SIM_SDFCollision.h

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/*
 * PROPRIETARY INFORMATION.  This software is proprietary to
 * Side Effects Software Inc., and is not to be reproduced,
 * transmitted, or disclosed in any way without written permission.
 *
 */

#ifndef __SIM_SDFCollision_h__
#define __SIM_SDFCollision_h__

#include "SIM_API.h"
#include "SIM_SweptCollisionData.h"
#include <UT/UT_Vector3.h>
#include <UT/UT_ValArray.h>
#include <GA/GA_PageHandle.h>
#include <GA/GA_Handle.h>
#include <GA/GA_Range.h>

class SIM_Object;
class SIM_Engine;
class GU_Detail;

struct SIM_API SIM_SDFCollideInfo
{
    bool        usesdfvelocity;
    bool        usepointvelocity;
    float       voloffset;
};

// The function SIMdetectAndResolveSDFCollisions can be used
// for one-way collision detection and collision resolution.
// Only the positions of a are modified to avoid collisions.
//
// Given linear trajectories of a set of points a, and a set
// of triangles b between times t_start and t_end,
// find modified positions for a such that the trajectories
// of a and b are collision free between t_start and t_end.
// "Collision free" means that the points of a don't
// intersect any of the triangles of b during a linear sweep
// from t_start to t_end.
// In addition, find a "projected" end velocity that
// makes the time-derivatives of the contact distances
// non-negative (as much as possible).
//
// Thickness is a diameter, not radius measure, so matches
// the behaviour of pscale.
template <typename FLOAT, typename INTEGER>
extern bool SIM_API
SIMdetectAndResolveSDFCollisions(
    SIM_Engine       &engine,
    // A Topology
    SIM_Object       *obj,
    GU_Detail        *gdp_a,
    GA_Range          range_a,
    typename GA_PageHandleV<UT_Vector3T<FLOAT>>::RWType &position_points_a_resolved_end,
    typename GA_PageHandleV<UT_Vector3T<FLOAT>>::RWType &velocity_points_a_resolved_end,
    bool usepscale,
    typename GA_PageHandleScalar<FLOAT>::ROType  &thickness_points_a,
    typename GA_PageHandleScalar<FLOAT>::ROType  &bounce_points_a,
    typename GA_PageHandleScalar<FLOAT>::ROType  &friction_points_a,
    typename GA_PageHandleScalar<FLOAT>::ROType  &dynamicfriction_points_a,
    typename GA_PageHandleScalar<FLOAT>::ROType  &bounceforward_points_a,
    typename GA_PageHandleV<UT_Vector3T<FLOAT>>::RWType &position_points_a_start,

    // B Topology
    const UT_ValArray<SIM_Object *> &affectors,
    const UT_Array<SIM_SDFCollideInfo> &affector_info,
    bool                        createimpacts,
    bool                        addfeedbacks,
    bool                        moveoutofsdf,

    // Timing
    const fpreal64 t_start,
    const fpreal64 t_end
);

template <typename FLOAT, typename INTEGER>
extern bool SIM_API
SIMdetectSDFCollisions(
    SIM_Engine       &engine,
    // A Topology
    SIM_Object       *obj,
    GU_Detail        *gdp_a,
    GA_Range          range_a,
    typename GA_PageHandleV<UT_Vector3T<FLOAT>>::RWType &position_points_a_resolved_end,
    bool usepscale,
    typename GA_PageHandleScalar<FLOAT>::ROType  &thickness_points_a,
    typename GA_PageHandleV<UT_Vector3T<FLOAT>>::RWType &position_points_a_start,

    // B Topology
    const UT_ValArray<SIM_Object *> &affectors,
    const UT_Array<SIM_SDFCollideInfo> &affector_info,

    // Timing
    const fpreal64 t_start,
    const fpreal64 t_end,

    // Results
    GA_RWHandleT<INTEGER>               &hitnum_a,
    GA_RWHandleT<UT_Vector3T<FLOAT>>    &hitpos_a,
    GA_RWHandleT<UT_Vector3T<FLOAT>>    &hitnml_a,
    GA_RWHandleT<FLOAT>                 &hittime_a,
    GA_RWHandleS                        &hitpath_a,
    GA_RWHandleT<INTEGER>               &hitprim_a,
    GA_RWHandleT<UT_Vector3T<FLOAT>>    &hituv_a,
    GA_RWHandleT<UT_Vector3T<FLOAT>>    &hitvel_a
);

#endif