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#include "UnityPrefix.h"
#if ENABLE_2D_PHYSICS || DOXYGEN
#include "Runtime/Physics2D/HingeJoint2D.h"
#include "Runtime/Physics2D/RigidBody2D.h"
#include "Runtime/Graphics/Transform.h"
#include "Runtime/Math/Simd/math.h"
#include "Runtime/Serialize/TransferFunctions/SerializeTransfer.h"
#include "Runtime/Utilities/ValidateArgs.h"
#include "External/Box2D/Box2D/Box2D.h"
IMPLEMENT_CLASS (HingeJoint2D)
IMPLEMENT_OBJECT_SERIALIZE (HingeJoint2D)
// --------------------------------------------------------------------------
HingeJoint2D::HingeJoint2D (MemLabelId label, ObjectCreationMode mode)
: Super(label, mode)
, m_OldReferenceAngle (std::numeric_limits<float>::infinity ())
{
}
HingeJoint2D::~HingeJoint2D ()
{
}
template<class TransferFunction>
void HingeJoint2D::Transfer (TransferFunction& transfer)
{
Super::Transfer(transfer);
TRANSFER (m_Anchor);
TRANSFER (m_ConnectedAnchor);
TRANSFER (m_UseMotor);
transfer.Align ();
TRANSFER (m_Motor);
TRANSFER (m_UseLimits);
transfer.Align ();
TRANSFER (m_AngleLimits);
}
void HingeJoint2D::CheckConsistency ()
{
Super::CheckConsistency ();
m_Motor.CheckConsistency ();
m_AngleLimits.CheckConsistency ();
if (!IsFinite(m_Anchor))
m_Anchor = Vector2f::zero;
if (!IsFinite(m_ConnectedAnchor))
m_ConnectedAnchor = Vector2f::zero;
}
void HingeJoint2D::Reset ()
{
Super::Reset ();
m_UseMotor = false;
m_UseLimits = false;
m_Motor.Initialize ();
m_AngleLimits.Initialize ();
m_Anchor = Vector2f::zero;
m_ConnectedAnchor = Vector2f::zero;
}
void HingeJoint2D::SetAnchor (const Vector2f& anchor)
{
ABORT_INVALID_VECTOR2 (anchor, anchor, HingeJoint2D);
m_Anchor = anchor;
SetDirty();
// Recreate the joint.
if (m_Joint != NULL)
ReCreate();
}
void HingeJoint2D::SetConnectedAnchor (const Vector2f& anchor)
{
ABORT_INVALID_VECTOR2 (anchor, connectedAnchor, HingeJoint2D);
m_ConnectedAnchor = anchor;
SetDirty();
// Recreate the joint.
if (m_Joint != NULL)
ReCreate();
}
void HingeJoint2D::SetUseMotor (bool enable)
{
m_UseMotor = enable;
SetDirty();
if (m_Joint != NULL)
((b2RevoluteJoint*)m_Joint)->EnableMotor(m_UseMotor);
}
void HingeJoint2D::SetUseLimits (bool enable)
{
m_UseLimits = enable;
SetDirty();
if (m_Joint != NULL)
((b2RevoluteJoint*)m_Joint)->EnableLimit(m_UseLimits);
}
void HingeJoint2D::SetMotor (const JointMotor2D& motor)
{
m_Motor = motor;
m_Motor.CheckConsistency ();
SetDirty();
// Motor is automatically enabled if motor is set.
SetUseMotor(true);
if (m_Joint != NULL)
{
b2RevoluteJoint* joint = (b2RevoluteJoint*)m_Joint;
joint->SetMotorSpeed (math::radians (m_Motor.m_MotorSpeed));
joint->SetMaxMotorTorque (m_Motor.m_MaximumMotorForce);
}
}
void HingeJoint2D::SetLimits (const JointAngleLimits2D& limits)
{
m_AngleLimits = limits;
m_AngleLimits.CheckConsistency ();
SetDirty();
// Limits ares automatically enabled if limits are set.
SetUseLimits(true);
if (m_Joint != NULL)
{
b2RevoluteJoint* joint = (b2RevoluteJoint*)m_Joint;
joint->SetLimits(math::radians (m_AngleLimits.m_LowerAngle), math::radians (m_AngleLimits.m_UpperAngle));
}
}
// --------------------------------------------------------------------------
void HingeJoint2D::Create ()
{
Assert (m_Joint == NULL);
if (!IsActive ())
return;
// Fetch transform scales.
const Vector3f scale = GetComponent (Transform).GetWorldScaleLossy ();
const Vector3f connectedScale = m_ConnectedRigidBody.IsNull () ? Vector3f::one : m_ConnectedRigidBody->GetComponent (Transform).GetWorldScaleLossy ();
// Configure the joint definition.
b2RevoluteJointDef jointDef;
jointDef.localAnchorA.Set (m_Anchor.x * scale.x, m_Anchor.y * scale.y);
jointDef.localAnchorB.Set (m_ConnectedAnchor.x * connectedScale.x, m_ConnectedAnchor.y * connectedScale.y);
jointDef.enableMotor = m_UseMotor;
jointDef.enableLimit = m_UseLimits;
jointDef.motorSpeed = math::radians (m_Motor.m_MotorSpeed);
jointDef.maxMotorTorque = m_Motor.m_MaximumMotorForce;
jointDef.lowerAngle = math::radians (m_AngleLimits.m_LowerAngle);
jointDef.upperAngle = math::radians (m_AngleLimits.m_UpperAngle);
if (jointDef.lowerAngle > jointDef.upperAngle)
std::swap(jointDef.lowerAngle, jointDef.upperAngle);
jointDef.referenceAngle = m_OldReferenceAngle == std::numeric_limits<float>::infinity () ? FetchBodyB()->GetAngle() - FetchBodyA()->GetAngle() : m_OldReferenceAngle;
// Create the joint.
FinalizeCreateJoint (&jointDef);
}
void HingeJoint2D::ReCreate()
{
// Do we have an existing joint and we're still active/enabled?
if (m_Joint != NULL && IsActive () && GetEnabled ())
{
// Yes, so keep reference angle.
m_OldReferenceAngle = ((b2RevoluteJoint*)m_Joint)->GetReferenceAngle ();
}
else
{
// No, so reset reference angle.
m_OldReferenceAngle = std::numeric_limits<float>::infinity ();
}
Super::ReCreate ();
}
#endif //ENABLE_2D_PHYSICS
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