60 lines
3.1 KiB
C++
60 lines
3.1 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Core/NonCopyable.h>
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#include <Jolt/Physics/Body/MotionProperties.h>
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JPH_NAMESPACE_BEGIN
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class Body;
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class SoftBodyMotionProperties;
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class SoftBodyContactListener;
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class SimShapeFilter;
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/// Temporary data used by the update of a soft body
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class SoftBodyUpdateContext : public NonCopyable
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{
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public:
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static constexpr uint cVertexCollisionBatch = 64; ///< Number of vertices to process in a batch in DetermineCollisionPlanes
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static constexpr uint cVertexConstraintBatch = 256; ///< Number of vertices to group for processing batches of constraints in ApplyEdgeConstraints
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// Input
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Body * mBody; ///< Body that is being updated
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SoftBodyMotionProperties * mMotionProperties; ///< Motion properties of that body
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SoftBodyContactListener * mContactListener; ///< Contact listener to fire callbacks to
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const SimShapeFilter * mSimShapeFilter; ///< Shape filter to use for collision detection
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RMat44 mCenterOfMassTransform; ///< Transform of the body relative to the soft body
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Vec3 mGravity; ///< Gravity vector in local space of the soft body
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Vec3 mDisplacementDueToGravity; ///< Displacement of the center of mass due to gravity in the current time step
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float mDeltaTime; ///< Delta time for the current time step
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float mSubStepDeltaTime; ///< Delta time for each sub step
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/// Describes progress in the current update
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enum class EState
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{
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DetermineCollisionPlanes, ///< Determine collision planes for vertices in parallel
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DetermineSensorCollisions, ///< Determine collisions with sensors in parallel
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ApplyConstraints, ///< Apply constraints in parallel
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Done ///< Update is finished
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};
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// State of the update
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atomic<EState> mState { EState::DetermineCollisionPlanes };///< Current state of the update
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atomic<uint> mNextCollisionVertex { 0 }; ///< Next vertex to process for DetermineCollisionPlanes
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atomic<uint> mNumCollisionVerticesProcessed { 0 }; ///< Number of vertices processed by DetermineCollisionPlanes, used to determine if we can go to the next step
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atomic<uint> mNextSensorIndex { 0 }; ///< Next sensor to process for DetermineCollisionPlanes
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atomic<uint> mNumSensorsProcessed { 0 }; ///< Number of sensors processed by DetermineSensorCollisions, used to determine if we can go to the next step
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atomic<uint> mNextIteration { 0 }; ///< Next simulation iteration to process
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atomic<uint> mNextConstraintGroup { 0 }; ///< Next constraint group to process
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atomic<uint> mNumConstraintGroupsProcessed { 0 }; ///< Number of groups processed, used to determine if we can go to the next iteration
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// Output
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Vec3 mDeltaPosition; ///< Delta position of the body in the current time step, should be applied after the update
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ECanSleep mCanSleep; ///< Can the body sleep? Should be applied after the update
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};
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JPH_NAMESPACE_END
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