ConstraintManager.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Physics/Constraints/Constraint.h>
#include <Jolt/Physics/PhysicsLock.h>
#include <Jolt/Core/Mutex.h>
 
JPH_NAMESPACE_BEGIN
 
class IslandBuilder;
class BodyManager;
class StateRecorderFilter;
#ifdef JPH_DEBUG_RENDERER
class DebugRenderer;
#endif // JPH_DEBUG_RENDERER
 
using Constraints = Array<Ref<Constraint>>;
 
class JPH_EXPORT ConstraintManager : public NonCopyable
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
#ifdef JPH_ENABLE_ASSERTS
                            ConstraintManager(PhysicsLockContext inContext) : mLockContext(inContext) { }
#endif // JPH_ENABLE_ASSERTS
 
    void                    Add(Constraint **inConstraints, int inNumber);
 
    void                    Remove(Constraint **inConstraint, int inNumber);
 
    Constraints             GetConstraints() const;
 
    inline uint32           GetNumConstraints() const                   { return uint32(mConstraints.size()); }
 
    void                    GetActiveConstraints(uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const;
 
    static void             sBuildIslands(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager);
 
    static void             sSortConstraints(Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd);
 
    static void             sSetupVelocityConstraints(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime);
 
    static void             sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio);
 
    static void             sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, int &ioNumVelocitySteps);
 
    static bool             sSolveVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime);
 
    static bool             sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte);
 
    static bool             sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte, int &ioNumPositionSteps);
 
#ifdef JPH_DEBUG_RENDERER
    void                    DrawConstraints(DebugRenderer *inRenderer) const;
 
    void                    DrawConstraintLimits(DebugRenderer *inRenderer) const;
 
    void                    DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const;
#endif // JPH_DEBUG_RENDERER
 
    void                    SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const;
 
    bool                    RestoreState(StateRecorder &inStream);
 
    void                    LockAllConstraints()                        { PhysicsLock::sLock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
    void                    UnlockAllConstraints()                      { PhysicsLock::sUnlock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
 
private:
#ifdef JPH_ENABLE_ASSERTS
    PhysicsLockContext      mLockContext;
#endif // JPH_ENABLE_ASSERTS
    Constraints             mConstraints;
    mutable Mutex           mConstraintsMutex;
};
 
JPH_NAMESPACE_END