@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/Constraint.h

@@ -1,243 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Core/Reference.h>
-#include <Jolt/Core/NonCopyable.h>
-#include <Jolt/Core/Result.h>
-#include <Jolt/ObjectStream/SerializableObject.h>
-
-JPH_NAMESPACE_BEGIN
-
-class BodyID;
-class IslandBuilder;
-class LargeIslandSplitter;
-class BodyManager;
-class StateRecorder;
-class StreamIn;
-class StreamOut;
-#ifdef JPH_DEBUG_RENDERER
-class DebugRenderer;
-#endif // JPH_DEBUG_RENDERER
-
-/// Enum to identify constraint type
-enum class EConstraintType
-{
-	Constraint,
-	TwoBodyConstraint,
-};
-
-/// Enum to identify constraint sub type
-enum class EConstraintSubType
-{
-	Fixed,
-	Point,
-	Hinge,
-	Slider,
-	Distance,
-	Cone,
-	SwingTwist,
-	SixDOF,
-	Path,
-	Vehicle,
-	RackAndPinion,
-	Gear,
-	Pulley,
-
-	/// User defined constraint types start here
-	User1,
-	User2,
-	User3,
-	User4
-};
-
-/// Certain constraints support setting them up in local or world space. This governs what is used.
-enum class EConstraintSpace
-{
-	LocalToBodyCOM,				///< All constraint properties are specified in local space to center of mass of the bodies that are being constrained (so e.g. 'constraint position 1' will be local to body 1 COM, 'constraint position 2' will be local to body 2 COM). Note that this means you need to subtract Shape::GetCenterOfMass() from positions!
-	WorldSpace,					///< All constraint properties are specified in world space
-};
-
-/// Class used to store the configuration of a constraint. Allows run-time creation of constraints.
-class JPH_EXPORT ConstraintSettings : public SerializableObject, public RefTarget<ConstraintSettings>
-{
-	JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, ConstraintSettings)
-
-public:
-	using ConstraintResult = Result<Ref<ConstraintSettings>>;
-
-	/// Saves the contents of the constraint settings in binary form to inStream.
-	virtual void				SaveBinaryState(StreamOut &inStream) const;
-
-	/// Creates a constraint of the correct type and restores its contents from the binary stream inStream.
-	static ConstraintResult		sRestoreFromBinaryState(StreamIn &inStream);
-
-	/// If this constraint is enabled initially. Use Constraint::SetEnabled to toggle after creation.
-	bool						mEnabled = true;
-
-	/// Priority of the constraint when solving. Higher numbers are more likely to be solved correctly.
-	/// Note that if you want a deterministic simulation and you cannot guarantee the order in which constraints are added/removed, you can make the priority for all constraints unique to get a deterministic ordering.
-	uint32						mConstraintPriority = 0;
-
-	/// Used only when the constraint is active. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	uint						mNumVelocityStepsOverride = 0;
-
-	/// Used only when the constraint is active. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	uint						mNumPositionStepsOverride = 0;
-
-	/// Size of constraint when drawing it through the debug renderer
-	float						mDrawConstraintSize = 1.0f;
-
-	/// User data value (can be used by application)
-	uint64						mUserData = 0;
-
-protected:
-	/// Don't allow (copy) constructing this base class, but allow derived classes to (copy) construct themselves
-								ConstraintSettings() = default;
-								ConstraintSettings(const ConstraintSettings &) = default;
-	ConstraintSettings &		operator = (const ConstraintSettings &) = default;
-
-	/// This function should not be called directly, it is used by sRestoreFromBinaryState.
-	virtual void				RestoreBinaryState(StreamIn &inStream);
-};
-
-/// Base class for all physics constraints. A constraint removes one or more degrees of freedom for a rigid body.
