900 lines
37 KiB
C++
900 lines
37 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_HINGE_JOINT_COMPONENTS_H
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#define REACTPHYSICS3D_HINGE_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/mathematics/Matrix2x2.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 HingeJoint;
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enum class JointType;
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// Class HingeJointComponents
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/**
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* This class represent the component of the ECS with data for the HingeJoint.
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*/
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class HingeJointComponents : 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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HingeJoint** 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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Vector2* 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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Matrix2x2* 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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Vector2* 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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/// Hinge rotation axis (in local-space coordinates of body 1)
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Vector3* mHingeLocalAxisBody1;
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/// Hinge rotation axis (in local-space coordiantes of body 2)
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Vector3* mHingeLocalAxisBody2;
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/// Hinge rotation axis (in world-space coordinates) computed from body 1
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Vector3* mA1;
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/// Cross product of vector b2 and a1
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Vector3* mB2CrossA1;
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/// Cross product of vector c2 and a1;
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Vector3* mC2CrossA1;
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/// Accumulated impulse for the lower limit constraint
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decimal* mImpulseLowerLimit;
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/// Accumulated impulse for the upper limit constraint
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decimal* mImpulseUpperLimit;
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/// Accumulated impulse for the motor constraint;
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decimal* mImpulseMotor;
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/// Inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix)
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decimal* mInverseMassMatrixLimitMotor;
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/// Inverse of mass matrix K=JM^-1J^t for the motor
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decimal* mInverseMassMatrixMotor;
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/// Bias of the lower limit constraint
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decimal* mBLowerLimit;
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/// Bias of the upper limit constraint
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decimal* mBUpperLimit;
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/// True if the joint limits are enabled
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bool* mIsLimitEnabled;
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/// True if the motor of the joint in enabled
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bool* mIsMotorEnabled;
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/// Lower limit (minimum allowed rotation angle in radian)
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decimal* mLowerLimit;
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/// Upper limit (maximum translation distance)
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decimal* mUpperLimit;
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/// True if the lower limit is violated
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bool* mIsLowerLimitViolated;
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/// True if the upper limit is violated
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bool* mIsUpperLimitViolated;
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/// Motor speed (in rad/s)
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decimal* mMotorSpeed;
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/// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
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decimal* mMaxMotorTorque;
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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 HingeJointComponent {
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bool isLimitEnabled;
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bool isMotorEnabled;
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decimal lowerLimit;
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decimal upperLimit;
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decimal motorSpeed;
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decimal maxMotorTorque;
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/// Constructor
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HingeJointComponent(bool isLimitEnabled, bool isMotorEnabled, decimal lowerLimit, decimal upperLimit,
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decimal motorSpeed, decimal maxMotorTorque)
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: isLimitEnabled(isLimitEnabled), isMotorEnabled(isMotorEnabled), lowerLimit(lowerLimit), upperLimit(upperLimit),
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motorSpeed(motorSpeed), maxMotorTorque(maxMotorTorque) {
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}
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};
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// -------------------- Methods -------------------- //
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/// Constructor
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HingeJointComponents(MemoryAllocator& allocator);
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/// Destructor
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virtual ~HingeJointComponents() override = default;
