106 lines
5.2 KiB
C++
106 lines
5.2 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/BallAndSocketJoint.h>
|
|
#include <reactphysics3d/systems/ConstraintSolverSystem.h>
|
|
#include <reactphysics3d/components/RigidBodyComponents.h>
|
|
#include <reactphysics3d/engine/PhysicsWorld.h>
|
|
|
|
using namespace reactphysics3d;
|
|
|
|
// Static variables definition
|
|
const decimal BallAndSocketJoint::BETA = decimal(0.2);
|
|
|
|
// Constructor
|
|
BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const BallAndSocketJointInfo& jointInfo)
|
|
: Joint(entity, world) {
|
|
|
|
Vector3 anchorPointBody1LocalSpace;
|
|
Vector3 anchorPointBody2LocalSpace;
|
|
|
|
if (jointInfo.isUsingLocalSpaceAnchors) {
|
|
|
|
anchorPointBody1LocalSpace = jointInfo.anchorPointBody1LocalSpace;
|
|
anchorPointBody2LocalSpace = jointInfo.anchorPointBody2LocalSpace;
|
|
}
|
|
else {
|
|
|
|
// Get the transforms of the two bodies
|
|
const Transform& body1Transform = mWorld.mTransformComponents.getTransform(jointInfo.body1->getEntity());
|
|
const Transform& body2Transform = mWorld.mTransformComponents.getTransform(jointInfo.body2->getEntity());
|
|
|
|
anchorPointBody1LocalSpace = body1Transform.getInverse() * jointInfo.anchorPointWorldSpace;
|
|
anchorPointBody2LocalSpace = body2Transform.getInverse() * jointInfo.anchorPointWorldSpace;
|
|
}
|
|
|
|
// Compute the local-space anchor point for each body
|
|
mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody1(entity, anchorPointBody1LocalSpace);
|
|
mWorld.mBallAndSocketJointsComponents.setLocalAnchorPointBody2(entity, anchorPointBody2LocalSpace);
|
|
}
|
|
|
|
// Enable/disable the cone limit of the joint
|
|
void BallAndSocketJoint::enableConeLimit(bool isLimitEnabled) {
|
|
mWorld.mBallAndSocketJointsComponents.setIsConeLimitEnabled(mEntity, isLimitEnabled);
|
|
}
|
|
|
|
// Return true if the cone limit or the joint is enabled
|
|
bool BallAndSocketJoint::isConeLimitEnabled() const {
|
|
return mWorld.mBallAndSocketJointsComponents.getIsConeLimitEnabled(mEntity);
|
|
}
|
|
|
|
// Set the cone limit half angle
|
|
/**
|
|
* @param coneHalfAngle The angle of the cone limit (in radian) from [0; PI]
|
|
*/
|
|
void BallAndSocketJoint::setConeLimitHalfAngle(decimal coneHalfAngle) {
|
|
mWorld.mBallAndSocketJointsComponents.setConeLimitHalfAngle(mEntity, coneHalfAngle);
|
|
}
|
|
|
|
// Return the cone angle limit (in radians) from [0; PI]
|
|
decimal BallAndSocketJoint::getConeLimitHalfAngle() const {
|
|
return mWorld.mBallAndSocketJointsComponents.getConeLimitHalfAngle(mEntity);
|
|
}
|
|
|
|
// Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
|
|
Vector3 BallAndSocketJoint::getReactionForce(decimal timeStep) const {
|
|
assert(timeStep > MACHINE_EPSILON);
|
|
return mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity) / timeStep;
|
|
}
|
|
|
|
// Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
|
|
Vector3 BallAndSocketJoint::getReactionTorque(decimal timeStep) const {
|
|
assert(timeStep > MACHINE_EPSILON);
|
|
return Vector3(0, 0, 0);
|
|
}
|
|
|
|
// Return a string representation
|
|
std::string BallAndSocketJoint::to_string() const {
|
|
|
|
return "BallAndSocketJoint{ localAnchorPointBody1=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody1(mEntity).to_string() +
|
|
", localAnchorPointBody2=" + mWorld.mBallAndSocketJointsComponents.getLocalAnchorPointBody2(mEntity).to_string() + "}";
|
|
}
|
|
|