162 lines
7.0 KiB
C++
162 lines
7.0 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 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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#ifndef REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_H
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#define REACTPHYSICS3D_BALL_AND_SOCKET_JOINT_H
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// Libraries
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#include <reactphysics3d/constraint/Joint.h>
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#include <reactphysics3d/mathematics/mathematics.h>
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namespace reactphysics3d {
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// Structure BallAndSocketJointInfo
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/**
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* This structure is used to gather the information needed to create a ball-and-socket
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* joint. This structure will be used to create the actual ball-and-socket joint.
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*/
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struct BallAndSocketJointInfo : public JointInfo {
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public :
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// -------------------- Attributes -------------------- //
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/// True if this object has been constructed using local-space anchors
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bool isUsingLocalSpaceAnchors;
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/// Anchor point (in world-space coordinates)
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Vector3 anchorPointWorldSpace;
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/// Anchor point on body 1 (in local-space coordinates)
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Vector3 anchorPointBody1LocalSpace;
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/// Anchor point on body 2 (in local-space coordinates)
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Vector3 anchorPointBody2LocalSpace;
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/// Constructor
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/**
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* @param rigidBody1 Pointer to the first body of the joint
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* @param rigidBody2 Pointer to the second body of the joint
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* @param initAnchorPointWorldSpace The anchor point in world-space
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* coordinates
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*/
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BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
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const Vector3& initAnchorPointWorldSpace)
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: JointInfo(rigidBody1, rigidBody2, JointType::BALLSOCKETJOINT),
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isUsingLocalSpaceAnchors(false),
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anchorPointWorldSpace(initAnchorPointWorldSpace) {}
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/// Constructor
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/**
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* @param rigidBody1 Pointer to the first body of the joint
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* @param rigidBody2 Pointer to the second body of the joint
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* @param anchorPointBody1LocalSpace The anchor point on body 1 in local-space coordinates
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* @param anchorPointBody2LocalSpace The anchor point on body 2 in local-space coordinates
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*/
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BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
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const Vector3& anchorPointBody1LocalSpace,
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const Vector3& anchorPointBody2LocalSpace)
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: JointInfo(rigidBody1, rigidBody2, JointType::BALLSOCKETJOINT),
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isUsingLocalSpaceAnchors(true),
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anchorPointBody1LocalSpace(anchorPointBody1LocalSpace),
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anchorPointBody2LocalSpace(anchorPointBody2LocalSpace) {}
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};
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// Class BallAndSocketJoint
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/**
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* This class represents a ball-and-socket joint that allows arbitrary rotation
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* between two bodies. This joint has three degrees of freedom. It can be used to
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* create a chain of bodies for instance.
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*/
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class BallAndSocketJoint : public Joint {
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private :
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// -------------------- Constants -------------------- //
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// Beta value for the bias factor of position correction
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static const decimal BETA;
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// -------------------- Attributes -------------------- //
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// -------------------- Methods -------------------- //
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/// Return the number of bytes used by the joint
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virtual size_t getSizeInBytes() const override;
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/// Reset the limits
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void resetLimits();
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo);
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/// Destructor
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virtual ~BallAndSocketJoint() override = default;
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/// Deleted copy-constructor
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BallAndSocketJoint(const BallAndSocketJoint& constraint) = delete;
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/// Enable/disable the cone limit of the joint
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void enableConeLimit(bool isLimitEnabled);
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/// Return true if the cone limit or the joint is enabled
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bool isConeLimitEnabled() const;
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/// Set the cone limit half angle
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void setConeLimitHalfAngle(decimal coneHalfAngle);
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/// Return the cone limit half angle (in radians)
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decimal getConeLimitHalfAngle() const;
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/// Return the current cone half angle (in radians)
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decimal getConeHalfAngle() const;
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/// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
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virtual Vector3 getReactionForce(decimal timeStep) const override;
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/// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
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virtual Vector3 getReactionTorque(decimal timeStep) const override;
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/// Return a string representation
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virtual std::string to_string() const override;
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/// Deleted assignment operator
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BallAndSocketJoint& operator=(const BallAndSocketJoint& constraint) = delete;
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};
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// Return the number of bytes used by the joint
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RP3D_FORCE_INLINE size_t BallAndSocketJoint::getSizeInBytes() const {
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return sizeof(BallAndSocketJoint);
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}
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}
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#endif
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