diff options
Diffstat (limited to 'Runtime/Dynamics/ConfigurableJoint.h')
| -rw-r--r-- | Runtime/Dynamics/ConfigurableJoint.h | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/Runtime/Dynamics/ConfigurableJoint.h b/Runtime/Dynamics/ConfigurableJoint.h new file mode 100644 index 0000000..9843f4d --- /dev/null +++ b/Runtime/Dynamics/ConfigurableJoint.h @@ -0,0 +1,180 @@ +#ifndef CONFIGURABLEJOINT_H +#define CONFIGURABLEJOINT_H + +#include "Runtime/BaseClasses/GameObject.h" +#include "Runtime/Math/Vector3.h" +#include "Runtime/Math/Quaternion.h" +#include "JointDescriptions.h" +#include "Joint.h" +class Rigidbody; +class NxJointDesc; +class NxD6JointDesc; +class NxRevoluteJoint; + +namespace Unity +{ + +class ConfigurableJoint : public Joint +{ + public: + + REGISTER_DERIVED_CLASS (ConfigurableJoint, Joint) + DECLARE_OBJECT_SERIALIZE (ConfigurableJoint) + + ConfigurableJoint (MemLabelId label, ObjectCreationMode mode); + + virtual void Reset(); + + int GetXMotion() { return m_XMotion; } + void SetXMotion (int motion); + + int GetYMotion() { return m_YMotion; } + void SetYMotion (int motion); + + int GetZMotion() { return m_ZMotion; } + void SetZMotion (int motion); + + int GetAngularXMotion() { return m_AngularXMotion; } + void SetAngularXMotion (int motion); + + int GetAngularYMotion() { return m_AngularYMotion; } + void SetAngularYMotion (int motion); + + int GetAngularZMotion() { return m_AngularZMotion; } + void SetAngularZMotion (int motion); + + SoftJointLimit GetLinearLimit () { return m_LinearLimit; } + void SetLinearLimit (const SoftJointLimit& limit); + + + SoftJointLimit GetLowAngularXLimit () { return m_LowAngularXLimit; } + void SetLowAngularXLimit (const SoftJointLimit& limit); + + SoftJointLimit GetHighAngularXLimit () { return m_HighAngularXLimit; } + void SetHighAngularXLimit (const SoftJointLimit& limit); + + SoftJointLimit GetAngularYLimit () { return m_AngularYLimit; } + void SetAngularYLimit (const SoftJointLimit& limit); + + SoftJointLimit GetAngularZLimit () { return m_AngularZLimit; } + void SetAngularZLimit (const SoftJointLimit& limit); + + JointDrive GetXDrive () { return m_XDrive; } + void SetXDrive (const JointDrive& drive); + + JointDrive GetYDrive () { return m_YDrive; } + void SetYDrive (const JointDrive& drive); + + JointDrive GetZDrive () { return m_ZDrive; } + void SetZDrive (const JointDrive& drive); + + JointDrive GetAngularXDrive () { return m_AngularXDrive; } + void SetAngularXDrive (const JointDrive& drive); + + JointDrive GetAngularYZDrive () { return m_AngularYZDrive; } + void SetAngularYZDrive (const JointDrive& drive); + + JointDrive GetSlerpDrive () { return m_SlerpDrive; } + void SetSlerpDrive (const JointDrive& drive); + + int GetRotationDriveMode () { return m_RotationDriveMode; } + void SetRotationDriveMode (int drive); + +// void SetUseGear (bool gear); +// bool GetUseGear () { return m_UseGear; } + + int GetProjectionMode () { return m_ProjectionMode; } + void SetProjectionMode (int mode); + + float GetProjectionDistance () { return m_ProjectionDistance; } + void SetProjectionDistance (float dist); + + float GetProjectionAngle () { return m_ProjectionAngle; } + void SetProjectionAngle (float dist); + +// float GetGearRatio () { return m_GearRatio; } +// void SetGearRatio (float ratio); + + Vector3f GetTargetPosition () { return m_TargetPosition; } + void SetTargetPosition (const Vector3f& pos); + + Quaternionf GetTargetRotation () { return m_TargetRotation; } + void SetTargetRotation (const Quaternionf& rotation); + + Vector3f GetTargetVelocity () { return m_TargetVelocity; } + void SetTargetVelocity (const Vector3f& vel); + + Vector3f GetTargetAngularVelocity () { return m_TargetAngularVelocity; } + void SetTargetAngularVelocity (const Vector3f& angular); + + void SetConfiguredInWorldSpace (bool c); + bool GetConfiguredInWorldSpace () { return m_ConfiguredInWorldSpace; } + + void SetSwapBodies (bool c); + bool GetSwapBodies () { return m_SwapBodies; } + + ////// THIS IS NOT GOOD!!!!!!!!!!! + void CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const; + + void CheckConsistency (); + + virtual void ApplySetupAxesToDesc (int option); + + virtual void SetSecondaryAxis (const Vector3f& axis); + Vector3f GetSecondaryAxis () { return m_SecondaryAxis; } + + static void InitializeClass (); + static void CleanupClass() { } + + private: + void SetupD6Desc (NxD6JointDesc& desc); + void FinalizeCreateD6 (NxD6JointDesc& desc); + void ApplyKeepConfigurationSpace(); + void ApplyRebuildConfigurationSpace(); + + virtual void Create (); + void SetupDriveType (); + + int m_XMotion; ///< enum { Locked=0, Limited=1, Free=2 } + int m_YMotion; ///< enum { Locked=0, Limited=1, Free=2 } + int m_ZMotion; ///< enum { Locked=0, Limited=1, Free=2 } + + int m_AngularXMotion; ///< enum { Locked=0, Limited=1, Free=2 } + int m_AngularYMotion; ///< enum { Locked=0, Limited=1, Free=2 } + int m_AngularZMotion; ///< enum { Locked=0, Limited=1, Free=2 } + + SoftJointLimit m_LinearLimit; + SoftJointLimit m_LowAngularXLimit; + SoftJointLimit m_HighAngularXLimit; + SoftJointLimit m_AngularYLimit; + SoftJointLimit m_AngularZLimit; + + JointDrive m_XDrive; + JointDrive m_YDrive; + JointDrive m_ZDrive; + + JointDrive m_AngularYZDrive; + JointDrive m_AngularXDrive; + JointDrive m_SlerpDrive; + + int m_ProjectionMode;///< enum { None, Position and Rotation = 1, Position Only = 2 } + + float m_ProjectionDistance; + float m_ProjectionAngle; + + int m_RotationDriveMode; ///< enum { X & YZ = 0, Slerp = 1 } + bool m_ConfiguredInWorldSpace; + bool m_SwapBodies; + + Vector3f m_TargetPosition; + Quaternionf m_TargetRotation; + + Vector3f m_TargetVelocity; + Vector3f m_TargetAngularVelocity; + + ////// THIS IS NOT GOOD!!!!!!!!!!! + Vector3f m_SecondaryAxis; +}; + +} +#endif |