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#include "NvBlastExtPxStressSolverImpl.h"
#include "NvBlastExtPxAsset.h"
#include "NvBlastExtPxFamily.h"
#include "NvBlastExtPxActor.h"
#include "NvBlastAssert.h"
#include "NvBlastIndexFns.h"

#include "NvBlastTkAsset.h"
#include "NvBlastTkActor.h"
#include "NvBlastTkFamily.h"

#include "NvBlastPxSharedHelpers.h"

#include "PxScene.h"
#include "PxRigidDynamic.h"

#define USE_PHYSX_NODE_INFO 1


namespace Nv
{
namespace Blast
{

using namespace physx;


ExtPxStressSolverImpl::ExtPxStressSolverImpl(ExtPxFamily& family, ExtStressSolverSettings settings)
	: m_family(family)
{
	NvBlastFamily* familyLL = const_cast<NvBlastFamily*>(family.getTkFamily().getFamilyLL());
	NVBLAST_ASSERT(familyLL);
	m_solver = ExtStressSolver::create(*familyLL, settings);

	const TkAsset* tkAsset = m_family.getTkFamily().getAsset();
	const ExtPxAsset& asset = m_family.getPxAsset();
	const ExtPxChunk* chunks = asset.getChunks();
	const ExtPxSubchunk* subChunks = asset.getSubchunks();
	const NvBlastSupportGraph graph = tkAsset->getGraph();
	const uint32_t chunkCount = tkAsset->getChunkCount();

	TkActor* tkActor;
	m_family.getTkFamily().getActors(&tkActor, 1);
	const float* bondHealths = tkActor->getBondHealths();

#if USE_PHYSX_NODE_INFO
	// traverse graph and fill node info,
	// essentially it does the same as m_solver->setAllNodesInfoFromLL() but fills mass, volume, transform from physx
	// and it also uses ExtPxChunk isStatic flag in addition to 'world' node in LL
	for (uint32_t node0 = 0; node0 < graph.nodeCount; ++node0)
	{
		uint32_t chunkIndex0 = graph.chunkIndices[node0];
		const ExtPxChunk* chunk0 = chunkIndex0 < chunkCount ? &chunks[chunkIndex0] : nullptr;
		bool isChunkStatic = true;

		if (chunk0)
		{
			isChunkStatic = chunk0->isStatic;
			for (uint32_t adjacencyIndex = graph.adjacencyPartition[node0]; adjacencyIndex < graph.adjacencyPartition[node0 + 1]; adjacencyIndex++)
			{
				uint32_t bondIndex = graph.adjacentBondIndices[adjacencyIndex];
				if (bondHealths[bondIndex] <= 0.0f)
					continue;
				uint32_t node1 = graph.adjacentNodeIndices[adjacencyIndex];
				uint32_t chunkIndex1 = graph.chunkIndices[node1];
				if (chunkIndex1 < chunkCount)
				{
					const ExtPxChunk& chunk1 = chunks[chunkIndex1];

					if (chunk1.subchunkCount == 0 || chunk1.isStatic)
					{
						isChunkStatic |= chunk1.isStatic;
						continue;
					}
				}
				else
				{
					isChunkStatic = true;
					break;
				}
			}
		}

		// fill node info
		float mass;
		float volume;
		PxVec3 localPos;
		if (chunk0 && chunk0->subchunkCount > 0)
		{
			const ExtPxSubchunk& subChunk = subChunks[chunk0->firstSubchunkIndex];
			PxVec3 localCenterOfMass;
			PxMat33 intertia;
			PxVec3 scale = subChunk.geometry.scale.scale;
			subChunk.geometry.convexMesh->getMassInformation(mass, intertia, localCenterOfMass);
			mass *= scale.x * scale.y * scale.z;
			const PxTransform& chunk0LocalTransform = subChunk.transform;
			localPos = chunk0LocalTransform.transform(localCenterOfMass);
			volume = mass / 1.0f; // unit density
		}
		else
		{
			mass = 0.0f;
			volume = 0.0f;
			localPos = PxVec3(PxZero);
			isChunkStatic = true;
		}
		m_solver->setNodeInfo(node0, mass, volume, fromPxShared(localPos), isChunkStatic);
	}
#else
	m_solver->setAllNodesInfoFromLL();
#endif

	// notify initial actor's created
	InlineArray<ExtPxActor*, 4>::type actors;;
	actors.resize(m_family.getActorCount());
	m_family.getActors(actors.begin(), actors.size());
	for (const auto actor : actors)
	{
		onActorCreated(m_family, *actor);
	}

	m_family.subscribe(*this);
}

ExtPxStressSolverImpl::~ExtPxStressSolverImpl()
{
	m_family.unsubscribe(*this);
	m_solver->release();
}

ExtPxStressSolver* ExtPxStressSolver::create(ExtPxFamily& family, ExtStressSolverSettings settings)
{
	return NVBLAST_NEW(ExtPxStressSolverImpl) (family, settings);
}

void ExtPxStressSolverImpl::release()
{
	NVBLAST_DELETE(this, ExtPxStressSolverImpl);
}


///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//													Update Wrapper
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void ExtPxStressSolverImpl::update(bool doDamage)
{
	for (auto it = m_actors.getIterator(); !it.done(); ++it)
	{
		const ExtPxActor* actor = *it;

		PxRigidDynamic& rigidDynamic = actor->getPhysXActor();
		const bool isStatic = rigidDynamic.getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC;
		if (isStatic)
		{
			PxVec3 gravity = rigidDynamic.getScene()->getGravity();
			PxVec3 localGravity = rigidDynamic.getGlobalPose().rotateInv(gravity);

			m_solver->addGravityForce(*actor->getTkActor().getActorLL(), fromPxShared(localGravity));
		}
		else
		{
			PxVec3 localCenterMass = rigidDynamic.getCMassLocalPose().p;
			PxVec3 localAngularVelocity = rigidDynamic.getGlobalPose().rotateInv(rigidDynamic.getAngularVelocity());
			m_solver->addAngularVelocity(*actor->getTkActor().getActorLL(), fromPxShared(localCenterMass), fromPxShared(localAngularVelocity));
		}
	}

	m_solver->update();

	if (doDamage && m_solver->getOverstressedBondCount() > 0)
	{
		NvBlastFractureBuffers commands;
		m_solver->generateFractureCommands(commands);
		if (commands.bondFractureCount > 0)
		{
			m_family.getTkFamily().applyFracture(&commands);
		}
	}
}


///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//													Actors
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void ExtPxStressSolverImpl::onActorCreated(ExtPxFamily& /*family*/, ExtPxActor& actor)
{
	if (m_solver->notifyActorCreated(*actor.getTkActor().getActorLL()))
	{
		m_actors.insert(&actor);
	}
}

void ExtPxStressSolverImpl::onActorDestroyed(ExtPxFamily& /*family*/, ExtPxActor& actor)
{
	m_solver->notifyActorDestroyed(*actor.getTkActor().getActorLL());
	m_actors.erase(&actor);
}


} // namespace Blast
} // namespace Nv