119 lines
4.9 KiB
C++
119 lines
4.9 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/RackAndPinionConstraintPart.h>
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JPH_NAMESPACE_BEGIN
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/// Rack and pinion constraint (slider & gear) settings
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class JPH_EXPORT RackAndPinionConstraintSettings final : public TwoBodyConstraintSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, RackAndPinionConstraintSettings)
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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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/// Body1 should be the pinion (gear) and body 2 the rack (slider).
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virtual TwoBodyConstraint * Create(Body &inBody1, Body &inBody2) const override;
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/// Defines the ratio between the rotation of the pinion and the translation of the rack.
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/// The ratio is defined as: PinionRotation(t) = ratio * RackTranslation(t)
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/// @param inNumTeethRack Number of teeth that the rack has
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/// @param inRackLength Length of the rack
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/// @param inNumTeethPinion Number of teeth the pinion has
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void SetRatio(int inNumTeethRack, float inRackLength, int inNumTeethPinion)
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{
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mRatio = 2.0f * JPH_PI * inNumTeethRack / (inRackLength * inNumTeethPinion);
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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 (pinion) constraint reference frame (space determined by mSpace).
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Vec3 mHingeAxis = Vec3::sAxisX();
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/// Body 2 (rack) constraint reference frame (space determined by mSpace)
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Vec3 mSliderAxis = Vec3::sAxisX();
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/// Ratio between the rack and pinion, 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 rack and pinion constraint constrains the rotation of body1 to the translation of body 2.
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/// Note that this constraint needs to be used in conjunction with a hinge constraint for body 1 and a slider constraint for body 2.
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class JPH_EXPORT RackAndPinionConstraint 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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RackAndPinionConstraint(Body &inBody1, Body &inBody2, const RackAndPinionConstraintSettings &inSettings);
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// Generic interface of a constraint
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virtual EConstraintSubType GetSubType() const override { return EConstraintSubType::RackAndPinion; }
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virtual void NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override { /* 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 the rack and pinion (a slider and a hinge), optional and used to calculate the position error and fix numerical drift.
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void SetConstraints(const Constraint *inPinion, const Constraint *inRack) { mPinionConstraint = inPinion; mRackConstraint = inRack; }
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///@name Get Lagrange multiplier from last physics update (the linear/angular impulse applied to satisfy the constraint)
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inline float GetTotalLambda() const { return mRackAndPinionConstraintPart.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
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Vec3 mLocalSpaceHingeAxis;
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// Local space sliding direction
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Vec3 mLocalSpaceSliderAxis;
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// Ratio between rack and pinion
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float mRatio;
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// The constraints that constrain the rack and pinion (a slider and a hinge), optional and used to calculate the position error and fix numerical drift.
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RefConst<Constraint> mPinionConstraint;
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RefConst<Constraint> mRackConstraint;
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// RUN TIME PROPERTIES FOLLOW
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// World space hinge axis
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Vec3 mWorldSpaceHingeAxis;
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// World space sliding direction
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Vec3 mWorldSpaceSliderAxis;
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// The constraint parts
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RackAndPinionConstraintPart mRackAndPinionConstraintPart;
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};
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JPH_NAMESPACE_END
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