NlmcpCallback.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agx/Vector.h>
#include <agx/Vec3.h>
#include <agx/Range.h>
#include <agx/agx_valarray_types.h>
 
namespace agx
{
  class FrictionModel;
  class INlSolveDataH5;
  class SparseRangeReal;
  class ConstraintImplementation;
  class DirectSolverData;
  class RigidBody;
 
  namespace Physics
  {
    class RigidBodyData;
    class RigidBodyPtr;
  }
 
  class AGXPHYSICS_EXPORT NlmcpCallback : public Referenced
  {
    public:
      struct Args
      {
        Args( RealValarray& q,
              const RealValarray& z,
              const SparseRangeReal& bounds,
              const Real* iterativeSolutionContacts,
              const Real* iterativeSolutionBinaryConstraints,
              const Real* iterativeSolutionManyBodyConstraints,
              INlSolveDataH5* solveDataH5 )
          : q( q )
          , z( z )
          , bounds( bounds )
          , iterativeSolutionContacts( iterativeSolutionContacts )
          , iterativeSolutionBinaryConstraints( iterativeSolutionBinaryConstraints )
          , iterativeSolutionManyBodyConstraints( iterativeSolutionManyBodyConstraints )
          , solveDataH5( solveDataH5 )
        {
        }
 
        Args( const Args& ) = delete;
        Args& operator = ( const Args& ) = delete;
 
        RealValarray& q;
        const RealValarray& z;
        const SparseRangeReal& bounds;
        const Real* iterativeSolutionContacts;
        const Real* iterativeSolutionBinaryConstraints;
        const Real* iterativeSolutionManyBodyConstraints;
        INlSolveDataH5* solveDataH5;
      };
 
    public:
      virtual Bool initialize( const NlmcpCallback::Args& args ) = 0;
 
      virtual Real calculateResidual( const NlmcpCallback::Args& args ) const = 0;
 
      virtual void update( const NlmcpCallback::Args& args ) const = 0;
 
      virtual void postIterativeSolve( const NlmcpCallback::Args& args ) const = 0;
 
      UInt getDirectRow() const;
 
      void setDirectRow( UInt directRow );
 
      UInt getIterativeRow() const;
 
      void setIterativeRow( UInt iterativeRow );
 
      UInt getSparseBoundsIndex() const;
 
      void setSparseBoundsIndex( UInt sparseBoundsIndex );
 
      UInt getNumRows() const;
 
      void setNumRows( UInt numRows );
 
    protected:
      NlmcpCallback();
 
      virtual ~NlmcpCallback();
 
    private:
      UInt m_directRow;
      UInt m_iterativeRow;
      UInt m_sparseBoundsIndex;
      UInt m_numRows;
  };
 
  using NlmcpCallbackRef = ref_ptr<NlmcpCallback>;
 
  AGX_FORCE_INLINE UInt NlmcpCallback::getDirectRow() const
  {
    return m_directRow;
  }
 
  AGX_FORCE_INLINE UInt NlmcpCallback::getIterativeRow() const
  {
    return m_iterativeRow;
  }
 
  AGX_FORCE_INLINE UInt NlmcpCallback::getSparseBoundsIndex() const
  {
    return m_sparseBoundsIndex;
  }
 
  AGX_FORCE_INLINE UInt NlmcpCallback::getNumRows() const
  {
    return m_numRows;
  }
 
  struct AGXPHYSICS_EXPORT NlmcpCallbackSolverData
  {
    const Physics::RigidBodyData& rigidBody; 
    const DirectSolverData& directSolverData; 
    UInt32 getPermutedDirectStartRow( const RigidBody* rb ) const;
 
    UInt32 getPermutedDirectStartRow( const Physics::RigidBodyPtr& entity ) const;
 
    UInt32 getRigidBodyPermutedDirectStartRow( Index globalIndex ) const;
 
    UInt32 getNumRows( const RigidBody* rb ) const;
 
    UInt32 getNumRows( const Physics::RigidBodyPtr& entity ) const;
 
    UInt32 getRigidBodyNumRows( Index globalIndex ) const;
 
    NlmcpCallbackSolverData( const NlmcpCallbackSolverData& ) = delete;
    NlmcpCallbackSolverData& operator = ( const NlmcpCallbackSolverData& ) = delete;
  };
 
  class AGXPHYSICS_EXPORT ConstraintNlmcpCallback : public NlmcpCallback
  {
    public:
      const ConstraintImplementation* getContext() const;
 
      UInt getContextDirectRow() const;
 
      UInt getContextIterativeRow() const;
 
    protected:
      ConstraintNlmcpCallback();
      virtual ~ConstraintNlmcpCallback();
 
      virtual void onSetContext( const NlmcpCallbackSolverData& solverData );
 
    private:
      friend class ConstraintImplementation;
      void setContext( const ConstraintImplementation* context,
                       UInt contextDirectRow,
                       UInt contextIterativeRow,
                       const NlmcpCallbackSolverData& solverData );
 
    private:
      const ConstraintImplementation* m_context;
      UInt m_contextDirectRow;
      UInt m_contextIterativeRow;
  };
 
  using ConstraintNlmcpCallbackRef = ref_ptr<ConstraintNlmcpCallback>;
} // namespace agx