-class JPH_EXPORT Constraint : public RefTarget<Constraint>, public NonCopyable
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-	explicit					Constraint(const ConstraintSettings &inSettings) :
-#ifdef JPH_DEBUG_RENDERER
-		mDrawConstraintSize(inSettings.mDrawConstraintSize),
-#endif // JPH_DEBUG_RENDERER
-		mConstraintPriority(inSettings.mConstraintPriority),
-		mNumVelocityStepsOverride(uint8(inSettings.mNumVelocityStepsOverride)),
-		mNumPositionStepsOverride(uint8(inSettings.mNumPositionStepsOverride)),
-		mEnabled(inSettings.mEnabled),
-		mUserData(inSettings.mUserData)
-	{
-		JPH_ASSERT(inSettings.mNumVelocityStepsOverride < 256);
-		JPH_ASSERT(inSettings.mNumPositionStepsOverride < 256);
-	}
-
-	/// Virtual destructor
-	virtual						~Constraint() = default;
-
-	/// Get the type of a constraint
-	virtual EConstraintType		GetType() const								{ return EConstraintType::Constraint; }
-
-	/// Get the sub type of a constraint
-	virtual EConstraintSubType	GetSubType() const = 0;
-
-	/// Priority of the constraint when solving. Higher numbers have are more likely to be solved correctly.
-	/// Note that if you want a deterministic simulation and you cannot guarantee the order in which constraints are added/removed, you can make the priority for all constraints unique to get a deterministic ordering.
-	uint32						GetConstraintPriority() const				{ return mConstraintPriority; }
-	void						SetConstraintPriority(uint32 inPriority)	{ mConstraintPriority = inPriority; }
-
-	/// Used only when the constraint is active. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	void						SetNumVelocityStepsOverride(uint inN)		{ JPH_ASSERT(inN < 256); mNumVelocityStepsOverride = uint8(inN); }
-	uint						GetNumVelocityStepsOverride() const			{ return mNumVelocityStepsOverride; }
-
-	/// Used only when the constraint is active. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	void						SetNumPositionStepsOverride(uint inN)		{ JPH_ASSERT(inN < 256); mNumPositionStepsOverride = uint8(inN); }
-	uint						GetNumPositionStepsOverride() const			{ return mNumPositionStepsOverride; }
-
-	/// Enable / disable this constraint. This can e.g. be used to implement a breakable constraint by detecting that the constraint impulse
-	/// (see e.g. PointConstraint::GetTotalLambdaPosition) went over a certain limit and then disabling the constraint.
-	/// Note that although a disabled constraint will not affect the simulation in any way anymore, it does incur some processing overhead.
-	/// Alternatively you can remove a constraint from the constraint manager (which may be more costly if you want to disable the constraint for a short while).
-	void						SetEnabled(bool inEnabled)					{ mEnabled = inEnabled; }
-
-	/// Test if a constraint is enabled.
-	bool						GetEnabled() const							{ return mEnabled; }
-
-	/// Access to the user data, can be used for anything by the application
-	uint64						GetUserData() const							{ return mUserData; }
-	void						SetUserData(uint64 inUserData)				{ mUserData = inUserData; }
-
-	/// Notify the constraint that the shape of a body has changed and that its center of mass has moved by inDeltaCOM.
-	/// Bodies don't know which constraints are connected to them so the user is responsible for notifying the relevant constraints when a body changes.
-	/// @param inBodyID ID of the body that has changed
-	/// @param inDeltaCOM The delta of the center of mass of the body (shape->GetCenterOfMass() - shape_before_change->GetCenterOfMass())
-	virtual void				NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) = 0;
-
-	/// Notify the system that the configuration of the bodies and/or constraint has changed enough so that the warm start impulses should not be applied the next frame.
-	/// You can use this function for example when repositioning a ragdoll through Ragdoll::SetPose in such a way that the orientation of the bodies completely changes so that
-	/// the previous frame impulses are no longer a good approximation of what the impulses will be in the next frame. Calling this function when there are no big changes
-	/// will result in the constraints being much 'softer' than usual so they are more easily violated (e.g. a long chain of bodies might sag a bit if you call this every frame).
-	virtual void				ResetWarmStart() = 0;
-
-	///@name Solver interface
-	///@{
-	virtual bool				IsActive() const							{ return mEnabled; }
-	virtual void				SetupVelocityConstraint(float inDeltaTime) = 0;
-	virtual void				WarmStartVelocityConstraint(float inWarmStartImpulseRatio) = 0;
-	virtual bool				SolveVelocityConstraint(float inDeltaTime) = 0;
-	virtual bool				SolvePositionConstraint(float inDeltaTime, float inBaumgarte) = 0;
-	///@}
-
-	/// Link bodies that are connected by this constraint in the island builder
-	virtual void				BuildIslands(uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) = 0;
-
-	/// Link bodies that are connected by this constraint in the same split. Returns the split index.
