PBDPlanarConstraints.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
#include "Chaos/Core.h"
#include "Chaos/PBDSoftsEvolutionFwd.h"
#include "Chaos/PBDSoftsSolverParticles.h"
#include "Chaos/SoftsSolverParticlesRange.h"
 
namespace Chaos::Softs
{
    class FPBDPlanarConstraints
    {
    public:
        FPBDPlanarConstraints() = default;
        virtual ~FPBDPlanarConstraints() = default;
        FPBDPlanarConstraints(FSolverReal InFrictionCoefficient)
            : FrictionCoefficient(InFrictionCoefficient)
        {}
 
        void SetFrictionCoefficient(const FSolverReal InFrictionCoefficient) { FrictionCoefficient = InFrictionCoefficient; }
        void SetCollisionData(TArray<int32>&& InUniqueConstraintIndices, TArray<FSolverVec3>&& InTargetPositions, TArray<FSolverVec3>&& InTargetNormals, TArray<FSolverVec3>&& InTargetVelocities)
        {
            UniqueConstraintIndices = MoveTemp(InUniqueConstraintIndices);
            TargetPositions = MoveTemp(InTargetPositions);
            TargetNormals = MoveTemp(InTargetNormals);
            TargetVelocities = MoveTemp(InTargetVelocities);
        }
 
        void Reset()
        {
            UniqueConstraintIndices.Reset();
            TargetPositions.Reset();
            TargetNormals.Reset();
            TargetVelocities.Reset();
        }
 
        CHAOS_API void Apply(FSolverParticlesRange& Particles, const FSolverReal Dt) const;
 
        const TArray<int32>& GetUniqueConstraintIndices() const { return UniqueConstraintIndices; }
        const TArray<FSolverVec3>& GetTargetPositions() const { return TargetPositions; }
        const TArray<FSolverVec3>& GetTargetNormals() const { return TargetNormals; }
        const TArray<FSolverVec3>& GetTargetVelocities() const { return TargetVelocities; }
 
    protected:
 
        FSolverReal FrictionCoefficient = (FSolverReal)0.;
 
        TArray<int32> UniqueConstraintIndices;
        TArray<FSolverVec3> TargetPositions;
        TArray<FSolverVec3> TargetNormals;
        TArray<FSolverVec3> TargetVelocities;
    private:
 
        void ApplyHelperWithFriction(FSolverParticlesRange& Particles, const FSolverReal Dt, const int32 ConstraintIndex) const;
        void ApplyHelperNoFriction(FSolverParticlesRange& Particles, const int32 ConstraintIndex) const;
 
    };
}  // End namespace Chaos::Softs
 
#if !defined(CHAOS_PLANAR_ISPC_ENABLED_DEFAULT)
#define CHAOS_PLANAR_ISPC_ENABLED_DEFAULT 1
#endif
 
// Support run-time toggling on supported platforms in non-shipping configurations
#if !INTEL_ISPC || UE_BUILD_SHIPPING
static constexpr bool bChaos_Planar_ISPC_Enabled = INTEL_ISPC && CHAOS_PLANAR_ISPC_ENABLED_DEFAULT;
#else
extern CHAOS_API bool bChaos_Planar_ISPC_Enabled;
#endif