godot/servers/physics/joints/cone_twist_joint_sw.h

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/*  cone_twist_joint_sw.h                                                */
/*************************************************************************/
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/*
Adapted to Godot from the Bullet library.
*/

/*
Bullet Continuous Collision Detection and Physics Library
ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

Written by: Marcus Hennix
*/

#ifndef CONE_TWIST_JOINT_SW_H
#define CONE_TWIST_JOINT_SW_H

#include "servers/physics/joints_sw.h"
#include "servers/physics/joints/jacobian_entry_sw.h"



///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
class ConeTwistJointSW : public JointSW
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif

	union {
		struct {
			BodySW *A;
			BodySW *B;
		};

		BodySW *_arr[2];
	};

	JacobianEntrySW	m_jac[3]; //3 orthogonal linear constraints


	real_t m_appliedImpulse;
	Transform m_rbAFrame;
	Transform m_rbBFrame;

	real_t	m_limitSoftness;
	real_t	m_biasFactor;
	real_t	m_relaxationFactor;

	real_t	m_swingSpan1;
	real_t	m_swingSpan2;
	real_t	m_twistSpan;

	Vector3   m_swingAxis;
	Vector3	m_twistAxis;

	real_t	m_kSwing;
	real_t	m_kTwist;

	real_t	m_twistLimitSign;
	real_t	m_swingCorrection;
	real_t	m_twistCorrection;

	real_t	m_accSwingLimitImpulse;
	real_t	m_accTwistLimitImpulse;

	bool		m_angularOnly;
	bool		m_solveTwistLimit;
	bool		m_solveSwingLimit;


public:

	virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }

	virtual bool setup(float p_step);
	virtual void solve(float p_step);

	ConeTwistJointSW(BodySW* rbA,BodySW* rbB,const Transform& rbAFrame, const Transform& rbBFrame);


	void	setAngularOnly(bool angularOnly)
	{
		m_angularOnly = angularOnly;
	}

	void	setLimit(real_t _swingSpan1,real_t _swingSpan2,real_t _twistSpan,  real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f)
	{
		m_swingSpan1 = _swingSpan1;
		m_swingSpan2 = _swingSpan2;
		m_twistSpan  = _twistSpan;

		m_limitSoftness =  _softness;
		m_biasFactor = _biasFactor;
		m_relaxationFactor = _relaxationFactor;
	}

	inline int getSolveTwistLimit()
	{
		return m_solveTwistLimit;
	}

	inline int getSolveSwingLimit()
	{
		return m_solveTwistLimit;
	}

	inline real_t getTwistLimitSign()
	{
		return m_twistLimitSign;
	}

	void set_param(PhysicsServer::ConeTwistJointParam p_param, float p_value);
	float get_param(PhysicsServer::ConeTwistJointParam p_param) const;


};



#endif // CONE_TWIST_JOINT_SW_H