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/// Add a component
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void addComponent(Entity jointEntity, bool isSleeping, const HingeJointComponent& component);
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/// Return a pointer to a given joint
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HingeJoint* getJoint(Entity jointEntity) const;
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/// Set the joint pointer to a given joint
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void setJoint(Entity jointEntity, HingeJoint* 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& localAnchoirPointBody1);
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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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Vector2& getImpulseRotation(Entity jointEntity);
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/// Set the translation impulse
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void setImpulseRotation(Entity jointEntity, const Vector2& 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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Matrix2x2& 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 Matrix2x2& 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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Vector2& getBiasRotation(Entity jointEntity);
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/// Set the rotation impulse
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void setBiasRotation(Entity jointEntity, const Vector2& 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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/// Return the hinge rotation axis (in local-space coordinates of body 1)
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Vector3& getHingeLocalAxisBody1(Entity jointEntity);
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/// Set the hinge rotation axis (in local-space coordinates of body 1)
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void setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1);
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/// Return the hinge rotation axis (in local-space coordiantes of body 2)
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Vector3& getHingeLocalAxisBody2(Entity jointEntity);
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/// Set the hinge rotation axis (in local-space coordiantes of body 2)
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void setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2);
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/// Return the hinge rotation axis (in world-space coordinates) computed from body 1
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Vector3& getA1(Entity jointEntity);
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/// Set the hinge rotation axis (in world-space coordinates) computed from body 1
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void setA1(Entity jointEntity, const Vector3& a1);
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/// Return the cross product of vector b2 and a1
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Vector3& getB2CrossA1(Entity jointEntity);
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/// Set the cross product of vector b2 and a1
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void setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1);
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/// Return the cross product of vector c2 and a1;
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Vector3& getC2CrossA1(Entity jointEntity);
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/// Set the cross product of vector c2 and a1;
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void setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1);
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/// Return the accumulated impulse for the lower limit constraint
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decimal getImpulseLowerLimit(Entity jointEntity) const;
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/// Set the accumulated impulse for the lower limit constraint
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void setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit);
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/// Return the accumulated impulse for the upper limit constraint
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decimal getImpulseUpperLimit(Entity jointEntity) const;
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/// Set the accumulated impulse for the upper limit constraint
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void setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const;
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/// Return the accumulated impulse for the motor constraint;
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decimal getImpulseMotor(Entity jointEntity) const;
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/// Set the accumulated impulse for the motor constraint;
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void setImpulseMotor(Entity jointEntity, decimal impulseMotor);
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/// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix)
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decimal getInverseMassMatrixLimitMotor(Entity jointEntity) const;
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/// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix)
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void setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor);
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/// Return the inverse of mass matrix K=JM^-1J^t for the motor
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decimal getInverseMassMatrixMotor(Entity jointEntity);
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/// Set the inverse of mass matrix K=JM^-1J^t for the motor
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void setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor);
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/// Return the bias of the lower limit constraint
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decimal getBLowerLimit(Entity jointEntity) const;
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/// Set the bias of the lower limit constraint
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void setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const;