-	virtual uint				BuildIslandSplits(LargeIslandSplitter &ioSplitter) const = 0;
-
-#ifdef JPH_DEBUG_RENDERER
-	// Drawing interface
-	virtual void				DrawConstraint(DebugRenderer *inRenderer) const = 0;
-	virtual void				DrawConstraintLimits([[maybe_unused]] DebugRenderer *inRenderer) const { }
-	virtual void				DrawConstraintReferenceFrame([[maybe_unused]] DebugRenderer *inRenderer) const { }
-
-	/// Size of constraint when drawing it through the debug renderer
-	float						GetDrawConstraintSize() const				{ return mDrawConstraintSize; }
-	void						SetDrawConstraintSize(float inSize)			{ mDrawConstraintSize = inSize; }
-#endif // JPH_DEBUG_RENDERER
-
-	/// Saving state for replay
-	virtual void				SaveState(StateRecorder &inStream) const;
-
-	/// Restoring state for replay
-	virtual void				RestoreState(StateRecorder &inStream);
-
-	/// Debug function to convert a constraint to its settings, note that this will not save to which bodies the constraint is connected to
-	virtual Ref<ConstraintSettings> GetConstraintSettings() const = 0;
-
-protected:
-	/// Helper function to copy settings back to constraint settings for this base class
-	void						ToConstraintSettings(ConstraintSettings &outSettings) const;
-
-#ifdef JPH_DEBUG_RENDERER
-	/// Size of constraint when drawing it through the debug renderer
-	float						mDrawConstraintSize;
-#endif // JPH_DEBUG_RENDERER
-
-private:
-	friend class ConstraintManager;
-
-	/// Index that indicates this constraint is not in the constraint manager
-	static constexpr uint32		cInvalidConstraintIndex = 0xffffffff;
-
-	/// Index in the mConstraints list of the ConstraintManager for easy finding
-	uint32						mConstraintIndex = cInvalidConstraintIndex;
-
-	/// Priority of the constraint when solving. Higher numbers have are more likely to be solved correctly.
-	uint32						mConstraintPriority = 0;
-
-	/// Used only when the constraint is active. Override for the number of solver velocity iterations to run, 0 means use the default in PhysicsSettings::mNumVelocitySteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	uint8						mNumVelocityStepsOverride = 0;
-
-	/// Used only when the constraint is active. Override for the number of solver position iterations to run, 0 means use the default in PhysicsSettings::mNumPositionSteps. The number of iterations to use is the max of all contacts and constraints in the island.
-	uint8						mNumPositionStepsOverride = 0;
-
-	/// If this constraint is currently enabled
-	bool						mEnabled = true;
-
-	/// User data value (can be used by application)
-	uint64						mUserData;
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintManager.cpp

@@ -1,289 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Physics/Constraints/ConstraintManager.h>
-#include <Jolt/Physics/Constraints/CalculateSolverSteps.h>
-#include <Jolt/Physics/IslandBuilder.h>
-#include <Jolt/Physics/StateRecorder.h>
-#include <Jolt/Physics/PhysicsLock.h>
-#include <Jolt/Core/Profiler.h>
-#include <Jolt/Core/QuickSort.h>
-
-JPH_NAMESPACE_BEGIN
-
-void ConstraintManager::Add(Constraint **inConstraints, int inNumber)
-{
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	mConstraints.reserve(mConstraints.size() + inNumber);
-
-	for (Constraint **c = inConstraints, **c_end = inConstraints + inNumber; c < c_end; ++c)
-	{
-		Constraint *constraint = *c;
-
-		// Assume this constraint has not been added yet
-		JPH_ASSERT(constraint->mConstraintIndex == Constraint::cInvalidConstraintIndex);
-
-		// Add to the list
-		constraint->mConstraintIndex = uint32(mConstraints.size());
-		mConstraints.push_back(constraint);
-	}
-}
-
-void ConstraintManager::Remove(Constraint **inConstraints, int inNumber)
-{
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	for (Constraint **c = inConstraints, **c_end = inConstraints + inNumber; c < c_end; ++c)
-	{
-		Constraint *constraint = *c;
-
-		// Reset constraint index for this constraint
-		uint32 this_constraint_idx = constraint->mConstraintIndex;
