87 lines
3.7 KiB
C++
87 lines
3.7 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2020 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* 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. *
|
|
* *
|
|
* 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. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
// Libraries
|
|
#include <reactphysics3d/constraint/Joint.h>
|
|
#include <reactphysics3d/engine/PhysicsWorld.h>
|
|
|
|
using namespace reactphysics3d;
|
|
|
|
// Constructor
|
|
Joint::Joint(Entity entity, PhysicsWorld& world) :mEntity(entity), mWorld(world) {
|
|
|
|
}
|
|
|
|
// Return the reference to the body 1
|
|
/**
|
|
* @return The first body involved in the joint
|
|
*/
|
|
RigidBody* Joint::getBody1() const {
|
|
const Entity body1Entiy = mWorld.mJointsComponents.getBody1Entity(mEntity);
|
|
return mWorld.mRigidBodyComponents.getRigidBody(body1Entiy);
|
|
}
|
|
|
|
// Return the reference to the body 2
|
|
/**
|
|
* @return The second body involved in the joint
|
|
*/
|
|
RigidBody* Joint::getBody2() const {
|
|
const Entity body2Entiy = mWorld.mJointsComponents.getBody2Entity(mEntity);
|
|
return mWorld.mRigidBodyComponents.getRigidBody(body2Entiy);
|
|
}
|
|
|
|
|
|
// Return the type of the joint
|
|
/**
|
|
* @return The type of the joint
|
|
*/
|
|
JointType Joint::getType() const {
|
|
return mWorld.mJointsComponents.getType(mEntity);
|
|
}
|
|
|
|
// Return true if the collision between the two bodies of the joint is enabled
|
|
/**
|
|
* @return True if the collision is enabled between the two bodies of the joint
|
|
* is enabled and false otherwise
|
|
*/
|
|
bool Joint::isCollisionEnabled() const {
|
|
return mWorld.mJointsComponents.getIsCollisionEnabled(mEntity);
|
|
}
|
|
|
|
// Awake the two bodies of the joint
|
|
void Joint::awakeBodies() const {
|
|
|
|
// Get the bodies entities
|
|
Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity);
|
|
Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity);
|
|
|
|
RigidBody* body1 = static_cast<RigidBody*>(mWorld.mRigidBodyComponents.getRigidBody(body1Entity));
|
|
RigidBody* body2 = static_cast<RigidBody*>(mWorld.mRigidBodyComponents.getRigidBody(body2Entity));
|
|
|
|
// Wake up the two bodies of the joint
|
|
body1->setIsSleeping(false);
|
|
body2->setIsSleeping(false);
|
|
}
|