426 lines
17 KiB
C++
426 lines
17 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 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_FIXED_JOINT_COMPONENTS_H
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#define REACTPHYSICS3D_FIXED_JOINT_COMPONENTS_H
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// Libraries
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#include <reactphysics3d/mathematics/Transform.h>
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#include <reactphysics3d/mathematics/Matrix3x3.h>
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#include <reactphysics3d/engine/Entity.h>
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#include <reactphysics3d/components/Components.h>
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#include <reactphysics3d/containers/Map.h>
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Class declarations
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class MemoryAllocator;
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class EntityManager;
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class FixedJoint;
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enum class JointType;
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// Class FixedJointComponents
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/**
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* This class represent the component of the ECS with data for the FixedJoint.
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*/
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class FixedJointComponents : public Components {
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private:
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// -------------------- Attributes -------------------- //
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/// Array of joint entities
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Entity* mJointEntities;
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/// Array of pointers to the joints
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FixedJoint** mJoints;
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/// Anchor point of body 1 (in local-space coordinates of body 1)
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Vector3* mLocalAnchorPointBody1;
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/// Anchor point of body 2 (in local-space coordinates of body 2)
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Vector3* mLocalAnchorPointBody2;
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/// Vector from center of body 2 to anchor point in world-space
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Vector3* mR1World;
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/// Vector from center of body 2 to anchor point in world-space
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Vector3* mR2World;
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/// Inertia tensor of body 1 (in world-space coordinates)
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Matrix3x3* mI1;
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/// Inertia tensor of body 2 (in world-space coordinates)
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Matrix3x3* mI2;
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/// Accumulated impulse for the 3 translation constraints
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Vector3* mImpulseTranslation;
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/// Accumulate impulse for the 3 rotation constraints
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Vector3* mImpulseRotation;
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/// Inverse mass matrix K=JM^-1J^-t of the 3 translation constraints (3x3 matrix)
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Matrix3x3* mInverseMassMatrixTranslation;
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/// Inverse mass matrix K=JM^-1J^-t of the 3 rotation constraints (3x3 matrix)
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Matrix3x3* mInverseMassMatrixRotation;
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/// Bias vector for the 3 translation constraints
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Vector3* mBiasTranslation;
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/// Bias vector for the 3 rotation constraints
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Vector3* mBiasRotation;
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/// Inverse of the initial orientation difference between the two bodies
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Quaternion* mInitOrientationDifferenceInv;
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// -------------------- Methods -------------------- //
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/// Allocate memory for a given number of components
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virtual void allocate(uint32 nbComponentsToAllocate) override;
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/// Destroy a component at a given index
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virtual void destroyComponent(uint32 index) override;
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/// Move a component from a source to a destination index in the components array
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virtual void moveComponentToIndex(uint32 srcIndex, uint32 destIndex) override;
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/// Swap two components in the array
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virtual void swapComponents(uint32 index1, uint32 index2) override;
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public:
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/// Structure for the data of a transform component
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struct FixedJointComponent {
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/// Constructor
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FixedJointComponent() {
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}
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};
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// -------------------- Methods -------------------- //
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/// Constructor
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FixedJointComponents(MemoryAllocator& allocator);
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/// Destructor
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virtual ~FixedJointComponents() override = default;
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/// Add a component
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void addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& component);
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/// Return a pointer to a given joint
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FixedJoint* getJoint(Entity jointEntity) const;
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/// Set the joint pointer to a given joint
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void setJoint(Entity jointEntity, FixedJoint* joint) const;
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/// Return the local anchor point of body 1 for a given joint
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const Vector3& getLocalAnchorPointBody1(Entity jointEntity) const;
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/// Set the local anchor point of body 1 for a given joint
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void setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1);
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/// Return the local anchor point of body 2 for a given joint
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const Vector3& getLocalAnchorPointBody2(Entity jointEntity) const;
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/// Set the local anchor point of body 2 for a given joint
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void setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2);
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/// Return the vector from center of body 1 to anchor point in world-space
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const Vector3& getR1World(Entity jointEntity) const;
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/// Set the vector from center of body 1 to anchor point in world-space
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void setR1World(Entity jointEntity, const Vector3& r1World);
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/// Return the vector from center of body 2 to anchor point in world-space
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const Vector3& getR2World(Entity jointEntity) const;
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/// Set the vector from center of body 2 to anchor point in world-space
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void setR2World(Entity jointEntity, const Vector3& r2World);
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/// Return the inertia tensor of body 1 (in world-space coordinates)
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const Matrix3x3& getI1(Entity jointEntity) const;
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/// Set the inertia tensor of body 1 (in world-space coordinates)
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void setI1(Entity jointEntity, const Matrix3x3& i1);
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/// Return the inertia tensor of body 2 (in world-space coordinates)
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const Matrix3x3& getI2(Entity jointEntity) const;
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/// Set the inertia tensor of body 2 (in world-space coordinates)
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void setI2(Entity jointEntity, const Matrix3x3& i2);
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/// Return the translation impulse
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Vector3& getImpulseTranslation(Entity jointEntity);
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/// Set the translation impulse
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void setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation);
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/// Return the translation impulse
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Vector3& getImpulseRotation(Entity jointEntity);
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/// Set the translation impulse
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void setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation);
