67 lines
3.8 KiB
C++
67 lines
3.8 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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// Libraries
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#include <reactphysics3d/constraint/FixedJoint.h>
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#include <reactphysics3d/systems/ConstraintSolverSystem.h>
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#include <reactphysics3d/components/RigidBodyComponents.h>
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#include <reactphysics3d/engine/PhysicsWorld.h>
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using namespace reactphysics3d;
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// Constructor
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FixedJoint::FixedJoint(Entity entity, PhysicsWorld &world, const FixedJointInfo& jointInfo)
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: Joint(entity, world) {
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// Compute the local-space anchor point for each body
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const Transform& transform1 = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity());
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const Transform& transform2 = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity());
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mWorld.mFixedJointsComponents.setLocalAnchorPointBody1(mEntity, transform1.getInverse() * jointInfo.anchorPointWorldSpace);
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mWorld.mFixedJointsComponents.setLocalAnchorPointBody2(mEntity, transform2.getInverse() * jointInfo.anchorPointWorldSpace);
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// Store inverse of initial rotation from body 1 to body 2 in body 1 space:
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//
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// q20 = q10 r0
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// <=> r0 = q10^-1 q20
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// <=> r0^-1 = q20^-1 q10
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//
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// where:
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//
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// q20 = initial orientation of body 2
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// q10 = initial orientation of body 1
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// r0 = initial rotation rotation from body 1 to body 2
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mWorld.mFixedJointsComponents.setInitOrientationDifferenceInv(mEntity, transform2.getOrientation().getInverse() * transform1.getOrientation());
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}
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// Return a string representation
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std::string FixedJoint::to_string() const {
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return "FixedJoint{ localAnchorPointBody1=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() +
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", localAnchorPointBody2=" + mWorld.mFixedJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() +
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", initOrientationDifferenceInv=" + mWorld.mFixedJointsComponents.getInitOrientationDifferenceInv(mEntity).to_string() +
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"}";
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}
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