TwoBodyConstraint.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/Physics/Constraints/Constraint.h>
#include <Jolt/Physics/Body/Body.h>
 
JPH_NAMESPACE_BEGIN
 
class TwoBodyConstraint;
 
class JPH_EXPORT TwoBodyConstraintSettings : public ConstraintSettings
{
    JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, TwoBodyConstraintSettings)
 
public:
    virtual TwoBodyConstraint * Create(Body &inBody1, Body &inBody2) const = 0;
};
 
class JPH_EXPORT TwoBodyConstraint : public Constraint
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
                                TwoBodyConstraint(Body &inBody1, Body &inBody2, const TwoBodyConstraintSettings &inSettings) : Constraint(inSettings), mBody1(&inBody1), mBody2(&inBody2) { }
 
    virtual EConstraintType     GetType() const override                { return EConstraintType::TwoBodyConstraint; }
 
    virtual bool                IsActive() const override               { return Constraint::IsActive() && (mBody1->IsActive() || mBody2->IsActive()) && (mBody2->IsDynamic() || mBody1->IsDynamic()); }
#ifdef JPH_DEBUG_RENDERER
    virtual void                DrawConstraintReferenceFrame(DebugRenderer *inRenderer) const override;
#endif // JPH_DEBUG_RENDERER
 
    Body *                      GetBody1() const                        { return mBody1; }
    Body *                      GetBody2() const                        { return mBody2; }
 
    virtual Mat44               GetConstraintToBody1Matrix() const = 0;
 
    virtual Mat44               GetConstraintToBody2Matrix() const = 0;
 
    virtual void                BuildIslands(uint32 inConstraintIndex, IslandBuilder &ioBuilder, BodyManager &inBodyManager) override;
 
    virtual uint                BuildIslandSplits(LargeIslandSplitter &ioSplitter) const override;
 
protected:
    Body *                      mBody1;
    Body *                      mBody2;
};
 
JPH_NAMESPACE_END