58 lines
3.3 KiB
C++
58 lines
3.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2019 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "BallAndSocketJoint.h"
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#include "systems/ConstraintSolverSystem.h"
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#include "components/RigidBodyComponents.h"
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#include "engine/PhysicsWorld.h"
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using namespace reactphysics3d;
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// Static variables definition
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const decimal BallAndSocketJoint::BETA = decimal(0.2);
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// Constructor
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BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo)
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: Joint(entity, world) {
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// Get the transforms of the two bodies
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const Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity());
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const Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity());
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// Compute the local-space anchor point for each body
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mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, body1Transform.getInverse() * jointInfo.anchorPointWorldSpace);
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mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody2(entity, body2Transform.getInverse() * jointInfo.anchorPointWorldSpace);
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}
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// Return a string representation
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std::string BallAndSocketJoint::to_string() const {
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return "BallAndSocketJoint{ localAnchorPointBody1=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() +
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", localAnchorPointBody2=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + "}";
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}
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