text: //
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  // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  
  #ifndef PX_PHYSICS_SCP_CONSTRAINT_PROJECTION_MANAGER
  #define PX_PHYSICS_SCP_CONSTRAINT_PROJECTION_MANAGER
  
  #include "PsPool.h"
  #include "PsHashSet.h"
  #include "ScConstraintGroupNode.h"
  
  namespace physx
  {
  	class PxcScratchAllocator;
  
  namespace Sc
  {
  	class ConstraintSim;
  	class BodySim;
  	template<typename T, const PxU32 elementsPerBlock = 64> class ScratchAllocatorList;
  
  	class ConstraintProjectionManager : public Ps::UserAllocated
  	{
  	public:
  		ConstraintProjectionManager();
  		~ConstraintProjectionManager() {}
  
  		void addToPendingGroupUpdates(ConstraintSim& s);
  		void removeFromPendingGroupUpdates(ConstraintSim& s);
  
  		void addToPendingTreeUpdates(ConstraintGroupNode& n);
  		void removeFromPendingTreeUpdates(ConstraintGroupNode& n);
  
  		void processPendingUpdates(PxcScratchAllocator&);
  		void invalidateGroup(ConstraintGroupNode& node, ConstraintSim* constraintDeleted);
  
  	private:
  		PX_INLINE Sc::ConstraintGroupNode* createGroupNode(BodySim& b);
  
  		void addToGroup(BodySim& b, BodySim* other, ConstraintSim& c);
  		void groupUnion(ConstraintGroupNode& root0, ConstraintGroupNode& root1);
  		void markConnectedConstraintsForUpdate(BodySim& b, ConstraintSim* c);
  		PX_FORCE_INLINE void processConstraintForGroupBuilding(ConstraintSim* c, ScratchAllocatorList<ConstraintSim*>&);
  
  
  	private:
  		Ps::Pool<ConstraintGroupNode>				mNodePool;
  		Ps::CoalescedHashSet<ConstraintSim*>		mPendingGroupUpdates; //list of constraints for which constraint projection groups need to be generated/updated
  		Ps::CoalescedHashSet<ConstraintGroupNode*>	mPendingTreeUpdates;	//list of constraint groups that need their projection trees rebuilt. Note: non of the
  																			//constraints in those groups are allowed to be in mPendingGroupUpdates at the same time
  																			//because a group update will automatically trigger tree rebuilds.
  	};
  
  } // namespace Sc
  
  }
  
  #endif
  