virtualx-engine/servers/physics_3d/step_3d_sw.h

/*************************************************************************/
/*  step_3d_sw.h                                                         */
/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#ifndef STEP_SW_H
#define STEP_SW_H

#include "space_3d_sw.h"

#include "core/templates/local_vector.h"
#include "core/templates/thread_work_pool.h"

class Step3DSW {
	uint64_t _step;

	int iterations = 0;
	real_t delta = 0.0;

	ThreadWorkPool work_pool;

	LocalVector<LocalVector<Body3DSW *>> body_islands;
	LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
	LocalVector<Constraint3DSW *> all_constraints;

	void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
	void _populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
	void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
	void _pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const;
	void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
	void _check_suspend(const LocalVector<Body3DSW *> &p_body_island) const;

public:
	void step(Space3DSW *p_space, real_t p_delta, int p_iterations);
	Step3DSW();
	~Step3DSW();
};

#endif // STEP__SW_H