ReconfigureRequest.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,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
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 <utility>
 
#include <agx/agxPhysics_export.h>
#include <agx/AffineMatrix4x4.h>
#include <agx/ref_ptr.h>
#include <agx/stdint.h>
#include <agx/Vector.h>
 
#include <agxSDK/Collection.h>
 
 
namespace agx
{
  class RigidBody;
  class Constraint;
}
 
namespace agxSDK {
  class Simulation;
}
 
namespace agxUtil
{
 
  struct AGXPHYSICS_EXPORT ConstraintPosition {
 
    agx::Constraint* constraint;
 
    agx::Real        position;
 
    // Angle index, 0 in most cases.
    agx::UInt8       index;
 
    inline ConstraintPosition(agx::Constraint* _c, agx::Real _p, agx::UInt8 _i = 0) :
      constraint(_c), position(_p), index(_i)
    {}
  };
 
 
  using ConstraintPositionVector = agx::Vector<ConstraintPosition>;
 
  using BodyTransform = std::pair<agx::RigidBody*, agx::AffineMatrix4x4>;
  using BodyTransformVector = agx::Vector<agxUtil::BodyTransform>;
 
 
 
  class AGXPHYSICS_EXPORT ReconfigureRequest {
 
    public:
 
      ReconfigureRequest();
 
      ~ReconfigureRequest();
 
 
      bool computeTransforms(const agxSDK::Collection* collection,
                             const agx::RigidBody* referenceBody,
                             const agxUtil::ConstraintPositionVector& positions,
                             agxUtil::BodyTransformVector& results,
                             agx::Real* maxViolation = nullptr,
                             bool includeGeometry = false,
                             size_t additionalSteps = 0);
 
 
 
      void applyTransforms(agxSDK::Collection* collection,
                           const agxUtil::ConstraintPositionVector& positions,
                           agxUtil::BodyTransformVector& transforms,
                           bool zeroVelocities = true);
 
 
      agx::String getErrorMessage() const;
 
    private:
      agx::ref_ptr<agxSDK::Simulation> m_simulation;
 
      agx::RigidBodyRefVector          m_bodies;
      agx::ConstraintRefVector         m_constraints;
 
      agx::UInt64                      m_state;
      agx::String                      m_lastErrorMessage;
 
  };
 
}