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/// Return the bias of the upper limit constraint
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decimal getBUpperLimit(Entity jointEntity) const;
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/// Set the bias of the upper limit constraint
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void setBUpperLimit(Entity jointEntity, decimal bUpperLimit);
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/// Return true if the joint limits are enabled
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bool getIsLimitEnabled(Entity jointEntity) const;
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/// Set to true if the joint limits are enabled
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void setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled);
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/// Return true if the motor of the joint in enabled
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bool getIsMotorEnabled(Entity jointEntity) const;
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/// Set to true if the motor of the joint in enabled
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void setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const;
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/// Return the Lower limit (minimum allowed rotation angle in radian)
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decimal getLowerLimit(Entity jointEntity) const;
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/// Set the Lower limit (minimum allowed rotation angle in radian)
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void setLowerLimit(Entity jointEntity, decimal lowerLimit) const;
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/// Return the upper limit (maximum translation distance)
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decimal getUpperLimit(Entity jointEntity) const;
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/// Set the upper limit (maximum translation distance)
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void setUpperLimit(Entity jointEntity, decimal upperLimit);
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/// Return true if the lower limit is violated
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bool getIsLowerLimitViolated(Entity jointEntity) const;
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/// Set to true if the lower limit is violated
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void setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated);
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/// Return true if the upper limit is violated
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bool getIsUpperLimitViolated(Entity jointEntity) const;
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/// Set to true if the upper limit is violated
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void setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const;
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/// Return the motor speed (in rad/s)
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decimal getMotorSpeed(Entity jointEntity) const;
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/// Set the motor speed (in rad/s)
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void setMotorSpeed(Entity jointEntity, decimal motorSpeed);
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/// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
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decimal getMaxMotorTorque(Entity jointEntity) const;
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/// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
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void setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque);
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// -------------------- Friendship -------------------- //
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friend class BroadPhaseSystem;
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friend class SolveHingeJointSystem;
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};
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// Return a pointer to a given joint
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inline HingeJoint* HingeJointComponents::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 HingeJointComponents::setJoint(Entity jointEntity, HingeJoint* 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& HingeJointComponents::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 HingeJointComponents::setLocalAnchorPointBody1(Entity jointEntity, const Vector3& localAnchoirPointBody1) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mLocalAnchorPointBody1[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody1;
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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& HingeJointComponents::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 HingeJointComponents::setLocalAnchorPointBody2(Entity jointEntity, const Vector3& localAnchoirPointBody2) {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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mLocalAnchorPointBody2[mMapEntityToComponentIndex[jointEntity]] = localAnchoirPointBody2;
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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& HingeJointComponents::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 HingeJointComponents::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& HingeJointComponents::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 HingeJointComponents::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& HingeJointComponents::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 HingeJointComponents::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& HingeJointComponents::getI2(Entity jointEntity) const {
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assert(mMapEntityToComponentIndex.containsKey(jointEntity));
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return mI2[mMapEntityToComponentIndex[jointEntity]];
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}
|
|
|
|
// Set the inertia tensor of body 2 (in world-space coordinates)
|
|
inline void HingeJointComponents::setI2(Entity jointEntity, const Matrix3x3& i2) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mI2[mMapEntityToComponentIndex[jointEntity]] = i2;
|
|
}
|
|
|
|
// Return the translation impulse
|
|
inline Vector3& HingeJointComponents::getImpulseTranslation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the translation impulse
