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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
#include "ScScene.h"
#include "ScConstraintSim.h"
#include "ScConstraintCore.h"
#include "ScConstraintInteraction.h"
#include "common/PxProfileZone.h"
using namespace physx;
// PT: the breakable constraints are added to / removed from mActiveBreakableConstraints:
void Sc::Scene::addActiveBreakableConstraint(Sc::ConstraintSim* c, Sc::ConstraintInteraction* ci)
{
PX_ASSERT(ci && ci->readInteractionFlag(InteractionFlag::eIS_ACTIVE));
PX_UNUSED(ci);
PX_ASSERT(!mActiveBreakableConstraints.contains(c));
PX_ASSERT(!c->isBroken());
mActiveBreakableConstraints.insert(c);
c->setFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED);
}
void Sc::Scene::removeActiveBreakableConstraint(Sc::ConstraintSim* c)
{
const bool exists = mActiveBreakableConstraints.erase(c);
PX_ASSERT(exists);
PX_UNUSED(exists);
c->clearFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED);
}
// PT: then at runtime we parse mActiveBreakableConstraints, check for max force exceeded,
// and add broken constraints to mBrokenConstraints:
void Sc::Scene::checkConstraintBreakage()
{
PX_PROFILE_ZONE("Sim.checkConstraintBreakage", mContextId);
PxU32 count = mActiveBreakableConstraints.size();
if(!count)
return;
Cm::PinnableArray<Dy::ConstraintWriteback>& pool = mDynamicsContext->getConstraintWriteBackPool();
ConstraintSim* const* constraints = mActiveBreakableConstraints.getEntries();
while(count--)
{
ConstraintSim* sim = constraints[count]; // start from the back because broken constraints get removed from the list
PX_ASSERT(sim->readFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED));
const Dy::ConstraintWriteback& solverOutput = pool[sim->getLowLevelConstraint().index];
if(solverOutput.broken)
{
sim->setFlag(ConstraintSim::eBROKEN);
ConstraintCore& core = sim->getCore();
if(mSimulationEventCallback)
{
PX_ASSERT(mBrokenConstraints.find(&core) == mBrokenConstraints.end());
mBrokenConstraints.pushBack(&core);
}
core.breakApart();
ConstraintInteraction* interaction = const_cast<ConstraintInteraction*>(sim->getInteraction());
interaction->destroy(); // PT: this will call removeFromActiveBreakableList above
// update related SIPs
{
ActorSim& a0 = interaction->getActorSim0();
ActorSim& a1 = interaction->getActorSim1();
ActorSim& actor = (a0.getActorInteractionCount() < a1.getActorInteractionCount()) ? a0 : a1;
actor.setActorsInteractionsDirty(InteractionDirtyFlag::eFILTER_STATE, NULL, InteractionFlag::eRB_ELEMENT);
// because broken constraints can re-enable contact response between the two bodies
}
PX_ASSERT(!sim->readFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED));
}
}
}
// PT: finally mBrokenConstraints is parsed and callbacks issued:
void Sc::Scene::fireBrokenConstraintCallbacks()
{
if(!mSimulationEventCallback)
return;
const PxU32 count = mBrokenConstraints.size();
for(PxU32 i=0;i<count;i++)
{
Sc::ConstraintCore* c = mBrokenConstraints[i];
PX_ASSERT(c->getSim());
PxU32 typeID = 0xffffffff;
void* externalRef = c->getPxConnector()->getExternalReference(typeID);
PX_CHECK_MSG(typeID != 0xffffffff, "onConstraintBreak: Invalid constraint type ID.");
PxConstraintInfo constraintInfo(c->getPxConstraint(), externalRef, typeID);
{
// PT: TODO: batch data and call this only once
PX_PROFILE_ZONE("USERCODE - PxSimulationEventCallback::onConstraintBreak", mContextId);
mSimulationEventCallback->onConstraintBreak(&constraintInfo, 1);
}
}
}