PullPhysicsDataImp.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Containers/Queue.h"
#include "Chaos/Defines.h"
#include "Chaos/ParticleDirtyFlags.h"
#include "Chaos/Framework/PhysicsProxyBase.h"
#include "Chaos/ParallelFor.h"
#include "PhysicsProxy/SingleParticlePhysicsProxyFwd.h"
#include "GeometryCollectionProxyData.h"
#include "PBDRigidsEvolutionFwd.h"
 
namespace Chaos
{
 
class FClusterUnionPhysicsProxy;
class FCharacterGroundConstraintProxy;
class FJointConstraintPhysicsProxy;
 
template <typename TProxy, typename TTimeStamp>
struct TBasePullData
{
public:
    void SetProxy(TProxy& InProxy)
    {
        ensure(Timestamp.Get() == nullptr);
        Timestamp = InProxy.GetSyncTimestamp();
        Proxy = &InProxy;
    }
 
    TProxy* GetProxy() const
    {
        if( Timestamp )
        {
            return !Timestamp->bDeleted ? Proxy : nullptr;
        }
        return nullptr;
    }
    
    const TTimeStamp* GetTimestamp() const { return static_cast<TTimeStamp*>(Timestamp.Get()); }
    
protected:
    TBasePullData() : Proxy(nullptr){}
    ~TBasePullData() = default;
    
private:
    TProxy* Proxy;
    TSharedPtr<FProxyTimestampBase,ESPMode::ThreadSafe> Timestamp;  //question: is destructor expensive now? might need a better way
};
 
//Simple struct for when the simulation dirties a particle. Copies all properties regardless of which changed since they tend to change together
struct FDirtyRigidParticleData : public TBasePullData<FSingleParticlePhysicsProxy, FSingleParticleProxyTimestamp>
{
    FVec3 X;
    FQuat R;
    FVec3 V;
    FVec3 W;
    EObjectStateType ObjectState;
};
 
struct FDirtyRigidParticleReplicationErrorData : public TBasePullData<FSingleParticlePhysicsProxy, FSingleParticleProxyTimestamp>
{
    FVec3 ErrorX;
    FQuat ErrorR;
};
 
struct FDirtyGeometryCollectionData : public TBasePullData<FGeometryCollectionPhysicsProxy, FProxyTimestampBase>
{
public:
    bool HasResults() const { return ResultPtr.IsValid(); }
 
    FDirtyGeometryCollectionData()
        : ResultPtr(new FGeometryCollectionResults)
    {}
 
    FDirtyGeometryCollectionData(const FDirtyGeometryCollectionData& Other) = default;
    FDirtyGeometryCollectionData(FDirtyGeometryCollectionData&& Other) = default;
    FDirtyGeometryCollectionData& operator=(const FDirtyGeometryCollectionData& Other) = default;
    FDirtyGeometryCollectionData& operator=(FDirtyGeometryCollectionData&& Other) = default;
 
    FGeometryCollectionResults& Results()
    {
        check(ResultPtr);
        return *ResultPtr;
    }
 
    const FGeometryCollectionResults& Results() const 
    {
        check(ResultPtr);
        return *ResultPtr;
    }
 
private:
    TRefCountPtr<FGeometryCollectionResults> ResultPtr;
};
 
struct FDirtyClusterUnionParticleData
{
    FUniqueIdx ParticleIdx;
    FRigidTransform3 ChildToParent;
    IPhysicsProxyBase* Proxy = nullptr;
    void* CachedOwner = nullptr;
    int32 BoneId = INDEX_NONE;
};
 
struct FDirtyClusterUnionData : public TBasePullData<FClusterUnionPhysicsProxy, FClusterUnionProxyTimestamp>
{
    FVec3 X;
    FQuat R;
    FVec3 V;
    FVec3 W;
    FRealSingle Mass;
    FVec3f Inertia;
    EObjectStateType ObjectState = EObjectStateType::Dynamic;
    bool bIsAnchored = false;
    TArray<FDirtyClusterUnionParticleData> ChildParticles;
    Chaos::FImplicitObjectPtr Geometry = nullptr;
 
    PRAGMA_DISABLE_DEPRECATION_WARNINGS
    FDirtyClusterUnionData(){}
    FDirtyClusterUnionData(const FDirtyClusterUnionData&) = default;
    ~FDirtyClusterUnionData() = default;
    Chaos::FDirtyClusterUnionData& operator =(const Chaos::FDirtyClusterUnionData &) = default;
    PRAGMA_ENABLE_DEPRECATION_WARNINGS
 
    UE_DEPRECATED(5.4, "Please use Geometry instead")
    TSharedPtr<FImplicitObject, ESPMode::ThreadSafe> SharedGeometry = nullptr;
    
    TArray<FCollisionData> CollisionData;
    TArray<FCollisionFilterData> QueryData;
    TArray<FCollisionFilterData> SimData;
};
 
struct FJointConstraintOutputData {
    bool bIsBreaking = false;
    bool bIsBroken = false;
    bool bIsViolating = false;
    bool bDriveTargetChanged = false;
    FVector Force = FVector(0);
    FVector Torque = FVector(0);
    float LinearViolation = 0.f;
    float AngularViolation = 0.f;
};
 
class FJointConstraint;
 
struct FDirtyJointConstraintData : public TBasePullData<FJointConstraintPhysicsProxy, FProxyTimestampBase>
{
    FJointConstraintOutputData OutputData;
};
 
struct FDirtyCharacterGroundConstraintData : public TBasePullData<FCharacterGroundConstraintProxy, FProxyTimestampBase>
{
    FVector Force = FVector(0.0);
    FVector Torque = FVector(0.0);
    FCharacterGroundConstraintSettings Settings;
    FCharacterGroundConstraintDynamicData Data;
    FGeometryParticleHandle* GroundParticle = nullptr;
    bool bSettingsChanged = false;
    bool bDataChanged = false;
    bool bGroundParticleChanged = false;
};
 
//A simulation frame's result of dirty particles. These are all the particles that were dirtied in this particular sim step
class FPullPhysicsData
{
public:
    TArray<FDirtyRigidParticleData> DirtyRigids;
    TMap<const IPhysicsProxyBase*, FDirtyRigidParticleReplicationErrorData> DirtyRigidErrors;
    TArray<FDirtyGeometryCollectionData> DirtyGeometryCollections;
    TArray<FDirtyClusterUnionData> DirtyClusterUnions;
    TArray<FDirtyJointConstraintData> DirtyJointConstraints;
    TArray<FDirtyCharacterGroundConstraintData> DirtyCharacterGroundConstraints;
 
    int32 SolverTimestamp;
    FReal ExternalStartTime;    //The start time associated with this result. The time is synced using the external time
    FReal ExternalEndTime;      //The end time associated with this result. The time is synced using the external time
 
    void Reset();
};
 
}; // namespace Chaos