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sdk/extensions/stress/include/NvBlastExtStressSolver.h

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#ifndef NVBLASTEXTSTRESSSOLVER_H
#define NVBLASTEXTSTRESSSOLVER_H

#include "NvBlastTypes.h"
#include "PxVec3.h"
#include <vector>


namespace Nv
{
namespace Blast
{


struct ExtStressSolverSettings
{
    float       hardness;                   
    float       stressLinearFactor;         
    float       stressAngularFactor;        
    uint32_t    bondIterationsPerFrame;     
    uint32_t    graphReductionLevel;        

    ExtStressSolverSettings() :
        hardness(1000.0f),
        stressLinearFactor(0.25f),
        stressAngularFactor(0.75f),
        bondIterationsPerFrame(18000),
        graphReductionLevel(3)
    {}
};


struct ExtForceMode
{
    enum Enum
    {
        IMPULSE,    
        VELOCITY,   
    };
};


class NV_DLL_EXPORT ExtStressSolver
{
public:

    static ExtStressSolver*                 create(NvBlastFamily& family, ExtStressSolverSettings settings = ExtStressSolverSettings());



    virtual void                            release() = 0;

    virtual void                            setNodeInfo(uint32_t graphNodeIndex, float mass, float volume, physx::PxVec3 localPosition, bool isStatic) = 0;

    virtual void                            setAllNodesInfoFromLL(float density = 1.0f) = 0;

    virtual void                            setSettings(const ExtStressSolverSettings& settings) = 0;

    virtual const ExtStressSolverSettings&  getSettings() const = 0;

    virtual bool                            notifyActorCreated(const NvBlastActor& actor) = 0;

    virtual void                            notifyActorDestroyed(const NvBlastActor& actor) = 0;

    virtual bool                            addForce(const NvBlastActor& actor, physx::PxVec3 localPosition, physx::PxVec3 localForce, ExtForceMode::Enum mode = ExtForceMode::IMPULSE) = 0;

    virtual void                            addForce(uint32_t graphNodeIndex, physx::PxVec3 localForce, ExtForceMode::Enum mode = ExtForceMode::IMPULSE) = 0;

    virtual bool                            addGravityForce(const NvBlastActor& actor, physx::PxVec3 localGravity) = 0;

    virtual bool                            addAngularVelocity(const NvBlastActor& actor, physx::PxVec3 localCenterMass, physx::PxVec3 localAngularVelocity) = 0;

    virtual void                            update() = 0;

    virtual uint32_t                        getOverstressedBondCount() const = 0;

    virtual void                            generateFractureCommands(const NvBlastActor& actor, NvBlastFractureBuffers& commands) = 0;

    virtual void                            generateFractureCommands(NvBlastFractureBuffers& commands) = 0;

    virtual uint32_t                        generateFractureCommandsPerActor(const NvBlastActor** actorBuffer, NvBlastFractureBuffers* commandsBuffer, uint32_t bufferSize) = 0;

    virtual void                            reset() = 0;

    virtual float                           getStressErrorLinear() const = 0;

    virtual float                           getStressErrorAngular() const = 0;

    virtual uint32_t                        getFrameCount() const = 0;

    virtual uint32_t                        getBondCount() const = 0;


    enum DebugRenderMode
    {
        STRESS_GRAPH = 0,                   
        STRESS_GRAPH_NODES_IMPULSES = 1,    
        STRESS_GRAPH_BONDS_IMPULSES = 2     
    };

    struct DebugLine
    {
        DebugLine(const physx::PxVec3& p0, const physx::PxVec3& p1, const uint32_t& c)
            : pos0(p0), color0(c), pos1(p1), color1(c) {}

        physx::PxVec3   pos0;
        uint32_t        color0;
        physx::PxVec3   pos1;
        uint32_t        color1;
    };

    struct DebugBuffer
    {
        const DebugLine* lines;
        uint32_t         lineCount;
    };

    virtual const DebugBuffer               fillDebugRender(const uint32_t* nodes, uint32_t nodeCount, DebugRenderMode mode, float scale = 1.0f) = 0;



    static uint32_t                         getIterationsPerFrame(const ExtStressSolverSettings& settings, uint32_t bondCount)
    {
        uint32_t perFrame = settings.bondIterationsPerFrame / (bondCount + 1);
        return perFrame > 0 ? perFrame : 1;
    }

    uint32_t                                getIterationsPerFrame() const
    {
        return getIterationsPerFrame(getSettings(), getBondCount());
    }

};

} // namespace Blast
} // namespace Nv


#endif // ifndef NVBLASTEXTSTRESSSOLVER_H

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