94 lines
3.6 KiB
C++
94 lines
3.6 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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#include <Jolt/Jolt.h>
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#include <Jolt/Physics/Vehicle/Wheel.h>
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#include <Jolt/Physics/Vehicle/VehicleConstraint.h>
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#include <Jolt/ObjectStream/TypeDeclarations.h>
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JPH_NAMESPACE_BEGIN
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JPH_IMPLEMENT_SERIALIZABLE_VIRTUAL(WheelSettings)
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{
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JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionForcePoint)
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JPH_ADD_ATTRIBUTE(WheelSettings, mPosition)
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JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionDirection)
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JPH_ADD_ATTRIBUTE(WheelSettings, mSteeringAxis)
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JPH_ADD_ATTRIBUTE(WheelSettings, mWheelForward)
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JPH_ADD_ATTRIBUTE(WheelSettings, mWheelUp)
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JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionMinLength)
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JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionMaxLength)
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JPH_ADD_ATTRIBUTE(WheelSettings, mSuspensionPreloadLength)
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JPH_ADD_ENUM_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mMode, "mSuspensionSpringMode")
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JPH_ADD_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mFrequency, "mSuspensionFrequency") // Renaming attributes to stay compatible with old versions of the library
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JPH_ADD_ATTRIBUTE_WITH_ALIAS(WheelSettings, mSuspensionSpring.mDamping, "mSuspensionDamping")
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JPH_ADD_ATTRIBUTE(WheelSettings, mRadius)
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JPH_ADD_ATTRIBUTE(WheelSettings, mWidth)
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JPH_ADD_ATTRIBUTE(WheelSettings, mEnableSuspensionForcePoint)
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}
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void WheelSettings::SaveBinaryState(StreamOut &inStream) const
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{
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inStream.Write(mSuspensionForcePoint);
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inStream.Write(mPosition);
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inStream.Write(mSuspensionDirection);
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inStream.Write(mSteeringAxis);
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inStream.Write(mWheelForward);
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inStream.Write(mWheelUp);
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inStream.Write(mSuspensionMinLength);
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inStream.Write(mSuspensionMaxLength);
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inStream.Write(mSuspensionPreloadLength);
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mSuspensionSpring.SaveBinaryState(inStream);
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inStream.Write(mRadius);
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inStream.Write(mWidth);
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inStream.Write(mEnableSuspensionForcePoint);
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}
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void WheelSettings::RestoreBinaryState(StreamIn &inStream)
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{
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inStream.Read(mSuspensionForcePoint);
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inStream.Read(mPosition);
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inStream.Read(mSuspensionDirection);
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inStream.Read(mSteeringAxis);
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inStream.Read(mWheelForward);
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inStream.Read(mWheelUp);
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inStream.Read(mSuspensionMinLength);
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inStream.Read(mSuspensionMaxLength);
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inStream.Read(mSuspensionPreloadLength);
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mSuspensionSpring.RestoreBinaryState(inStream);
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inStream.Read(mRadius);
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inStream.Read(mWidth);
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inStream.Read(mEnableSuspensionForcePoint);
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}
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Wheel::Wheel(const WheelSettings &inSettings) :
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mSettings(&inSettings),
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mSuspensionLength(inSettings.mSuspensionMaxLength)
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{
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JPH_ASSERT(inSettings.mSuspensionDirection.IsNormalized());
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JPH_ASSERT(inSettings.mSteeringAxis.IsNormalized());
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JPH_ASSERT(inSettings.mWheelForward.IsNormalized());
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JPH_ASSERT(inSettings.mWheelUp.IsNormalized());
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JPH_ASSERT(inSettings.mSuspensionMinLength >= 0.0f);
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JPH_ASSERT(inSettings.mSuspensionMaxLength >= inSettings.mSuspensionMinLength);
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JPH_ASSERT(inSettings.mSuspensionPreloadLength >= 0.0f);
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JPH_ASSERT(inSettings.mSuspensionSpring.mFrequency > 0.0f);
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JPH_ASSERT(inSettings.mSuspensionSpring.mDamping >= 0.0f);
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JPH_ASSERT(inSettings.mRadius > 0.0f);
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JPH_ASSERT(inSettings.mWidth >= 0.0f);
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}
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bool Wheel::SolveLongitudinalConstraintPart(const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)
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{
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return mLongitudinalPart.SolveVelocityConstraint(*inConstraint.GetVehicleBody(), *mContactBody, -mContactLongitudinal, inMinImpulse, inMaxImpulse);
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}
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bool Wheel::SolveLateralConstraintPart(const VehicleConstraint &inConstraint, float inMinImpulse, float inMaxImpulse)
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{
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return mLateralPart.SolveVelocityConstraint(*inConstraint.GetVehicleBody(), *mContactBody, -mContactLateral, inMinImpulse, inMaxImpulse);
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}
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JPH_NAMESPACE_END
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