-		constraint->mConstraintIndex = Constraint::cInvalidConstraintIndex;
-		JPH_ASSERT(this_constraint_idx != Constraint::cInvalidConstraintIndex);
-
-		// Check if this constraint is somewhere in the middle of the constraints, in this case we need to move the last constraint to this position
-		uint32 last_constraint_idx = uint32(mConstraints.size() - 1);
-		if (this_constraint_idx < last_constraint_idx)
-		{
-			Constraint *last_constraint = mConstraints[last_constraint_idx];
-			last_constraint->mConstraintIndex = this_constraint_idx;
-			mConstraints[this_constraint_idx] = last_constraint;
-		}
-
-		// Pop last constraint
-		mConstraints.pop_back();
-	}
-}
-
-Constraints ConstraintManager::GetConstraints() const
-{
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	Constraints copy = mConstraints;
-	return copy;
-}
-
-void ConstraintManager::GetActiveConstraints(uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	JPH_ASSERT(inEndConstraintIdx <= mConstraints.size());
-
-	uint32 num_active_constraints = 0;
-	for (uint32 constraint_idx = inStartConstraintIdx; constraint_idx < inEndConstraintIdx; ++constraint_idx)
-	{
-		Constraint *c = mConstraints[constraint_idx];
-		JPH_ASSERT(c->mConstraintIndex == constraint_idx);
-		if (c->IsActive())
-		{
-			*(outActiveConstraints++) = c;
-			num_active_constraints++;
-		}
-	}
-
-	outNumActiveConstraints = num_active_constraints;
-}
-
-void ConstraintManager::sBuildIslands(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager)
-{
-	JPH_PROFILE_FUNCTION();
-
-	for (uint32 constraint_idx = 0; constraint_idx < inNumActiveConstraints; ++constraint_idx)
-	{
-		Constraint *c = inActiveConstraints[constraint_idx];
-		c->BuildIslands(constraint_idx, ioBuilder, inBodyManager);
-	}
-}
-
-void ConstraintManager::sSortConstraints(Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd)
-{
-	JPH_PROFILE_FUNCTION();
-
-	QuickSort(inConstraintIdxBegin, inConstraintIdxEnd, [inActiveConstraints](uint32 inLHS, uint32 inRHS) {
-		const Constraint *lhs = inActiveConstraints[inLHS];
-		const Constraint *rhs = inActiveConstraints[inRHS];
-
-		if (lhs->GetConstraintPriority() != rhs->GetConstraintPriority())
-			return lhs->GetConstraintPriority() < rhs->GetConstraintPriority();
-
-		return lhs->mConstraintIndex < rhs->mConstraintIndex;
-	});
-}
-
-void ConstraintManager::sSetupVelocityConstraints(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime)
-{
-	JPH_PROFILE_FUNCTION();
-
-	for (Constraint **c = inActiveConstraints, **c_end = inActiveConstraints + inNumActiveConstraints; c < c_end; ++c)
-		(*c)->SetupVelocityConstraint(inDeltaTime);
-}
-
-template <class ConstraintCallback>
-void ConstraintManager::sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback &ioCallback)
-{
-	JPH_PROFILE_FUNCTION();
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		Constraint *c = inActiveConstraints[*constraint_idx];
-		ioCallback(c);
-		c->WarmStartVelocityConstraint(inWarmStartImpulseRatio);
-	}
-}
-
-// Specialize for the two constraint callback types
-template void ConstraintManager::sWarmStartVelocityConstraints<CalculateSolverSteps>(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, CalculateSolverSteps &ioCallback);
-template void ConstraintManager::sWarmStartVelocityConstraints<DummyCalculateSolverSteps>(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, DummyCalculateSolverSteps &ioCallback);
-
-bool ConstraintManager::sSolveVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime)
-{
-	JPH_PROFILE_FUNCTION();
-
-	bool any_impulse_applied = false;
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		Constraint *c = inActiveConstraints[*constraint_idx];
-		any_impulse_applied |= c->SolveVelocityConstraint(inDeltaTime);
-	}
-
-	return any_impulse_applied;
-}
-
-bool ConstraintManager::sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte)
-{
-	JPH_PROFILE_FUNCTION();
-
-	bool any_impulse_applied = false;
-
