstraintSolver.SetIterationSettings(Iterations);
        }
 
        void SetGravity(const FVec3& G)
        {
            Gravity = G;
        }
 
        void SetRewindVelocities(bool InRewindVelocities)
        {
            bRewindVelocities = InRewindVelocities;
        }
 
        void SetSimulationSpace(const FSimulationSpace& InSimulationSpace)
        {
            SimulationSpace = InSimulationSpace;
        }
 
        FSimulationSpaceSettings& GetSimulationSpaceSettings()
        {
            return SimulationSpaceSettings;
        }
 
        const FSimulationSpaceSettings& GetSimulationSpaceSettings() const
        {
            return SimulationSpaceSettings;
        }
 
        void SetSimulationSpaceSettings(const FSimulationSpaceSettings& InSimulationSpaceSettings)
        {
            SimulationSpaceSettings = InSimulationSpaceSettings;
        }
 
 
        UE_DEPRECATED(5.2, "InBoundsExtension parameter has been removed")
        FPBDMinEvolution(FRigidParticleSOAs& InParticles, TArrayCollectionArray<FVec3>& InPrevX, TArrayCollectionArray<FRotation3>& InPrevR, FCollisionDetector& InCollisionDetector, const FReal InBoundsExtension)
            : FPBDMinEvolution(InParticles, InPrevX, InPrevR, InCollisionDetector)
        {
        }
 
        UE_DEPRECATED(5.2, "BoundsExtension has been removed")
        void SetBoudsExtension(const FReal Unused)
        {
        }
 
    private:
        CHAOS_API void PrepareTick();
        CHAOS_API void UnprepareTick();
        CHAOS_API void Rewind(FReal Dt, FReal RewindDt);
        CHAOS_API void Integrate(FReal Dt);
        CHAOS_API void ApplyKinematicTargets(FReal Dt, FReal StepFraction);
        CHAOS_API void DetectCollisions(FReal Dt);
        CHAOS_API void GatherInput(FReal Dt);
        CHAOS_API void ScatterOutput(FReal Dt);
        CHAOS_API void ApplyConstraintsPhase1(FReal Dt);
        CHAOS_API void ApplyConstraintsPhase2(FReal Dt);
        CHAOS_API void ApplyConstraintsPhase3(FReal Dt);
 
        FRigidParticleSOAs& Particles;
        FCollisionDetector& CollisionDetector;
 
        TArrayCollectionArray<FVec3>& ParticlePrevXs;
        TArrayCollectionArray<FRotation3>& ParticlePrevRs;
 
        TArray<FPBDConstraintContainer*> ConstraintContainers;
        Private::FPBDSceneConstraintGroupSolver ConstraintSolver;
 
        FVec3 Gravity;
        FSimulationSpaceSettings SimulationSpaceSettings;
        FSimulationSpace SimulationSpace;
        bool bRewindVelocities;
    };
}