|
|
inline void HingeJointComponents::setImpulseTranslation(Entity jointEntity, const Vector3& impulseTranslation) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mImpulseTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
|
|
}
|
|
|
|
// Return the translation impulse
|
|
inline Vector2& HingeJointComponents::getImpulseRotation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mImpulseRotation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the translation impulse
|
|
inline void HingeJointComponents::setImpulseRotation(Entity jointEntity, const Vector2& impulseTranslation) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mImpulseRotation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
|
|
}
|
|
|
|
// Return the translation inverse mass matrix of the constraint
|
|
inline Matrix3x3& HingeJointComponents::getInverseMassMatrixTranslation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
|
|
// Set the translation inverse mass matrix of the constraint
|
|
inline void HingeJointComponents::setInverseMassMatrixTranslation(Entity jointEntity, const Matrix3x3& inverseMassMatrix) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mInverseMassMatrixTranslation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix;
|
|
}
|
|
|
|
// Return the rotation inverse mass matrix of the constraint
|
|
inline Matrix2x2& HingeJointComponents::getInverseMassMatrixRotation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the rotation inverse mass matrix of the constraint
|
|
inline void HingeJointComponents::setInverseMassMatrixRotation(Entity jointEntity, const Matrix2x2& inverseMassMatrix) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mInverseMassMatrixRotation[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrix;
|
|
}
|
|
|
|
// Return the translation bias
|
|
inline Vector3& HingeJointComponents::getBiasTranslation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mBiasTranslation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the translation impulse
|
|
inline void HingeJointComponents::setBiasTranslation(Entity jointEntity, const Vector3 &impulseTranslation) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mBiasTranslation[mMapEntityToComponentIndex[jointEntity]] = impulseTranslation;
|
|
}
|
|
|
|
// Return the rotation bias
|
|
inline Vector2 &HingeJointComponents::getBiasRotation(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mBiasRotation[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the rotation impulse
|
|
inline void HingeJointComponents::setBiasRotation(Entity jointEntity, const Vector2& impulseRotation) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mBiasRotation[mMapEntityToComponentIndex[jointEntity]] = impulseRotation;
|
|
}
|
|
|
|
// Return the initial orientation difference
|
|
inline Quaternion& HingeJointComponents::getInitOrientationDifferenceInv(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the rotation impulse
|
|
inline void HingeJointComponents::setInitOrientationDifferenceInv(Entity jointEntity, const Quaternion& initOrientationDifferenceInv) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mInitOrientationDifferenceInv[mMapEntityToComponentIndex[jointEntity]] = initOrientationDifferenceInv;
|
|
}
|
|
|
|
// Return the hinge rotation axis (in local-space coordinates of body 1)
|
|
inline Vector3& HingeJointComponents::getHingeLocalAxisBody1(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the hinge rotation axis (in local-space coordinates of body 1)
|
|
inline void HingeJointComponents::setHingeLocalAxisBody1(Entity jointEntity, const Vector3& hingeLocalAxisBody1) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mHingeLocalAxisBody1[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody1;
|
|
}
|
|
|
|
// Return the hinge rotation axis (in local-space coordiantes of body 2)
|
|
inline Vector3& HingeJointComponents::getHingeLocalAxisBody2(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the hinge rotation axis (in local-space coordiantes of body 2)
|
|
inline void HingeJointComponents::setHingeLocalAxisBody2(Entity jointEntity, const Vector3& hingeLocalAxisBody2) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mHingeLocalAxisBody2[mMapEntityToComponentIndex[jointEntity]] = hingeLocalAxisBody2;
|
|
}
|
|
|
|
|
|
// Return the hinge rotation axis (in world-space coordinates) computed from body 1
|
|
inline Vector3& HingeJointComponents::getA1(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mA1[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the hinge rotation axis (in world-space coordinates) computed from body 1
|
|
inline void HingeJointComponents::setA1(Entity jointEntity, const Vector3& a1) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mA1[mMapEntityToComponentIndex[jointEntity]] = a1;
|
|
}
|
|
|
|
// Return the cross product of vector b2 and a1
|
|
inline Vector3& HingeJointComponents::getB2CrossA1(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mB2CrossA1[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the cross product of vector b2 and a1
|
|
inline void HingeJointComponents::setB2CrossA1(Entity jointEntity, const Vector3& b2CrossA1) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mB2CrossA1[mMapEntityToComponentIndex[jointEntity]] = b2CrossA1;
|
|
}
|
|
|
|
// Return the cross product of vector c2 and a1;
|
|
inline Vector3& HingeJointComponents::getC2CrossA1(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mC2CrossA1[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the cross product of vector c2 and a1;
|
|
inline void HingeJointComponents::setC2CrossA1(Entity jointEntity, const Vector3& c2CrossA1) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mC2CrossA1[mMapEntityToComponentIndex[jointEntity]] = c2CrossA1;
|
|
}
|
|
|
|
// Return the accumulated impulse for the lower limit constraint
|
|
inline decimal HingeJointComponents::getImpulseLowerLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the accumulated impulse for the lower limit constraint
|
|
inline void HingeJointComponents::setImpulseLowerLimit(Entity jointEntity, decimal impulseLowerLimit) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mImpulseLowerLimit[mMapEntityToComponentIndex[jointEntity]] = impulseLowerLimit;
|
|
}
|
|
|
|
|
|
// Return the accumulated impulse for the upper limit constraint
|
|
inline decimal HingeJointComponents::getImpulseUpperLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the accumulated impulse for the upper limit constraint
|
|
