254 lines
8.3 KiB
C++
254 lines
8.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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_CONSTRAINT_H
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#define REACTPHYSICS3D_CONSTRAINT_H
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// Libraries
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#include "configuration.h"
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#include "body/RigidBody.h"
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#include "mathematics/mathematics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/// Enumeration for the type of a constraint
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enum class JointType {BALLSOCKETJOINT, SLIDERJOINT, HINGEJOINT, FIXEDJOINT};
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// Class declarations
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struct ConstraintSolverData;
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class Joint;
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// Structure JointListElement
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/**
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* This structure represents a single element of a linked list of joints
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*/
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struct JointListElement {
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public:
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// -------------------- Attributes -------------------- //
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/// Pointer to the actual joint
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Joint* joint;
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/// Next element of the list
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JointListElement* next;
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// -------------------- Methods -------------------- //
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/// Constructor
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JointListElement(Joint* initJoint, JointListElement* initNext)
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:joint(initJoint), next(initNext){
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}
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};
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// Structure JointInfo
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/**
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* This structure is used to gather the information needed to create a joint.
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*/
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struct JointInfo {
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public :
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// -------------------- Attributes -------------------- //
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/// First rigid body of the joint
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RigidBody* body1;
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/// Second rigid body of the joint
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RigidBody* body2;
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/// Type of the joint
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JointType type;
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/// Position correction technique used for the constraint (used for joints).
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/// By default, the BAUMGARTE technique is used
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JointsPositionCorrectionTechnique positionCorrectionTechnique;
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/// True if the two bodies of the joint are allowed to collide with each other
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bool isCollisionEnabled;
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/// Constructor
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JointInfo(JointType constraintType)
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: body1(nullptr), body2(nullptr), type(constraintType),
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positionCorrectionTechnique(JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL),
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isCollisionEnabled(true) {}
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/// Constructor
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JointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2, JointType constraintType)
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: body1(rigidBody1), body2(rigidBody2), type(constraintType),
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positionCorrectionTechnique(JointsPositionCorrectionTechnique::NON_LINEAR_GAUSS_SEIDEL),
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isCollisionEnabled(true) {
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}
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/// Destructor
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virtual ~JointInfo() = default;
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};
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// Class Joint
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/**
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* This abstract class represents a joint between two bodies.
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*/
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class Joint {
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protected :
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// -------------------- Attributes -------------------- //
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/// Pointer to the first body of the joint
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RigidBody* const mBody1;
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/// Pointer to the second body of the joint
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RigidBody* const mBody2;
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/// Type of the joint
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const JointType mType;
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/// Body 1 index in the velocity array to solve the constraint
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uint mIndexBody1;
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/// Body 2 index in the velocity array to solve the constraint
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uint mIndexBody2;
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/// Position correction technique used for the constraint (used for joints)
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JointsPositionCorrectionTechnique mPositionCorrectionTechnique;
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/// True if the two bodies of the constraint are allowed to collide with each other
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bool mIsCollisionEnabled;
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/// True if the joint has already been added into an island
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bool mIsAlreadyInIsland;
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// -------------------- Methods -------------------- //
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/// Return true if the joint has already been added into an island
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bool isAlreadyInIsland() const;
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/// Return the number of bytes used by the joint
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virtual size_t getSizeInBytes() const = 0;
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/// Initialize before solving the joint
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virtual void initBeforeSolve(const ConstraintSolverData& constraintSolverData) = 0;
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/// Warm start the joint (apply the previous impulse at the beginning of the step)
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virtual void warmstart(const ConstraintSolverData& constraintSolverData) = 0;
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/// Solve the velocity constraint
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virtual void solveVelocityConstraint(const ConstraintSolverData& constraintSolverData) = 0;
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/// Solve the position constraint
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virtual void solvePositionConstraint(const ConstraintSolverData& constraintSolverData) = 0;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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Joint(const JointInfo& jointInfo);
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/// Destructor
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virtual ~Joint() = default;
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/// Deleted copy-constructor
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Joint(const Joint& constraint) = delete;
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/// Deleted assignment operator
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Joint& operator=(const Joint& constraint) = delete;
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/// Return the reference to the body 1
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RigidBody* getBody1() const;
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/// Return the reference to the body 2
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RigidBody* getBody2() const;
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/// Return true if the constraint is active
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bool isActive() const;
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/// Return the type of the constraint
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JointType getType() const;
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/// Return true if the collision between the two bodies of the joint is enabled
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bool isCollisionEnabled() const;
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// -------------------- Friendship -------------------- //
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friend class DynamicsWorld;
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friend class Island;
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friend class ConstraintSolver;
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};
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// Return the reference to the body 1
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/**
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* @return The first body involved in the joint
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*/
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inline RigidBody* Joint::getBody1() const {
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return mBody1;
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}
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// Return the reference to the body 2
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/**
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* @return The second body involved in the joint
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*/
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inline RigidBody* Joint::getBody2() const {
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return mBody2;
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}
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// Return true if the joint is active
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/**
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* @return True if the joint is active
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*/
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inline bool Joint::isActive() const {
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return (mBody1->isActive() && mBody2->isActive());
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}
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// Return the type of the joint
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/**
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* @return The type of the joint
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*/
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inline JointType Joint::getType() const {
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return mType;
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}
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// Return true if the collision between the two bodies of the joint is enabled
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/**
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* @return True if the collision is enabled between the two bodies of the joint
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* is enabled and false otherwise
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*/
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inline bool Joint::isCollisionEnabled() const {
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return mIsCollisionEnabled;
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}
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// Return true if the joint has already been added into an island
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inline bool Joint::isAlreadyInIsland() const {
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return mIsAlreadyInIsland;
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}
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}
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#endif
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