147 lines
5.2 KiB
C++
147 lines
5.2 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 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_SOLVE_SLIDER_JOINT_SYSTEM_H
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#define REACTPHYSICS3D_SOLVE_SLIDER_JOINT_SYSTEM_H
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// Libraries
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#include <reactphysics3d/utils/Profiler.h>
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#include <reactphysics3d/components/RigidBodyComponents.h>
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#include <reactphysics3d/components/JointComponents.h>
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#include <reactphysics3d/components/SliderJointComponents.h>
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#include <reactphysics3d/components/TransformComponents.h>
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namespace reactphysics3d {
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class PhysicsWorld;
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// Class SolveSliderJointSystem
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/**
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* This class is responsible to solve the SliderJoint constraints
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*/
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class SolveSliderJointSystem {
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private :
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// -------------------- Constants -------------------- //
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// Beta value for the bias factor of position correction
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static const decimal BETA;
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// -------------------- Attributes -------------------- //
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/// Physics world
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PhysicsWorld& mWorld;
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/// Reference to the rigid body components
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RigidBodyComponents& mRigidBodyComponents;
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/// Reference to transform components
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TransformComponents& mTransformComponents;
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/// Reference to the joint components
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JointComponents& mJointComponents;
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/// Reference to the slider joint components
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SliderJointComponents& mSliderJointComponents;
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/// Current time step of the simulation
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decimal mTimeStep;
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/// True if warm starting of the solver is active
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bool mIsWarmStartingActive;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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// -------------------- Methods -------------------- //
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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SolveSliderJointSystem(PhysicsWorld& world, RigidBodyComponents& rigidBodyComponents,
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TransformComponents& transformComponents,
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JointComponents& jointComponents,
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SliderJointComponents& sliderJointComponents);
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/// Destructor
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~SolveSliderJointSystem() = default;
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/// Initialize before solving the constraint
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void initBeforeSolve();
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/// Warm start the constraint (apply the previous impulse at the beginning of the step)
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void warmstart();
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/// Solve the velocity constraint
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void solveVelocityConstraint();
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/// Solve the position constraint (for position error correction)
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void solvePositionConstraint();
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/// Set the time step
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void setTimeStep(decimal timeStep);
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/// Set to true to enable warm starting
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void setIsWarmStartingActive(bool isWarmStartingActive);
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Set the profiler
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void setProfiler(Profiler* profiler);
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#endif
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};
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#ifdef IS_RP3D_PROFILING_ENABLED
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// Set the profiler
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RP3D_FORCE_INLINE void SolveSliderJointSystem::setProfiler(Profiler* profiler) {
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mProfiler = profiler;
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}
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#endif
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// Set the time step
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RP3D_FORCE_INLINE void SolveSliderJointSystem::setTimeStep(decimal timeStep) {
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assert(timeStep > decimal(0.0));
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mTimeStep = timeStep;
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}
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// Set to true to enable warm starting
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RP3D_FORCE_INLINE void SolveSliderJointSystem::setIsWarmStartingActive(bool isWarmStartingActive) {
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mIsWarmStartingActive = isWarmStartingActive;
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}
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}
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#endif
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