MotorSettings.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Core/Reference.h>
#include <Jolt/ObjectStream/SerializableObject.h>
#include <Jolt/Physics/Constraints/SpringSettings.h>
 
JPH_NAMESPACE_BEGIN
 
class StreamIn;
class StreamOut;
 
enum class EMotorState
{
    Off,                                                                
    Velocity,                                                           
    Position,                                                           
    PositionAndVelocity,                                                
};
 
// Ability to check if position/velocity is enabled for a motor state
constexpr bool              IsVelocityMotor(EMotorState inMotorState)   { return (int(inMotorState) & int(EMotorState::Velocity)) != 0; }
constexpr bool              IsPositionMotor(EMotorState inMotorState)   { return (int(inMotorState) & int(EMotorState::Position)) != 0; }
 
static_assert(!IsVelocityMotor(EMotorState::Off));
static_assert(IsVelocityMotor(EMotorState::Velocity));
static_assert(!IsVelocityMotor(EMotorState::Position));
static_assert(IsPositionMotor(EMotorState::PositionAndVelocity));
static_assert(!IsPositionMotor(EMotorState::Off));
static_assert(!IsPositionMotor(EMotorState::Velocity));
static_assert(IsPositionMotor(EMotorState::Position));
static_assert(IsPositionMotor(EMotorState::PositionAndVelocity));
 
class JPH_EXPORT MotorSettings
{
    JPH_DECLARE_SERIALIZABLE_NON_VIRTUAL(JPH_EXPORT, MotorSettings)
 
public:
                            MotorSettings() = default;
                            MotorSettings(const MotorSettings &) = default;
    MotorSettings &         operator = (const MotorSettings &) = default;
                            MotorSettings(ESpringMode inMode, float inFrequency, float inDamping) : mSpringSettings(inMode, inFrequency, inDamping) { JPH_ASSERT(IsValid()); }
                            MotorSettings(float inFrequency, float inDamping) : mSpringSettings(ESpringMode::FrequencyAndDamping, inFrequency, inDamping) { JPH_ASSERT(IsValid()); }
                            MotorSettings(ESpringMode inMode, float inFrequency, float inDamping, float inForceLimit, float inTorqueLimit) : mSpringSettings(inMode, inFrequency, inDamping), mMinForceLimit(-inForceLimit), mMaxForceLimit(inForceLimit), mMinTorqueLimit(-inTorqueLimit), mMaxTorqueLimit(inTorqueLimit) { JPH_ASSERT(IsValid()); }
                            MotorSettings(float inFrequency, float inDamping, float inForceLimit, float inTorqueLimit) : mSpringSettings(ESpringMode::FrequencyAndDamping, inFrequency, inDamping), mMinForceLimit(-inForceLimit), mMaxForceLimit(inForceLimit), mMinTorqueLimit(-inTorqueLimit), mMaxTorqueLimit(inTorqueLimit) { JPH_ASSERT(IsValid()); }
 
    void                    SetForceLimits(float inMin, float inMax)    { JPH_ASSERT(inMin <= inMax); mMinForceLimit = inMin; mMaxForceLimit = inMax; }
 
    void                    SetTorqueLimits(float inMin, float inMax)   { JPH_ASSERT(inMin <= inMax); mMinTorqueLimit = inMin; mMaxTorqueLimit = inMax; }
 
    void                    SetForceLimit(float inLimit)                { mMinForceLimit = -inLimit; mMaxForceLimit = inLimit; }
 
    void                    SetTorqueLimit(float inLimit)               { mMinTorqueLimit = -inLimit; mMaxTorqueLimit = inLimit; }
 
    bool                    IsValid() const                             { return mSpringSettings.mFrequency >= 0.0f && mSpringSettings.mDamping >= 0.0f && mMinForceLimit <= mMaxForceLimit && mMinTorqueLimit <= mMaxTorqueLimit; }
 
    void                    SaveBinaryState(StreamOut &inStream) const;
 
    void                    RestoreBinaryState(StreamIn &inStream);
 
    // Settings
    SpringSettings          mSpringSettings { ESpringMode::FrequencyAndDamping, 2.0f, 1.0f }; 
    float                   mMinForceLimit = -FLT_MAX;                  
    float                   mMaxForceLimit = FLT_MAX;                   
    float                   mMinTorqueLimit = -FLT_MAX;                 
    float                   mMaxTorqueLimit = FLT_MAX;                  
};
 
JPH_NAMESPACE_END