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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PXS_SIMULATION_CONTROLLER_H
#define PXS_SIMULATION_CONTROLLER_H
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxPreprocessor.h"
#include "foundation/PxTransform.h"
#include "CmBitMap.h"
#include "PsArray.h"
namespace physx
{
namespace Dy
{
class Context;
struct Constraint;
}
namespace Cm
{
class EventProfiler;
}
namespace Bp
{
class BoundsArray;
class BroadPhase;
}
namespace IG
{
class SimpleIslandManager;
class IslandSim;
}
class PxGpuDispatcher;
class PxsTransformCache;
class PxvNphaseImplementationContext;
class PxBaseTask;
struct PxsBodySim;
struct PxsShapeSim;
class PxsRigidBody;
class PxsKernelWranglerManager;
class PxsHeapMemoryAllocatorManager;
template<typename T> class PxgIterator;
struct PxgSolverConstraintManagerConstants;
class PxsSimulationControllerCallback
{
public:
virtual void updateScBodyAndShapeSim(PxBaseTask* continuation) = 0;
virtual PxU32 getNbCcdBodies() = 0;
virtual ~PxsSimulationControllerCallback() {}
};
class PxsSimulationController
{
public:
PxsSimulationController(PxsSimulationControllerCallback* callback): mCallback(callback){}
virtual ~PxsSimulationController(){}
virtual void addJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, IG::IslandSim& islandSim, Ps::Array<PxU32, Ps::VirtualAllocator>& jointIndices,
Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& managerIter, PxU32 uniqueId) = 0;
virtual void removeJoint(const PxU32 edgeIndex, Dy::Constraint* constraint, Ps::Array<PxU32, Ps::VirtualAllocator>& jointIndices, IG::IslandSim& islandSim) = 0;
virtual void addShape(PxsShapeSim* shapeSim, const PxU32 index) = 0;
virtual void removeShape(const PxU32 index) = 0;
virtual void addDynamic(PxsRigidBody* rigidBody, const PxU32 nodeIndex) = 0;
virtual void addDynamics(PxsRigidBody** rigidBody, const PxU32* nodeIndex, PxU32 nbToProcess) = 0;
virtual void updateJoint(const PxU32 edgeIndex, Dy::Constraint* constraint) = 0;
virtual void updateBodies(PxsRigidBody** rigidBodies, PxU32* nodeIndices, const PxU32 nbBodies) = 0;
virtual void updateBody(PxsRigidBody* rigidBodies, const PxU32 nodeIndex) = 0;
virtual void updateBodiesAndShapes(PxBaseTask* continuation, bool extrudeHeightfields) = 0;
virtual void update(const PxU32 bitMapWordCounts) = 0;
virtual void gpuDmabackData(PxsTransformCache& cache, Bp::BoundsArray& boundArray, Cm::BitMapPinned& changedAABBMgrHandles) = 0;
virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation) = 0;
virtual PxU32* getActiveBodies() = 0;
virtual PxU32* getDeactiveBodies() = 0;
virtual PxsBodySim* getBodySims() = 0;
virtual PxU32 getNbBodies() = 0;
virtual PxU32* getUnfrozenShapes() = 0;
virtual PxU32* getFrozenShapes() = 0;
virtual PxsShapeSim** getShapeSims() = 0;
virtual PxU32 getNbFrozenShapes() = 0;
virtual PxU32 getNbUnfrozenShapes() = 0;
virtual void clear() = 0;
virtual void setBounds(Bp::BoundsArray* boundArray) = 0;
virtual void reserve(const PxU32 nbBodies) = 0;
protected:
PxsSimulationControllerCallback* mCallback;
};
PxsSimulationController* createSimulationController(PxsSimulationControllerCallback* callback);
}
#endif
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