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Add the HingeJoint::getAngle() method to get the current angle of the hinge joint

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This commit is contained in:
Daniel Chappuis 2020-11-28 19:45:38 +01:00
parent a4a386f823
commit 23abaa905d
4 changed files with 31 additions and 5 deletions
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3
include/reactphysics3d/constraint/HingeJoint.h
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@ -210,6 +210,9 @@ class HingeJoint : public Joint {
/// Return the intensity of the current torque applied for the joint motor /// Return the intensity of the current torque applied for the joint motor
decimal getMotorTorque(decimal timeStep) const; decimal getMotorTorque(decimal timeStep) const;
/// Return the current hinge angle
decimal getAngle() const;
/// Return a string representation /// Return a string representation
virtual std::string to_string() const override; virtual std::string to_string() const override;
}; };

3
include/reactphysics3d/systems/ConstraintSolverSystem.h
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@ -216,6 +216,9 @@ class ConstraintSolverSystem {
#endif #endif
// ---------- Friendship ----------
friend class HingeJoint;
}; };
#ifdef IS_RP3D_PROFILING_ENABLED #ifdef IS_RP3D_PROFILING_ENABLED

7
include/reactphysics3d/systems/SolveHingeJointSystem.h
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@ -92,8 +92,7 @@ class SolveHingeJointSystem {
decimal upperLimitAngle) const; decimal upperLimitAngle) const;
/// Compute the current angle around the hinge axis /// Compute the current angle around the hinge axis
decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, const Quaternion& orientationBody2);
const Quaternion& orientationBody2);
public : public :
@ -133,6 +132,10 @@ class SolveHingeJointSystem {
#endif #endif
// ---------- Friendship ----------
friend class HingeJoint;
}; };
#ifdef IS_RP3D_PROFILING_ENABLED #ifdef IS_RP3D_PROFILING_ENABLED

23
src/constraint/HingeJoint.cpp
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@ -207,7 +207,7 @@ decimal HingeJoint::getMaxAngleLimit() const {
/** /**
* @return The current speed of the joint motor (in radian per second) * @return The current speed of the joint motor (in radian per second)
*/ */
decimal HingeJoint::getMotorSpeed() const { decimal HingeJoint::getMotorSpeed() const {
return mWorld.mHingeJointsComponents.getMotorSpeed(mEntity); return mWorld.mHingeJointsComponents.getMotorSpeed(mEntity);
} }
@ -215,7 +215,7 @@ decimal HingeJoint::getMaxAngleLimit() const {
/** /**
* @return The maximum torque of the joint motor (in Newtons) * @return The maximum torque of the joint motor (in Newtons)
*/ */
decimal HingeJoint::getMaxMotorTorque() const { decimal HingeJoint::getMaxMotorTorque() const {
return mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity); return mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity);
} }
@ -224,10 +224,27 @@ decimal HingeJoint::getMaxAngleLimit() const {
* @param timeStep The current time step (in seconds) * @param timeStep The current time step (in seconds)
* @return The intensity of the current torque (in Newtons) of the joint motor * @return The intensity of the current torque (in Newtons) of the joint motor
*/ */
decimal HingeJoint::getMotorTorque(decimal timeStep) const { decimal HingeJoint::getMotorTorque(decimal timeStep) const {
return mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) / timeStep; return mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) / timeStep;
} }
// Return the current hinge angle
/**
* @return The current hinge angle (in radians)
*/
decimal HingeJoint::getAngle() const {
// Get the bodies entities
const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity);
const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity);
const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation();
const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation();
// Compute the current angle around the hinge axis
return mWorld.mConstraintSolverSystem.mSolveHingeJointSystem.computeCurrentHingeAngle(mEntity, orientationBody1, orientationBody2);
}
// Return the number of bytes used by the joint // Return the number of bytes used by the joint
size_t HingeJoint::getSizeInBytes() const { size_t HingeJoint::getSizeInBytes() const {
return sizeof(HingeJoint); return sizeof(HingeJoint);