ConeConstraint.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/TwoBodyConstraint.h>
#include <Jolt/Physics/Constraints/ConstraintPart/PointConstraintPart.h>
#include <Jolt/Physics/Constraints/ConstraintPart/AngleConstraintPart.h>
 
JPH_NAMESPACE_BEGIN

class JPH_EXPORT ConeConstraintSettings final : public TwoBodyConstraintSettings
{
    JPH_DECLARE_SERIALIZABLE_VIRTUAL(JPH_EXPORT, ConeConstraintSettings)
 
public:
    // See: ConstraintSettings::SaveBinaryState
    virtual void                SaveBinaryState(StreamOut &inStream) const override;

    virtual TwoBodyConstraint * Create(Body &inBody1, Body &inBody2) const override;

    EConstraintSpace            mSpace = EConstraintSpace::WorldSpace;

    RVec3                       mPoint1 = RVec3::sZero();
    Vec3                        mTwistAxis1 = Vec3::sAxisX();

    RVec3                       mPoint2 = RVec3::sZero();
    Vec3                        mTwistAxis2 = Vec3::sAxisX();

    float                       mHalfConeAngle = 0.0f;
 
protected:
    // See: ConstraintSettings::RestoreBinaryState
    virtual void                RestoreBinaryState(StreamIn &inStream) override;
};

class JPH_EXPORT ConeConstraint final : public TwoBodyConstraint
{
public:
    JPH_OVERRIDE_NEW_DELETE

                                ConeConstraint(Body &inBody1, Body &inBody2, const ConeConstraintSettings &inSettings);
 
    // Generic interface of a constraint
    virtual EConstraintSubType  GetSubType() const override                 { return EConstraintSubType::Cone; }
    virtual void                NotifyShapeChanged(const BodyID &inBodyID, Vec3Arg inDeltaCOM) override;
    virtual void                SetupVelocityConstraint(float inDeltaTime) override;
    virtual void                ResetWarmStart() override;
    virtual void                WarmStartVelocityConstraint(float inWarmStartImpulseRatio) override;
    virtual bool                SolveVelocityConstraint(float inDeltaTime) override;
    virtual bool                SolvePositionConstraint(float inDeltaTime, float inBaumgarte) override;
#ifdef JPH_DEBUG_RENDERER
    virtual void                DrawConstraint(DebugRenderer *inRenderer) const override;
    virtual void                DrawConstraintLimits(DebugRenderer *inRenderer) const override;
#endif // JPH_DEBUG_RENDERER
    virtual void                SaveState(StateRecorder &inStream) const override;
    virtual void                RestoreState(StateRecorder &inStream) override;
    virtual Ref<ConstraintSettings> GetConstraintSettings() const override;
 
    // See: TwoBodyConstraint
    virtual Mat44               GetConstraintToBody1Matrix() const override;
    virtual Mat44               GetConstraintToBody2Matrix() const override;

    void                        SetHalfConeAngle(float inHalfConeAngle)     { JPH_ASSERT(inHalfConeAngle >= 0.0f && inHalfConeAngle <= JPH_PI); mCosHalfConeAngle = Cos(inHalfConeAngle); }
    float                       GetCosHalfConeAngle() const                 { return mCosHalfConeAngle; }

    inline Vec3                 GetTotalLambdaPosition() const              { return mPointConstraintPart.GetTotalLambda(); }
    inline float                GetTotalLambdaRotation() const              { return mAngleConstraintPart.GetTotalLambda(); }
 
private:
    // Internal helper function to calculate the values below
    void                        CalculateRotationConstraintProperties(Mat44Arg inRotation1, Mat44Arg inRotation2);
 
    // CONFIGURATION PROPERTIES FOLLOW
 
    // Local space constraint positions
    Vec3                        mLocalSpacePosition1;
    Vec3                        mLocalSpacePosition2;
 
    // Local space constraint axis
    Vec3                        mLocalSpaceTwistAxis1;
    Vec3                        mLocalSpaceTwistAxis2;
 
    // Angular limits
    float                       mCosHalfConeAngle;
 
    // RUN TIME PROPERTIES FOLLOW
 
    // Axis and angle of rotation between the two bodies
    Vec3                        mWorldSpaceRotationAxis;
    float                       mCosTheta;
 
    // The constraint parts
    PointConstraintPart         mPointConstraintPart;
    AngleConstraintPart         mAngleConstraintPart;
};
 
JPH_NAMESPACE_END