inline void HingeJointComponents::setImpulseUpperLimit(Entity jointEntity, decimal impulseUpperLimit) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mImpulseUpperLimit[mMapEntityToComponentIndex[jointEntity]] = impulseUpperLimit;
|
|
}
|
|
|
|
|
|
// Return the accumulated impulse for the motor constraint;
|
|
inline decimal HingeJointComponents::getImpulseMotor(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mImpulseMotor[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the accumulated impulse for the motor constraint;
|
|
inline void HingeJointComponents::setImpulseMotor(Entity jointEntity, decimal impulseMotor) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mImpulseMotor[mMapEntityToComponentIndex[jointEntity]] = impulseMotor;
|
|
}
|
|
|
|
// Return the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix)
|
|
inline decimal HingeJointComponents::getInverseMassMatrixLimitMotor(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the inverse of mass matrix K=JM^-1J^t for the limits and motor constraints (1x1 matrix)
|
|
inline void HingeJointComponents::setInverseMassMatrixLimitMotor(Entity jointEntity, decimal inverseMassMatrixLimitMotor) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mInverseMassMatrixLimitMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixLimitMotor;
|
|
}
|
|
|
|
// Return the inverse of mass matrix K=JM^-1J^t for the motor
|
|
inline decimal HingeJointComponents::getInverseMassMatrixMotor(Entity jointEntity) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Return the inverse of mass matrix K=JM^-1J^t for the motor
|
|
inline void HingeJointComponents::setInverseMassMatrixMotor(Entity jointEntity, decimal inverseMassMatrixMotor) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mInverseMassMatrixMotor[mMapEntityToComponentIndex[jointEntity]] = inverseMassMatrixMotor;
|
|
}
|
|
|
|
// Return the bias of the lower limit constraint
|
|
inline decimal HingeJointComponents::getBLowerLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mBLowerLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the bias of the lower limit constraint
|
|
inline void HingeJointComponents::setBLowerLimit(Entity jointEntity, decimal bLowerLimit) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mBLowerLimit[mMapEntityToComponentIndex[jointEntity]] = bLowerLimit;
|
|
}
|
|
|
|
// Return the bias of the upper limit constraint
|
|
inline decimal HingeJointComponents::getBUpperLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mBUpperLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the bias of the upper limit constraint
|
|
inline void HingeJointComponents::setBUpperLimit(Entity jointEntity, decimal bUpperLimit) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mBUpperLimit[mMapEntityToComponentIndex[jointEntity]] = bUpperLimit;
|
|
}
|
|
|
|
// Return true if the joint limits are enabled
|
|
inline bool HingeJointComponents::getIsLimitEnabled(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set to true if the joint limits are enabled
|
|
inline void HingeJointComponents::setIsLimitEnabled(Entity jointEntity, bool isLimitEnabled) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mIsLimitEnabled[mMapEntityToComponentIndex[jointEntity]] = isLimitEnabled;
|
|
}
|
|
|
|
// Return true if the motor of the joint in enabled
|
|
inline bool HingeJointComponents::getIsMotorEnabled(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set to true if the motor of the joint in enabled
|
|
inline void HingeJointComponents::setIsMotorEnabled(Entity jointEntity, bool isMotorEnabled) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mIsMotorEnabled[mMapEntityToComponentIndex[jointEntity]] = isMotorEnabled;
|
|
}
|
|
|
|
// Return the Lower limit (minimum allowed rotation angle in radian)
|
|
inline decimal HingeJointComponents::getLowerLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mLowerLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the Lower limit (minimum allowed rotation angle in radian)
|
|
inline void HingeJointComponents::setLowerLimit(Entity jointEntity, decimal lowerLimit) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mLowerLimit[mMapEntityToComponentIndex[jointEntity]] = lowerLimit;
|
|
}
|
|
|
|
// Return the upper limit (maximum translation distance)
|
|
inline decimal HingeJointComponents::getUpperLimit(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mUpperLimit[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the upper limit (maximum translation distance)
|
|
inline void HingeJointComponents::setUpperLimit(Entity jointEntity, decimal upperLimit) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mUpperLimit[mMapEntityToComponentIndex[jointEntity]] = upperLimit;
|
|
}
|
|
|
|
// Return true if the lower limit is violated
|
|
inline bool HingeJointComponents::getIsLowerLimitViolated(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set to true if the lower limit is violated
|
|
inline void HingeJointComponents::setIsLowerLimitViolated(Entity jointEntity, bool isLowerLimitViolated) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mIsLowerLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isLowerLimitViolated;
|
|
}
|
|
|
|
// Return true if the upper limit is violated
|
|
inline bool HingeJointComponents::getIsUpperLimitViolated(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set to true if the upper limit is violated
|
|
inline void HingeJointComponents::setIsUpperLimitViolated(Entity jointEntity, bool isUpperLimitViolated) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mIsUpperLimitViolated[mMapEntityToComponentIndex[jointEntity]] = isUpperLimitViolated;
|
|
}
|
|
|
|
// Return the motor speed (in rad/s)
|
|
inline decimal HingeJointComponents::getMotorSpeed(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mMotorSpeed[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the motor speed (in rad/s)
|
|
inline void HingeJointComponents::setMotorSpeed(Entity jointEntity, decimal motorSpeed) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mMotorSpeed[mMapEntityToComponentIndex[jointEntity]] = motorSpeed;
|
|
}
|
|
|
|
// Return the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
|
|
inline decimal HingeJointComponents::getMaxMotorTorque(Entity jointEntity) const {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
return mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]];
|
|
}
|
|
|
|
// Set the maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
|
|
inline void HingeJointComponents::setMaxMotorTorque(Entity jointEntity, decimal maxMotorTorque) {
|
|
|
|
assert(mMapEntityToComponentIndex.containsKey(jointEntity));
|
|
mMaxMotorTorque[mMapEntityToComponentIndex[jointEntity]] = maxMotorTorque;
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|