95 lines
4.2 KiB
C++
95 lines
4.2 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/PointConstraintPart.h>
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JPH_NAMESPACE_BEGIN
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/// Point constraint settings, used to create a point constraint
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class JPH_EXPORT PointConstraintSettings final : public TwoBodyConstraintSettings
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{
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JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, PointConstraintSettings)
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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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/// 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 position (space determined by mSpace).
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RVec3 mPoint1 = RVec3::sZero();
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/// Body 2 constraint position (space determined by mSpace).
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/// Note: Normally you would set mPoint1 = mPoint2 if the bodies are already placed how you want to constrain them (if mSpace = world space).
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RVec3 mPoint2 = RVec3::sZero();
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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 point constraint constrains 2 bodies on a single point (removing 3 degrees of freedom)
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class JPH_EXPORT PointConstraint 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 point constraint
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PointConstraint(Body &inBody1, Body &inBody2, const PointConstraintSettings &inSettings);
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// Generic interface of a constraint
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virtual EConstraintSubType GetSubType() const override { return EConstraintSubType::Point; }
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virtual void NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override;
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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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/// Update the attachment point for body 1
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void SetPoint1(EConstraintSpace inSpace, RVec3Arg inPoint1);
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/// Update the attachment point for body 2
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void SetPoint2(EConstraintSpace inSpace, RVec3Arg inPoint2);
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/// Get the attachment point for body 1 relative to body 1 COM (transform by Body::GetCenterOfMassTransform to take to world space)
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inline Vec3 GetLocalSpacePoint1() const { return mLocalSpacePosition1; }
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/// Get the attachment point for body 2 relative to body 2 COM (transform by Body::GetCenterOfMassTransform to take to world space)
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inline Vec3 GetLocalSpacePoint2() const { return mLocalSpacePosition2; }
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// See: TwoBodyConstraint
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virtual Mat44 GetConstraintToBody1Matrix() const override { return Mat44::sTranslation(mLocalSpacePosition1); }
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virtual Mat44 GetConstraintToBody2Matrix() const override { return Mat44::sTranslation(mLocalSpacePosition2); } // Note: Incorrect rotation as we don't track the original rotation difference, should not matter though as the constraint is not limiting rotation.
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///@name Get Lagrange multiplier from last physics update (the linear impulse applied to satisfy the constraint)
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inline Vec3 GetTotalLambdaPosition() const { return mPointConstraintPart.GetTotalLambda(); }
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private:
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// Internal helper function to calculate the values below
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void CalculateConstraintProperties();
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// Local space constraint positions
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Vec3 mLocalSpacePosition1;
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Vec3 mLocalSpacePosition2;
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// The constraint part
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PointConstraintPart mPointConstraintPart;
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};
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JPH_NAMESPACE_END
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