2010-09-09 22:06:57 +00:00
|
|
|
/********************************************************************************
|
|
|
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
2013-03-02 15:26:18 +00:00
|
|
|
* Copyright (c) 2010-2013 Daniel Chappuis *
|
2010-09-09 22:06:57 +00:00
|
|
|
*********************************************************************************
|
|
|
|
* *
|
2011-11-13 17:49:03 +00:00
|
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
|
|
* use of this software. *
|
2010-09-09 22:06:57 +00:00
|
|
|
* *
|
2011-11-13 17:49:03 +00:00
|
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
|
|
* freely, subject to the following restrictions: *
|
|
|
|
* *
|
|
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
|
|
* that you wrote the original software. If you use this software in a *
|
|
|
|
* product, an acknowledgment in the product documentation would be *
|
|
|
|
* appreciated but is not required. *
|
|
|
|
* *
|
|
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
|
|
* misrepresented as being the original software. *
|
|
|
|
* *
|
|
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
2010-09-09 22:06:57 +00:00
|
|
|
* *
|
|
|
|
********************************************************************************/
|
|
|
|
|
2013-04-18 20:54:36 +00:00
|
|
|
#ifndef REACTPHYSICS3D_CONSTRAINT_H
|
|
|
|
#define REACTPHYSICS3D_CONSTRAINT_H
|
2010-09-09 22:06:57 +00:00
|
|
|
|
|
|
|
// Libraries
|
2012-09-18 20:09:49 +00:00
|
|
|
#include "../body/RigidBody.h"
|
2010-09-09 22:06:57 +00:00
|
|
|
#include "../mathematics/mathematics.h"
|
|
|
|
|
|
|
|
// ReactPhysics3D namespace
|
|
|
|
namespace reactphysics3d {
|
2012-01-18 23:06:33 +00:00
|
|
|
|
|
|
|
// Enumeration for the type of a constraint
|
2013-04-22 21:32:52 +00:00
|
|
|
enum ConstraintType {CONTACT, BALLSOCKETJOINT};
|
2010-09-09 22:06:57 +00:00
|
|
|
|
2013-04-24 17:24:28 +00:00
|
|
|
// Structure ConstraintInfo
|
|
|
|
/**
|
|
|
|
* This structure is used to gather the information needed to create a constraint.
|
|
|
|
*/
|
|
|
|
struct ConstraintInfo {
|
|
|
|
|
|
|
|
public :
|
|
|
|
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
|
|
|
|
/// First rigid body of the constraint
|
|
|
|
RigidBody* body1;
|
|
|
|
|
|
|
|
/// Second rigid body of the constraint
|
|
|
|
RigidBody* body2;
|
|
|
|
|
|
|
|
/// Type of the constraint
|
|
|
|
ConstraintType type;
|
|
|
|
|
|
|
|
/// Constructor
|
|
|
|
ConstraintInfo(ConstraintType constraintType)
|
|
|
|
: body1(NULL), body2(NULL), type(constraintType) {}
|
|
|
|
|
|
|
|
/// Constructor
|
|
|
|
ConstraintInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, ConstraintType constraintType)
|
|
|
|
: body1(rigidBody1), body2(rigidBody2), type(constraintType) {
|
|
|
|
}
|
|
|
|
|
|
|
|
/// Destructor
|
|
|
|
virtual ~ConstraintInfo() {}
|
|
|
|
|
|
|
|
};
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
// Class Constraint
|
|
|
|
/**
|
|
|
|
* This abstract class represents a constraint in the physics engine.
|
|
|
|
* A constraint can be a collision contact or a joint for
|
|
|
|
* instance. Each constraint can be made of several "mathematical
|
|
|
|
* constraints" needed to represent the main constraint.
|
|
|
|
*/
|
2010-09-09 22:06:57 +00:00
|
|
|
class Constraint {
|
2012-10-09 20:21:02 +00:00
|
|
|
|
2010-09-09 22:06:57 +00:00
|
|
|
protected :
|
2012-10-09 20:21:02 +00:00
|
|
|
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Pointer to the first body of the constraint
|
2012-10-09 20:21:02 +00:00
|
|
|
RigidBody* const mBody1;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Pointer to the second body of the constraint
|
2012-10-09 20:21:02 +00:00
|
|
|
RigidBody* const mBody2;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// True if the constraint is active
|
2012-10-09 20:21:02 +00:00
|
|
|
bool mActive;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Type of the constraint
|
2012-10-09 20:21:02 +00:00
|
|
|
const ConstraintType mType;
|
|
|
|
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Private copy-constructor
|
2012-10-09 20:21:02 +00:00
|
|
|
Constraint(const Constraint& constraint);
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Private assignment operator
|
2012-10-09 20:21:02 +00:00
|
|
|
Constraint& operator=(const Constraint& constraint);
|
2010-09-11 16:25:43 +00:00
|
|
|
|
2010-09-09 22:06:57 +00:00
|
|
|
public :
|
2012-10-09 20:21:02 +00:00
|
|
|
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Constructor
|
2013-04-24 17:24:28 +00:00
|
|
|
Constraint(const ConstraintInfo& constraintInfo);
|
2012-10-09 20:21:02 +00:00
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Destructor
|
2012-10-09 20:21:02 +00:00
|
|
|
virtual ~Constraint();
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Return the reference to the body 1
|
2012-10-09 20:21:02 +00:00
|
|
|
RigidBody* const getBody1() const;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Return the reference to the body 2
|
2012-10-09 20:21:02 +00:00
|
|
|
RigidBody* const getBody2() const;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Return true if the constraint is active
|
2012-10-09 20:21:02 +00:00
|
|
|
bool isActive() const;
|
|
|
|
|
2013-03-05 22:09:50 +00:00
|
|
|
/// Return the type of the constraint
|
2012-10-09 20:21:02 +00:00
|
|
|
ConstraintType getType() const;
|
2013-04-24 17:24:28 +00:00
|
|
|
|
|
|
|
/// Return the number of bytes used by the constraint
|
|
|
|
virtual size_t getSizeInBytes() const = 0;
|
2010-09-09 22:06:57 +00:00
|
|
|
};
|
|
|
|
|
|
|
|
// Return the reference to the body 1
|
2012-09-18 20:09:49 +00:00
|
|
|
inline RigidBody* const Constraint::getBody1() const {
|
2012-10-09 20:21:02 +00:00
|
|
|
return mBody1;
|
2010-09-09 22:06:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// Return the reference to the body 2
|
2012-09-18 20:09:49 +00:00
|
|
|
inline RigidBody* const Constraint::getBody2() const {
|
2012-10-09 20:21:02 +00:00
|
|
|
return mBody2;
|
2010-09-09 22:06:57 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
// Return true if the constraint is active
|
|
|
|
inline bool Constraint::isActive() const {
|
2012-10-09 20:21:02 +00:00
|
|
|
return mActive;
|
2010-09-09 22:06:57 +00:00
|
|
|
}
|
|
|
|
|
2012-01-18 23:06:33 +00:00
|
|
|
// Return the type of the constraint
|
|
|
|
inline ConstraintType Constraint::getType() const {
|
2012-10-09 20:21:02 +00:00
|
|
|
return mType;
|
2013-04-22 21:32:52 +00:00
|
|
|
}
|
2011-10-18 22:03:05 +00:00
|
|
|
|
2013-02-28 18:50:52 +00:00
|
|
|
}
|
2010-09-09 22:06:57 +00:00
|
|
|
|
|
|
|
#endif
|