98 lines
4.2 KiB
C++
98 lines
4.2 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Constraints/Constraint.h>
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#include <Jolt/Physics/PhysicsLock.h>
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#include <Jolt/Core/Mutex.h>
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JPH_NAMESPACE_BEGIN
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class IslandBuilder;
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class BodyManager;
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class StateRecorderFilter;
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#ifdef JPH_DEBUG_RENDERER
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class DebugRenderer;
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#endif // JPH_DEBUG_RENDERER
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/// A list of constraints
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using Constraints = Array<Ref<Constraint>>;
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/// A constraint manager manages all constraints of the same type
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class JPH_EXPORT ConstraintManager : public NonCopyable
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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#ifdef JPH_ENABLE_ASSERTS
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/// Constructor
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ConstraintManager(PhysicsLockContext inContext) : mLockContext(inContext) { }
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#endif // JPH_ENABLE_ASSERTS
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/// Add a new constraint. This is thread safe.
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void Add(Constraint **inConstraints, int inNumber);
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/// Remove a constraint. This is thread safe.
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void Remove(Constraint **inConstraint, int inNumber);
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/// Get a list of all constraints
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Constraints GetConstraints() const;
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/// Get total number of constraints
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inline uint32 GetNumConstraints() const { return uint32(mConstraints.size()); }
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/// Determine the active constraints of a subset of the constraints
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void GetActiveConstraints(uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const;
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/// Link bodies to form islands
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static void sBuildIslands(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager);
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/// In order to have a deterministic simulation, we need to sort the constraints of an island before solving them
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static void sSortConstraints(Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd);
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/// Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity
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static void sSetupVelocityConstraints(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime);
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/// Apply last frame's impulses, must be called prior to SolveVelocityConstraints
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template <class ConstraintCallback>
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static void sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback &ioCallback);
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/// This function is called multiple times to iteratively come to a solution that meets all velocity constraints
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static bool sSolveVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime);
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/// This function is called multiple times to iteratively come to a solution that meets all position constraints
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static bool sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte);
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#ifdef JPH_DEBUG_RENDERER
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/// Draw all constraints
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void DrawConstraints(DebugRenderer *inRenderer) const;
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/// Draw all constraint limits
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void DrawConstraintLimits(DebugRenderer *inRenderer) const;
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/// Draw all constraint reference frames
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void DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const;
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#endif // JPH_DEBUG_RENDERER
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/// Save state of constraints
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void SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const;
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/// Restore the state of constraints. Returns false if failed.
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bool RestoreState(StateRecorder &inStream);
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/// Lock all constraints. This should only be done during PhysicsSystem::Update().
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void LockAllConstraints() { PhysicsLock::sLock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
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void UnlockAllConstraints() { PhysicsLock::sUnlock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
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private:
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#ifdef JPH_ENABLE_ASSERTS
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PhysicsLockContext mLockContext;
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#endif // JPH_ENABLE_ASSERTS
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Constraints mConstraints;
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mutable Mutex mConstraintsMutex;
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};
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JPH_NAMESPACE_END
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