66 lines
2.7 KiB
C++
66 lines
2.7 KiB
C++
// 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/Body/Body.h>
|
|
|
|
JPH_NAMESPACE_BEGIN
|
|
|
|
class TwoBodyConstraint;
|
|
|
|
/// Base class for settings for all constraints that involve 2 bodies
|
|
class JPH_EXPORT TwoBodyConstraintSettings : public ConstraintSettings
|
|
{
|
|
JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, TwoBodyConstraintSettings)
|
|
|
|
public:
|
|
/// Create an instance of this constraint
|
|
/// You can use Body::sFixedToWorld for inBody1 if you want to attach inBody2 to the world
|
|
virtual TwoBodyConstraint * Create(Body &inBody1, Body &inBody2) const = 0;
|
|
};
|
|
|
|
/// Base class for all constraints that involve 2 bodies. Body1 is usually considered the parent, Body2 the child.
|
|
class JPH_EXPORT TwoBodyConstraint : public Constraint
|
|
{
|
|
public:
|
|
JPH_OVERRIDE_NEW_DELETE
|
|
|
|
/// Constructor
|
|
TwoBodyConstraint(Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings) : Constraint(inSettings), mBody1(&inBody1), mBody2(&inBody2) { }
|
|
|
|
/// Get the type of a constraint
|
|
virtual EConstraintType GetType() const override { return EConstraintType::TwoBodyConstraint; }
|
|
|
|
/// Solver interface
|
|
virtual bool IsActive() const override { return Constraint::IsActive() && (mBody1->IsActive() || mBody2->IsActive()) && (mBody2->IsDynamic() || mBody1->IsDynamic()); }
|
|
#ifdef JPH_DEBUG_RENDERER
|
|
virtual void DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const override;
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
/// Access to the connected bodies
|
|
Body * GetBody1() const { return mBody1; }
|
|
Body * GetBody2() const { return mBody2; }
|
|
|
|
/// Calculates the transform that transforms from constraint space to body 1 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.
|
|
virtual Mat44 GetConstraintToBody1Matrix() const = 0;
|
|
|
|
/// Calculates the transform that transforms from constraint space to body 2 space. The first column of the matrix is the primary constraint axis (e.g. the hinge axis / slider direction), second column the secondary etc.
|
|
virtual Mat44 GetConstraintToBody2Matrix() const = 0;
|
|
|
|
/// Link bodies that are connected by this constraint in the island builder
|
|
virtual void BuildIslands(uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override;
|
|
|
|
/// Link bodies that are connected by this constraint in the same split. Returns the split index.
|
|
virtual uint BuildIslandSplits(LargeIslandSplitter &ioSplitter) const override;
|
|
|
|
protected:
|
|
/// The two bodies involved
|
|
Body * mBody1;
|
|
Body * mBody2;
|
|
};
|
|
|
|
JPH_NAMESPACE_END
|