StepEventCallback.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 <agxSDK/StepEventListener.h>
 
namespace agxUtil
{
  class AGXPHYSICS_EXPORT StepEventCallback : public agxSDK::StepEventListener
  {
    public:
      static void uninitialize( agxSDK::Simulation* simulation );
 
      template<typename FuncT, typename... Args>
      static void preCollide( FuncT callback, agxSDK::Simulation* simulation, Args&&... args );
 
      template<typename FuncT, typename... Args>
      static void pre( FuncT callback, agxSDK::Simulation* simulation, Args&&... args );
 
      template<typename FuncT, typename... Args>
      static void post( FuncT callback, agxSDK::Simulation* simulation, Args&&... args );
 
      template<typename FuncT, typename... Args>
      static void last( FuncT callback, agxSDK::Simulation* simulation, Args&&... args );
 
    protected:
      virtual ~StepEventCallback();
 
      virtual void addNotification() override;
 
      virtual void removeNotification() override;
 
      virtual void preCollide( const agx::TimeStamp& t ) override;
      virtual void pre( const agx::TimeStamp& t ) override;
      virtual void post( const agx::TimeStamp& t ) override;
      virtual void last( const agx::TimeStamp& t ) override;
 
    private:
      enum CallbackType
      {
        PRE_COLLIDE_TYPE,
        PRE_TYPE,
        POST_TYPE,
        LAST_TYPE,
        NUM_CALLBACK_TYPES
      };
 
      using Callback = std::function<void()>;
      using StepEventCallbackRef = agx::ref_ptr<StepEventCallback>;
 
      using InstanceType = agx::HashTable<const agxSDK::Simulation*, StepEventCallbackRef>;
      using Callbacks = agx::Vector<agx::Vector<Callback>>;
 
    private:
      static void registerCallback( Callback callback, CallbackType callbackType, agxSDK::Simulation* simulation );
 
    private:
      StepEventCallback();
 
      void executeCallbacks( const agx::TimeStamp& t, CallbackType callbackType );
 
    private:
      static InstanceType s_instances;
      Callbacks m_callbacks;
  };
 
  template<typename FuncT, typename... Args>
  void StepEventCallback::preCollide( FuncT callback, agxSDK::Simulation* simulation, Args&&... args )
  {
    if ( simulation == nullptr )
      return;
 
    registerCallback( std::bind( callback, simulation, std::forward<Args>( args )... ), PRE_COLLIDE_TYPE, simulation );
  }
 
  template<typename FuncT, typename... Args>
  void StepEventCallback::pre( FuncT callback, agxSDK::Simulation* simulation, Args&&... args )
  {
    if ( simulation == nullptr )
      return;
 
    registerCallback( std::bind( callback, simulation, std::forward<Args>( args )... ), PRE_TYPE, simulation );
  }
 
  template<typename FuncT, typename... Args>
  void StepEventCallback::post( FuncT callback, agxSDK::Simulation* simulation, Args&&... args )
  {
    if ( simulation == nullptr )
      return;
 
    registerCallback( std::bind( callback, simulation, std::forward<Args>( args )... ), POST_TYPE, simulation );
  }
 
  template<typename FuncT, typename... Args>
  void StepEventCallback::last( FuncT callback, agxSDK::Simulation* simulation, Args&&... args )
  {
    if ( simulation == nullptr )
      return;
 
    registerCallback( std::bind( callback, simulation, std::forward<Args>( args )... ), LAST_TYPE, simulation );
  }
}