117 lines
4.5 KiB
C++
117 lines
4.5 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Physics/Constraints/TwoBodyConstraint.h>
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#include <Jolt/Physics/Constraints/ConstraintPart/GearConstraintPart.h>
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JPH_NAMESPACE_BEGIN
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/// Gear constraint settings
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class JPH_EXPORT GearConstraintSettings final : public TwoBodyConstraintSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, GearConstraintSettings)
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public:
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// See: ConstraintSettings::SaveBinaryState
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virtual void SaveBinaryState(StreamOut &inStream) const override;
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/// Create an instance of this constraint.
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virtual TwoBodyConstraint * Create(Body &inBody1, Body &inBody2) const override;
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/// Defines the ratio between the rotation of both gears
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/// The ratio is defined as: Gear1Rotation(t) = -ratio * Gear2Rotation(t)
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/// @param inNumTeethGear1 Number of teeth that body 1 has
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/// @param inNumTeethGear2 Number of teeth that body 2 has
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void SetRatio(int inNumTeethGear1, int inNumTeethGear2)
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{
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mRatio = float(inNumTeethGear2) / float(inNumTeethGear1);
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}
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/// This determines in which space the constraint is setup, all properties below should be in the specified space
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EConstraintSpace mSpace = EConstraintSpace::WorldSpace;
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/// Body 1 constraint reference frame (space determined by mSpace).
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Vec3 mHingeAxis1 = Vec3::sAxisX();
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/// Body 2 constraint reference frame (space determined by mSpace)
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Vec3 mHingeAxis2 = Vec3::sAxisX();
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/// Ratio between both gears, see SetRatio.
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float mRatio = 1.0f;
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protected:
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// See: ConstraintSettings::RestoreBinaryState
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virtual void RestoreBinaryState(StreamIn &inStream) override;
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};
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/// A gear constraint constrains the rotation of body1 to the rotation of body 2 using a gear.
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/// Note that this constraint needs to be used in conjunction with a two hinge constraints.
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class JPH_EXPORT GearConstraint final : public TwoBodyConstraint
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{
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public:
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JPH_OVERRIDE_NEW_DELETE
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/// Construct gear constraint
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GearConstraint(Body &inBody1, Body &inBody2, const GearConstraintSettings &inSettings);
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// Generic interface of a constraint
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virtual EConstraintSubType GetSubType() const override { return EConstraintSubType::Gear; }
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virtual void NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override { /* Do nothing */ }
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virtual void SetupVelocityConstraint(float inDeltaTime) override;
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virtual void ResetWarmStart() override;
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virtual void WarmStartVelocityConstraint(float inWarmStartImpulseRatio) override;
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virtual bool SolveVelocityConstraint(float inDeltaTime) override;
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virtual bool SolvePositionConstraint(float inDeltaTime, float inBaumgarte) override;
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#ifdef JPH_DEBUG_RENDERER
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virtual void DrawConstraint(DebugRenderer *inRenderer) const override;
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#endif // JPH_DEBUG_RENDERER
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virtual void SaveState(StateRecorder &inStream) const override;
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virtual void RestoreState(StateRecorder &inStream) override;
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virtual Ref<ConstraintSettings> GetConstraintSettings() const override;
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// See: TwoBodyConstraint
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virtual Mat44 GetConstraintToBody1Matrix() const override;
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virtual Mat44 GetConstraintToBody2Matrix() const override;
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/// The constraints that constrain both gears (2 hinges), optional and used to calculate the rotation error and fix numerical drift.
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void SetConstraints(const Constraint *inGear1, const Constraint *inGear2) { mGear1Constraint = inGear1; mGear2Constraint = inGear2; }
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///@name Get Lagrange multiplier from last physics update (the angular impulse applied to satisfy the constraint)
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inline float GetTotalLambda() const { return mGearConstraintPart.GetTotalLambda(); }
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private:
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// Internal helper function to calculate the values below
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void CalculateConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2);
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// CONFIGURATION PROPERTIES FOLLOW
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// Local space hinge axis for body 1
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Vec3 mLocalSpaceHingeAxis1;
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// Local space hinge axis for body 2
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Vec3 mLocalSpaceHingeAxis2;
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// Ratio between gear 1 and 2
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float mRatio;
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// The constraints that constrain both gears (2 hinges), optional and used to calculate the rotation error and fix numerical drift.
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RefConst<Constraint> mGear1Constraint;
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RefConst<Constraint> mGear2Constraint;
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// RUN TIME PROPERTIES FOLLOW
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// World space hinge axis for body 1
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Vec3 mWorldSpaceHingeAxis1;
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// World space hinge axis for body 2
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Vec3 mWorldSpaceHingeAxis2;
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// The constraint parts
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GearConstraintPart mGearConstraintPart;
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};
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JPH_NAMESPACE_END
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