bd09b243c2
Since I started altering the testbed for better maintainability, I prefered to drop this (tested) large change with a single commit. Some changes below: Put some globals in their correct place, Now Testbed uses the MVC pattern (Model-View Controller). This way it becomes better to maintain than using no pattern in my opinion. Fixed some bugs in the debug draw interface. Of course, updated almost all tests because of the differences. Update script.
129 lines
3.5 KiB
C++
129 lines
3.5 KiB
C++
/*
|
|
* Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
|
|
*
|
|
* This software is provided 'as-is', without any express or implied
|
|
* warranty. In no event will the authors be held liable for any damages
|
|
* arising from the use of this software.
|
|
* Permission is granted to anyone to use this software for any purpose,
|
|
* including commercial applications, and to alter it and redistribute it
|
|
* freely, subject to the following restrictions:
|
|
* 1. The origin of this software must not be misrepresented; you must not
|
|
* claim that you wrote the original software. If you use this software
|
|
* in a product, an acknowledgment in the product documentation would be
|
|
* appreciated but is not required.
|
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
|
* misrepresented as being the original software.
|
|
* 3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef B3_CONE_JOINT_H
|
|
#define B3_CONE_JOINT_H
|
|
|
|
#include <bounce/dynamics/joints/joint.h>
|
|
|
|
struct b3ConeJointDef : public b3JointDef
|
|
{
|
|
b3ConeJointDef()
|
|
{
|
|
type = e_coneJoint;
|
|
localFrameA.SetIdentity();
|
|
localFrameB.SetIdentity();
|
|
enableLimit = false;
|
|
coneAngle = 0.0f;
|
|
}
|
|
|
|
// Initialize this definition from bodies, cone axis, anchor point, and full cone angle in radians.
|
|
void Initialize(b3Body* bodyA, b3Body* bodyB, const b3Vec3& axis, const b3Vec3& anchor, float32 angle);
|
|
|
|
// The joint frame relative to body A's frame.
|
|
b3Transform localFrameA;
|
|
|
|
// The joint frame relative to body B's frame.
|
|
b3Transform localFrameB;
|
|
|
|
// Enable cone angle limit.
|
|
bool enableLimit;
|
|
|
|
// The full cone angle in radians.
|
|
float32 coneAngle;
|
|
};
|
|
|
|
// This joint constrains the bodies to share a common point (cone tip).
|
|
// It also constrains the relative rotation about an axis perpendicular
|
|
// to the cone axis.
|
|
// You can limit the relative rotation with a cone angle limit.
|
|
// This joint can be used to create structures such as ragdolls.
|
|
class b3ConeJoint : public b3Joint
|
|
{
|
|
public:
|
|
// Get the joint frame on body A in world coordinates.
|
|
b3Transform GetFrameA() const;
|
|
|
|
// Get the joint frame on body B in world coordinates.
|
|
b3Transform GetFrameB() const;
|
|
|
|
// Get the joint frame relative to body A's frame.
|
|
const b3Transform& GetLocalFrameA() const;
|
|
|
|
// Get the joint frame relative to body B's frame.
|
|
const b3Transform& GetLocalFrameB() const;
|
|
|
|
// Is the joint limit enabled?
|
|
bool IsLimitEnabled() const;
|
|
|
|
// Set the joint limit enabled.
|
|
void SetEnableLimit(bool bit);
|
|
|
|
// Get the cone angle in radians.
|
|
float32 GetConeAngle() const;
|
|
|
|
// Set the cone angle in radians.
|
|
void SetConeAngle(float32 angle);
|
|
|
|
// Draw this joint.
|
|
void Draw() const;
|
|
private:
|
|
friend class b3Joint;
|
|
friend class b3Body;
|
|
friend class b3World;
|
|
friend class b3Island;
|
|
friend class b3JointManager;
|
|
friend class b3JointSolver;
|
|
|
|
b3ConeJoint(const b3ConeJointDef* def);
|
|
|
|
virtual void InitializeConstraints(const b3SolverData* data);
|
|
virtual void WarmStart(const b3SolverData* data);
|
|
virtual void SolveVelocityConstraints(const b3SolverData* data);
|
|
virtual bool SolvePositionConstraints(const b3SolverData* data);
|
|
|
|
// Solver shared
|
|
b3Transform m_localFrameA;
|
|
b3Transform m_localFrameB;
|
|
float32 m_coneAngle;
|
|
bool m_enableLimit;
|
|
|
|
// Solver temp
|
|
u32 m_indexA;
|
|
u32 m_indexB;
|
|
float32 m_mA;
|
|
float32 m_mB;
|
|
b3Mat33 m_iA;
|
|
b3Mat33 m_iB;
|
|
b3Vec3 m_localCenterA;
|
|
b3Vec3 m_localCenterB;
|
|
|
|
// Point-to-point
|
|
b3Vec3 m_rA;
|
|
b3Vec3 m_rB;
|
|
b3Mat33 m_mass;
|
|
b3Vec3 m_impulse;
|
|
|
|
// Limit
|
|
b3Vec3 m_limitAxis;
|
|
float32 m_limitMass;
|
|
float32 m_limitImpulse;
|
|
b3LimitState m_limitState;
|
|
};
|
|
|
|
#endif |