PerParticlePBDEulerStep.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Particle/ParticleUtilities.h"
#include "Chaos/ParticleHandle.h"
#include "Chaos/PerParticleRule.h"
 
namespace Chaos
{
class FPerParticlePBDEulerStep : public FPerParticleRule
{
  public:
      FPerParticlePBDEulerStep() {}
    virtual ~FPerParticlePBDEulerStep() {}
 
    template<class T_PARTICLES>
    inline void ApplyHelper(T_PARTICLES& InParticles, const FReal Dt, const int32 Index) const
    {
        InParticles.SetP(Index, InParticles.GetX(Index) + InParticles.GetV(Index) * Dt);
    }
 
    inline void Apply(FPBDParticles& InParticles, const FReal Dt, const int32 Index) const override //-V762
    {
        ApplyHelper(InParticles, Dt, Index);
    }
 
    inline void Apply(TPBDRigidParticles<FReal, 3>& InParticles, const FReal Dt, const int32 Index) const override //-V762
    {
        FVec3 PCoM = InParticles.XCom(Index);
        FRotation3 QCoM = InParticles.RCom(Index);
 
        PCoM = PCoM + InParticles.GetV(Index) * Dt;
        QCoM = FRotation3::IntegrateRotationWithAngularVelocity(QCoM, InParticles.GetW(Index), Dt);
 
        InParticles.SetTransformPQCom(Index, PCoM, QCoM);
    }
 
    inline void Apply(TTransientPBDRigidParticleHandle<FReal, 3>& Particle, const FReal Dt) const override
    {
        FVec3 PCoM = Particle.XCom();
        FRotation3 QCoM = Particle.RCom();
 
        PCoM = PCoM + Particle.GetV() * Dt;
        QCoM = FRotation3::IntegrateRotationWithAngularVelocity(QCoM, Particle.GetW(), Dt);
 
        Particle.SetTransformPQCom(PCoM, QCoM);
    }
};
 
template<class T, int d>
using TPerParticlePBDEulerStep UE_DEPRECATED(4.27, "Deprecated. this class is to be deleted, use FPerParticlePBDEulerStep instead") = FPerParticlePBDEulerStep;
}