-	for (const uint32 *constraint_idx = inConstraintIdxBegin; constraint_idx < inConstraintIdxEnd; ++constraint_idx)
-	{
-		Constraint *c = inActiveConstraints[*constraint_idx];
-		any_impulse_applied |= c->SolvePositionConstraint(inDeltaTime, inBaumgarte);
-	}
-
-	return any_impulse_applied;
-}
-
-#ifdef JPH_DEBUG_RENDERER
-void ConstraintManager::DrawConstraints(DebugRenderer *inRenderer) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	for (const Ref<Constraint> &c : mConstraints)
-		c->DrawConstraint(inRenderer);
-}
-
-void ConstraintManager::DrawConstraintLimits(DebugRenderer *inRenderer) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	for (const Ref<Constraint> &c : mConstraints)
-		c->DrawConstraintLimits(inRenderer);
-}
-
-void ConstraintManager::DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const
-{
-	JPH_PROFILE_FUNCTION();
-
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	for (const Ref<Constraint> &c : mConstraints)
-		c->DrawConstraintReferenceFrame(inRenderer);
-}
-#endif // JPH_DEBUG_RENDERER
-
-void ConstraintManager::SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const
-{
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	// Write state of constraints
-	if (inFilter != nullptr)
-	{
-		// Determine which constraints to save
-		Array<Constraint *> constraints;
-		constraints.reserve(mConstraints.size());
-		for (const Ref<Constraint> &c : mConstraints)
-			if (inFilter->ShouldSaveConstraint(*c))
-				constraints.push_back(c);
-
-		// Save them
-		uint32 num_constraints = (uint32)constraints.size();
-		inStream.Write(num_constraints);
-		for (const Constraint *c : constraints)
-		{
-			inStream.Write(c->mConstraintIndex);
-			c->SaveState(inStream);
-		}
-	}
-	else
-	{
-		// Save all constraints
-		uint32 num_constraints = (uint32)mConstraints.size();
-		inStream.Write(num_constraints);
-		for (const Ref<Constraint> &c : mConstraints)
-		{
-			inStream.Write(c->mConstraintIndex);
-			c->SaveState(inStream);
-		}
-	}
-}
-
-bool ConstraintManager::RestoreState(StateRecorder &inStream)
-{
-	UniqueLock lock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList));
-
-	if (inStream.IsValidating())
-	{
-		// Read state of constraints
-		uint32 num_constraints = (uint32)mConstraints.size(); // Initialize to current value for validation
-		inStream.Read(num_constraints);
-		if (num_constraints != mConstraints.size())
-		{
-			JPH_ASSERT(false, "Cannot handle adding/removing constraints");
-			return false;
-		}
-		for (const Ref<Constraint> &c : mConstraints)
-		{
-			uint32 constraint_index = c->mConstraintIndex;
-			inStream.Read(constraint_index);
-			if (constraint_index != c->mConstraintIndex)
-			{
-				JPH_ASSERT(false, "Unexpected constraint index");
-				return false;
-			}
-			c->RestoreState(inStream);
-		}
-	}
-	else
-	{
-		// Not validating, use more flexible reading, read number of constraints
-		uint32 num_constraints = 0;
-		inStream.Read(num_constraints);
-
-		for (uint32 idx = 0; idx < num_constraints; ++idx)
-		{
-			uint32 constraint_index;
-			inStream.Read(constraint_index);
-			if (mConstraints.size() <= constraint_index)
-			{
-				JPH_ASSERT(false, "Restoring state for non-existing constraint");
-				return false;
-			}
-			mConstraints[constraint_index]->RestoreState(inStream);
-		}
-	}
-
-	return true;
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Physics/Constraints/ConstraintManager.h

@@ -1,100 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Physics/Constraints/Constraint.h>
-#include <Jolt/Physics/PhysicsLock.h>
-#include <Jolt/Core/Mutex.h>
-
-JPH_NAMESPACE_BEGIN
-
-class IslandBuilder;
-class BodyManager;
-class StateRecorderFilter;
-#ifdef JPH_DEBUG_RENDERER
-class DebugRenderer;
-#endif // JPH_DEBUG_RENDERER
-
-/// A list of constraints
-using Constraints = Array<Ref<Constraint>>;
-
-/// A constraint manager manages all constraints of the same type
-///
-/// WARNING: This class is an internal part of PhysicsSystem, it has no functions that can be called by users of the library.
