SolverConstraintContainer.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/ConstraintHandle.h"
#include "Chaos/Island/IslandManagerFwd.h"
 
namespace Chaos
{
    class FConstraintHandleHolder;
    class FSolverBodyContainer;
 
 
    class FConstraintContainerSolver
    {
    public:
 
        FConstraintContainerSolver(const int32 InPriority)
            : Priority(InPriority)
        {}
 
        virtual ~FConstraintContainerSolver() {}
    
        void SetPriority(const int32 InPriority)
        {
            Priority = InPriority;
        }
 
        int32 GetPriority() const
        {
            return Priority;
        }
 
        virtual void Reset(const int32 MaxConstraints) = 0;
 
        virtual int32 GetNumConstraints() const = 0;
 
        virtual void AddConstraints() = 0;
 
        virtual void AddConstraints(const TArrayView<Private::FPBDIslandConstraint*>& Constraints) = 0;
 
        virtual void AddBodies(FSolverBodyContainer& SolverBodyContainer) = 0;
 
        virtual void GatherInput(const FReal Dt) = 0;
        virtual void GatherInput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) = 0;
        virtual void ScatterOutput(const FReal Dt) = 0;
        virtual void ScatterOutput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) = 0;
 
        virtual void PreApplyPositionConstraints(const FReal Dt) {}
        virtual void PreApplyVelocityConstraints(const FReal Dt) {}
        virtual void PreApplyProjectionConstraints(const FReal Dt) {}
 
        virtual void ApplyPositionConstraints(const FReal Dt, const int32 It, const int32 NumIts) = 0;
 
        virtual void ApplyVelocityConstraints(const FReal Dt, const int32 It, const int32 NumIts) = 0;
 
        virtual void ApplyProjectionConstraints(const FReal Dt, const int32 It, const int32 NumIts) = 0;
 
    private:
        int32 Priority;
    };
    
    template<typename ConstraintContainerType>
    class TSimpleConstraintContainerSolver : public FConstraintContainerSolver
    {
    public:
        using FConstraintContainerType = ConstraintContainerType;
        using FConstraintHandleType = typename FConstraintContainerType::FConstraintContainerHandle;
 
        TSimpleConstraintContainerSolver(FConstraintContainerType& InConstraintContainer, const int32 InPriority)
            : FConstraintContainerSolver(InPriority)
            , ConstraintContainer(InConstraintContainer)
        {
        }
 
        virtual void Reset(const int32 MaxConstraints) override final
        {
        }
 
        virtual int32 GetNumConstraints() const override final
        {
            return ConstraintContainer.GetNumConstraints();
        }
 
        virtual void AddConstraints() override final
        {
            // We solve all constraints in the container in the order it prefers so nothing to do here
        }
 
        virtual void AddConstraints(const TArrayView<Private::FPBDIslandConstraint*>& Constraints) override final
        {
            // This solver container is for use with the a non-graph evolution. It will not call this function.
            ensure(false);
        }
 
        virtual void AddBodies(FSolverBodyContainer& SolverBodyContainer) override final
        {
            ConstraintContainer.AddBodies(SolverBodyContainer);
        }
 
        virtual void GatherInput(const FReal Dt) override final
        {
            ConstraintContainer.GatherInput(Dt);
        }
 
        virtual void GatherInput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final
        {
            // This solver container is for use with the a non-graph evolution. It will not call this function.
            ensure(false);
        }
 
        virtual void ScatterOutput(const FReal Dt) override final
        {
            ConstraintContainer.ScatterOutput(Dt);
        }
 
        virtual void ScatterOutput(const FReal Dt, const int32 BeginIndex, const int32 EndIndex) override final
        {
            // This solver container is for use with the a non-graph evolution. It will not call this function.
            ensure(false);
        }
 
        virtual void ApplyPositionConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final
        {
            ConstraintContainer.ApplyPositionConstraints(Dt, It, NumIts);
        }
 
        virtual void ApplyVelocityConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final
        {
            ConstraintContainer.ApplyVelocityConstraints(Dt, It, NumIts);
        }
 
        virtual void ApplyProjectionConstraints(const FReal Dt, const int32 It, const int32 NumIts) override final
        {
            ConstraintContainer.ApplyProjectionConstraints(Dt, It, NumIts);
        }
 
    protected:
        FConstraintContainerType& ConstraintContainer;
    };
}