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/// Return the translation inverse mass matrix of the constraint
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Matrix3x3& getInverseMassMatrixTranslation(Entity jointEntity);
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/// Set the translation inverse mass matrix of the constraint
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void setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix);
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/// Return the rotation inverse mass matrix of the constraint
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Matrix3x3& getInverseMassMatrixRotation(Entity jointEntity);
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/// Set the rotation inverse mass matrix of the constraint
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void setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix);
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/// Return the translation bias
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Vector3& getBiasTranslation(Entity jointEntity);
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/// Set the translation impulse
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void setBiasTranslation(Entity jointEntity, const Vector3& impulseTranslation);
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/// Return the rotation bias
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Vector3& getBiasRotation(Entity jointEntity);
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/// Set the rotation impulse
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void setBiasRotation(Entity jointEntity, const Vector3 &impulseRotation);
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/// Return the initial orientation difference
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Quaternion& getInitOrientationDifferenceInv(Entity jointEntity);
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/// Set the rotation impulse
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void setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv);
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// -------------------- Friendship -------------------- //
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friend class BroadPhaseSystem;
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friend class SolveFixedJointSystem;
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};
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// Return a pointer to a given joint
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inline FixedJoint* FixedJointComponents::getJoint(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mJoints[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the joint pointer to a given joint
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inline void FixedJointComponents::setJoint(Entity jointEntity, FixedJoint* joint) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mJoints[mMapEntityToComponentIndex[jointEntity]] = joint;
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}
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// Return the local anchor point of body 1 for a given joint
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inline const Vector3& FixedJointComponents::getLocalAnchorPointBody1(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the local anchor point of body 1 for a given joint
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inline void FixedJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchorPointBody1) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody1;
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}
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// Return the local anchor point of body 2 for a given joint
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inline const Vector3& FixedJointComponents::getLocalAnchorPointBody2(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the local anchor point of body 2 for a given joint
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inline void FixedJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchorPointBody2) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchorPointBody2;
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}
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// Return the vector from center of body 1 to anchor point in world-space
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inline const Vector3& FixedJointComponents::getR1World(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mR1World[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the vector from center of body 1 to anchor point in world-space
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inline void FixedJointComponents::setR1World(Entity jointEntity, const Vector3& r1World) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mR1World[mMapEntityToComponentIndex[jointEntity]] = r1World;
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}
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// Return the vector from center of body 2 to anchor point in world-space
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inline const Vector3& FixedJointComponents::getR2World(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mR2World[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the vector from center of body 2 to anchor point in world-space
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inline void FixedJointComponents::setR2World(Entity jointEntity, const Vector3& r2World) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mR2World[mMapEntityToComponentIndex[jointEntity]] = r2World;
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}
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// Return the inertia tensor of body 1 (in world-space coordinates)
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inline const Matrix3x3& FixedJointComponents::getI1(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mI1[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the inertia tensor of body 1 (in world-space coordinates)
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inline void FixedJointComponents::setI1(Entity jointEntity, const Matrix3x3& i1) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mI1[mMapEntityToComponentIndex[jointEntity]] = i1;
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}
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// Return the inertia tensor of body 2 (in world-space coordinates)
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inline const Matrix3x3& FixedJointComponents::getI2(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mI2[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the inertia tensor of body 2 (in world-space coordinates)
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inline void FixedJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mI2[mMapEntityToComponentIndex[jointEntity]] = i2;
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}
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// Return the translation impulse
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inline Vector3& FixedJointComponents::getImpulseTranslation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the translation impulse
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inline void FixedJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
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}
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// Return the translation impulse
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inline Vector3& FixedJointComponents::getImpulseRotation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the translation impulse
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inline void FixedJointComponents::setImpulseRotation(Entity jointEntity, const Vector3& impulseTranslation) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
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}
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// Return the translation inverse mass matrix of the constraint
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inline Matrix3x3& FixedJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the translation inverse mass matrix of the constraint
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inline void FixedJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix;
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}
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// Return the rotation inverse mass matrix of the constraint
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inline Matrix3x3& FixedJointComponents::getInverseMassMatrixRotation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the rotation inverse mass matrix of the constraint
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inline void FixedJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix;
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}
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// Return the translation bias
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inline Vector3& FixedJointComponents::getBiasTranslation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the translation impulse
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inline void FixedJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
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}
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// Return the rotation bias
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inline Vector3& FixedJointComponents::getBiasRotation(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mBiasRotation[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the rotation impulse
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inline void FixedJointComponents::setBiasRotation(Entity jointEntity, const Vector3& impulseRotation) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation;
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}
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// Return the initial orientation difference
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inline Quaternion& FixedJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]];
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}
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// Set the rotation impulse
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inline void FixedJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv;
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}
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}
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#endif
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