-/// Its functionality is exposed through PhysicsSystem and BodyInterface.
-class JPH_EXPORT ConstraintManager : public NonCopyable
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-#ifdef JPH_ENABLE_ASSERTS
-	/// Constructor
-							ConstraintManager(PhysicsLockContext inContext) : mLockContext(inContext) { }
-#endif // JPH_ENABLE_ASSERTS
-
-	/// Add a new constraint. This is thread safe.
-	void					Add(Constraint **inConstraints, int inNumber);
-
-	/// Remove a constraint. This is thread safe.
-	void					Remove(Constraint **inConstraint, int inNumber);
-
-	/// Get a list of all constraints
-	Constraints				GetConstraints() const;
-
-	/// Get total number of constraints
-	inline uint32			GetNumConstraints() const					{ return uint32(mConstraints.size()); }
-
-	/// Determine the active constraints of a subset of the constraints
-	void					GetActiveConstraints(uint32 inStartConstraintIdx, uint32 inEndConstraintIdx, Constraint **outActiveConstraints, uint32 &outNumActiveConstraints) const;
-
-	/// Link bodies to form islands
-	static void				sBuildIslands(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, IslandBuilder &ioBuilder, BodyManager &inBodyManager);
-
-	/// In order to have a deterministic simulation, we need to sort the constraints of an island before solving them
-	static void				sSortConstraints(Constraint **inActiveConstraints, uint32 *inConstraintIdxBegin, uint32 *inConstraintIdxEnd);
-
-	/// Prior to solving the velocity constraints, you must call SetupVelocityConstraints once to precalculate values that are independent of velocity
-	static void				sSetupVelocityConstraints(Constraint **inActiveConstraints, uint32 inNumActiveConstraints, float inDeltaTime);
-
-	/// Apply last frame's impulses, must be called prior to SolveVelocityConstraints
-	template <class ConstraintCallback>
-	static void				sWarmStartVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inWarmStartImpulseRatio, ConstraintCallback &ioCallback);
-
-	/// This function is called multiple times to iteratively come to a solution that meets all velocity constraints
-	static bool				sSolveVelocityConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime);
-
-	/// This function is called multiple times to iteratively come to a solution that meets all position constraints
-	static bool				sSolvePositionConstraints(Constraint **inActiveConstraints, const uint32 *inConstraintIdxBegin, const uint32 *inConstraintIdxEnd, float inDeltaTime, float inBaumgarte);
-
-#ifdef JPH_DEBUG_RENDERER
-	/// Draw all constraints
-	void					DrawConstraints(DebugRenderer *inRenderer) const;
-
-	/// Draw all constraint limits
-	void					DrawConstraintLimits(DebugRenderer *inRenderer) const;
-
-	/// Draw all constraint reference frames
-	void					DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const;
-#endif // JPH_DEBUG_RENDERER
-
-	/// Save state of constraints
-	void					SaveState(StateRecorder &inStream, const StateRecorderFilter *inFilter) const;
-
-	/// Restore the state of constraints. Returns false if failed.
-	bool					RestoreState(StateRecorder &inStream);
-
-	/// Lock all constraints. This should only be done during PhysicsSystem::Update().
-	void					LockAllConstraints()						{ PhysicsLock::sLock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
-	void					UnlockAllConstraints()						{ PhysicsLock::sUnlock(mConstraintsMutex JPH_IF_ENABLE_ASSERTS(, mLockContext, EPhysicsLockTypes::ConstraintsList)); }
-
-private:
-#ifdef JPH_ENABLE_ASSERTS
-	PhysicsLockContext		mLockContext;
-#endif // JPH_ENABLE_ASSERTS
-	Constraints				mConstraints;
-	mutable Mutex			mConstraintsMutex;
-};
-
-JPH_NAMESPACE_END